Thursday, May 18, 2006

Robot Arms and the Force Fields Who Love Them

When I last discussed what I actually do at my new job, I sort of intended to pick up the dropped ball rather soon. Like... when I got up from my nap. Or Tuesday night. That'll show me, I guess.

So the first thing I'll need to do is show you my favorite part of my new job: the manipulandum.

That's the one in our lab, randomly found online. So why is the manipulandum so awesome?

Because it's a robot arm that simulates force fields. I will never fail to entertain at parties so long as I can mingle with a glass of wine in one hand and say, "I work with force fields generated by robot arms."

Chick MAGNET, I tell you. Try it yourself some time.

Now that I'm done with my geekgasm; the robot arm is connected to a computer that we can program boundaries into. Within or around those boundaries (depending on the configuration), the user can explore the workspace with relative impunity. But when they connect with a boundary, the robot arm opposes their movement. This simulates a force field in that location. The user can then explore this boundary by moving the manipulandum against those areas where it resists their movement.

Generally, manipulandum experiments are done while the subject is blindfolded to prevent them from utilizing visual input about their hand location in determining what the boundary 'looks' like. Why is the person above not blindfolded? Obviously, she's cheating.

Just kidding. Manipulandums (manipulandi?) can also be used for motor learning experiments, and probably other things I haven't even bothered to think of yet. Check the page the image came from, if you're curious.

So what can the manipulandum tell us? From the papers I've read so far, there seem to be two main categories. The first is data about the exploration process. When a subject is exploring a certain type of boundary, do they move more quickly or more slowly? Do they run past certain parts more times than others? How much force do they apply at each point?

The second is data from replication. In our lab, depending on what we're working on, there are two main ways people can replicate an image. The first is with the manipulandum itself. After someone feels they have explored a boundary enough, we can turn off the force fields and allow them to "sketch out" the shape they perceived with their handle. There are some problems with this, though: how much of the sketch is due to the picture they've synthesized through haptic exploration, and how much of it is just a replay of motor memory? And since they can't see what they're drawing with the manipulandum, how much of the error in the sketch is due to errors in the initial perception, and how much of it is an error in skill at reproduction? To comparatively answer these questions, we also have a touchscreen display. Some subject can use this to draw the shapes directly onto a monitor. Since this requires a shift in both facing orientation and in the plane of reproduction, this should prevent the subjects from reproducing an image entirely from motor memory. Also, subjects can decide whether or not an image looks appropriately like what they sensed and decide whether or not to keep it. The main problem with this technique is it also allows for confounding of error by introducing visual distortions on top of haptic distortions.

We can then compare the data drawn on the touchscreen to the data reproduced on the manipulandum to determine how faithfully people can reproduce and how faithfully they can perceive the forms presented to them by the manipulandum. We can also compare this to the data taken by the manipulandum during exploration to find out what techniques lead to higher haptic acuity, and what types of data impact a subject's accuracy in haptic perception. Does exploring in a certain direction improve haptic acuity? In a certain part of the workspace? Are people more reliant on changes in speed or force, or do they take either of these measures into account at all?

These are the sorts of basic questions that had to be answered before more complicated ones could be covered. And in the next section, I'll get to a few of those and cover some of the papers I had to spend the first half of the week obsessing over.


At 27 October, 2015 02:13, Blogger ninest123 Ninest said...

ninest123 10.27
tiffany jewelry, michael kors outlet, oakley sunglasses wholesale, ugg boots, louis vuitton, jordan shoes, nike air max, burberry outlet, uggs outlet, prada outlet, louis vuitton, ugg boots, louis vuitton outlet, michael kors outlet store, ray ban sunglasses, louis vuitton outlet, replica watches, replica watches, uggs outlet, michael kors outlet, polo ralph lauren outlet online, nike free, ray ban sunglasses, oakley sunglasses, christian louboutin outlet, michael kors outlet online, longchamp outlet, louis vuitton outlet, christian louboutin, tiffany and co, prada handbags, cheap oakley sunglasses, polo outlet, longchamp outlet, tory burch outlet, longchamp outlet, nike outlet, oakley sunglasses, oakley sunglasses, ray ban sunglasses, christian louboutin shoes, christian louboutin uk, chanel handbags, uggs on sale, burberry handbags, nike air max, kate spade outlet, michael kors outlet online

At 27 October, 2015 02:16, Blogger ninest123 Ninest said...

hollister uk, nike roshe run uk, sac longchamp pas cher, nike air max uk, north face, vans pas cher, michael kors, kate spade, nike blazer pas cher, longchamp pas cher, ray ban uk, nike free run, abercrombie and fitch uk, louboutin pas cher, coach outlet store online, timberland pas cher, nike roshe, north face uk, polo ralph lauren, oakley pas cher, nike air max, sac vanessa bruno, hollister pas cher, polo lacoste, true religion outlet, ralph lauren uk, nike tn, sac hermes, ray ban pas cher, coach outlet, jordan pas cher, michael kors, coach purses, nike air force, true religion jeans, lululemon canada, michael kors pas cher, mulberry uk, nike air max uk, true religion outlet, burberry pas cher, michael kors outlet, nike free uk, converse pas cher, coach outlet, hogan outlet, new balance, guess pas cher, true religion outlet, air max

At 27 October, 2015 02:18, Blogger ninest123 Ninest said...

bottega veneta, new balance shoes, nike air max, soccer jerseys, louboutin, giuseppe zanotti outlet, lululemon, mac cosmetics, vans, nike trainers uk, vans outlet, abercrombie and fitch, reebok outlet, nike air max, converse, iphone 6 cases, insanity workout, ghd hair, hollister clothing, converse outlet, oakley, nfl jerseys, baseball bats, herve leger, gucci, nike huaraches, mont blanc pens, north face outlet, ferragamo shoes, valentino shoes, north face outlet, p90x workout, longchamp uk, nike roshe run, soccer shoes, wedding dresses, timberland boots, hollister, hermes belt, hollister, ralph lauren, jimmy choo outlet, chi flat iron, asics running shoes, ray ban, instyler, mcm handbags, beats by dre, celine handbags, babyliss, gucci handbags, michael kors outlet online

At 27 October, 2015 02:21, Blogger ninest123 Ninest said...

toms shoes, ugg, ugg uk, moncler, moncler, juicy couture outlet, hollister, ugg,uggs,uggs canada, michael kors outlet online, canada goose outlet, lancel, wedding dresses, moncler outlet, canada goose, swarovski, barbour uk, moncler, canada goose outlet, louis vuitton, ugg,ugg australia,ugg italia, louis vuitton, moncler uk, louis vuitton, ugg pas cher, louis vuitton, montre pas cher, links of london, marc jacobs, barbour, louis vuitton, canada goose uk, michael kors handbags, canada goose outlet, pandora charms, supra shoes, replica watches, canada goose, juicy couture outlet, coach outlet, karen millen uk, moncler outlet, moncler, pandora uk, doudoune moncler, thomas sabo, swarovski crystal, pandora jewelry, canada goose jackets, michael kors outlet, canada goose, doke gabbana, pandora jewelry
ninest123 10.27

At 11 December, 2016 02:00, Blogger Liu Liu said...

Much of the network's revenue Nike Free Run is estimated to wholesale nfl jerseys come from those subscriber fees, and that louboutin outlet revenue christian louboutin uk was down in the fiscal fourth quarter of 2016 despite higher contractual rates, according to the company's earnings call in November. Despite calls for Disney to sell the sports channel, CEO Robert Iger nfl jerseys store has expressed cheap nfl jerseys optimism about the property's future.

"We have taken a more bullish position on the future of ESPN's sub base," Iger said on the November christian louboutin shoes conference call. "We think that while we were candid a year ago on sub losses, we believe that, to Nike Air Max 2015 Shoes some extent, the causes of those losses have abated, notably Nike Roshe Run the migration NFL Jerseys to smaller Nike Air Max 90 packages."

At 26 July, 2017 03:19, Blogger happy 123 said...

tory burch shoes
cheap jordans
yeezy boost
kyrie 3 shoes
air max
kobe bryant shoes
lacoste online shop

At 16 May, 2018 02:57, Blogger studien studien said...

ultra boost
pandora jewelry
issey miyake
ralph lauren outlet
coach outlet online
adidas outlet
cheap oakley sunglasses
mulberry handbags
ralph lauren outlet

At 24 July, 2019 00:44, Blogger yanmaneee said...

adidas ultra
michael kors outlet
birkin bag
birkin bag
nike air max 270
nike max
curry 5 shoes
yeezy 500
michael kors handbags


Post a Comment

Send Haloscan trackback ping

<< Home

Academics Blog Top Sites