Browsing by Author "Bradley, Joshua"

Now showing 1 - 2 of 2
  • Thumbnail Image
    Item
    Conveying language through haptics: a multi-sensory approach
    (ACM, 2018) Dunkelberger, Nathan; Sullivan, Jenny; Bradley, Joshua; Walling, Nickolas P.; Manickam, Indu; Dasarathy, Gautam; Israr, Ali; Lau, Frances W.Y.; Klumb, Keith; Knott, Brian; Abnousi, Freddy; Baraniuk, Richard; O'Malley, Marcia K.
    In our daily lives, we rely heavily on our visual and auditory channels to receive information from others. In the case of impairment, or when large amounts of information are already transmitted visually or aurally, alternative methods of communication are needed. A haptic language offers the potential to provide information to a user when visual and auditory channels are unavailable. Previously created haptic languages include deconstructing acoustic signals into features and displaying them through a haptic device, and haptic adaptations of Braille or Morse code; however, these approaches are unintuitive, slow at presenting language, or require a large surface area. We propose using a multi-sensory haptic device called MISSIVE, which can be worn on the upper arm and is capable of producing brief cues, sufficient in quantity to encode the full English phoneme set. We evaluated our approach by teaching subjects a subset of 23 phonemes, and demonstrated an 86% accuracy in a 50 word identification task after 100 minutes of training.
  • Thumbnail Image
    Item
    The effect of robot dynamics on smoothness during wrist pointing
    (IEEE, 2017) Erwin, Andrew; Pezent, Evan; Bradley, Joshua; O’Malley, Marcia K.
    The improvement of movement smoothness over the course of therapy is one of the positive outcomes observed during robotic rehabilitation. Although movements are generally robust to disturbances, certain perturbations might disrupt an individual's ability to produce these smooth movements. In this paper, we explore how a rehabilitation robot's inherent dynamics impact movement smoothness during pointing tasks. Able-bodied participants made wrist pointing movements under four different operating conditions. Despite the relative transparency of the device, inherent dynamic characteristics negatively impacted movement smoothness. Active compensation for Coulomb friction effects failed to mitigate the degradation in smoothness. Assessment of movements that involved coupled motions of the robot's joints reduced the bias seen in single degree of freedom movements. When using robotic devices for assessment of movement quality, the impact of the inherent dynamics must be considered.