The Six Hug Commandments: Design and Evaluation of a Human-Sized Hugging Robot with Visual and Haptic Perception

Receiving a hug is one of the best ways to feel socially supported, and the lack of social touch can have severe negative effects on an individual's well-being. Based on previous research both within and outside of HRI, we propose six tenets ("commandments") of natural and enjoyable robotic hugging: a hugging robot should be soft, be warm, be human sized, visually perceive its user, adjust its embrace to the user's size and position, and reliably release when the user wants to end the hug. Prior work validated the first two tenets, and the final four are new. We followed all six tenets to create a new robotic platform, HuggieBot 2.0, that has a soft, warm, inflated body (HuggieChest) and uses visual and haptic sensing to deliver closed-loop hugging. We first verified the outward appeal of this platform in comparison to the previous PR2-based HuggieBot 1.0 via an online video-watching study involving 117 users. We then conducted an in-person experiment in which 32 users each exchanged eight hugs with HuggieBot 2.0, experiencing all combinations of visual hug initiation, haptic sizing, and haptic releasing. The results show that adding haptic reactivity definitively improves user perception a hugging robot, largely verifying our four new tenets and illuminating several interesting opportunities for further improvement.Comment: 9 pages, 6 Figures, 2 Tables, ACM/IEEE Human-Robot Interaction (HRI) Conference 202

Brain network for small-scale features in active touch

An important tactile function is the active detection of small-scale features, such as edges or asperities, which depends on fine hand motor control. Using a resting-state fMRI paradigm, we sought to identify the functional connectivity of the brain network engaged in mapping tactile inputs to and from regions engaged in motor preparation and planning during active touch. Human participants actively located small-scale tactile features that were rendered by a computer-controlled tactile display. To induce rapid perceptual learning, the contrast between the target and the surround was reduced whenever a criterion level of success was achieved, thereby raising the task difficulty. Multiple cortical and subcortical neural connections within a parietal-cerebellar-frontal network were identified by correlating behavioral performance with changes in functional connectivity. These cortical areas reflected perceptual, cognitive, and attention-based processes required to detect and use small-scale tactile features for hand dexterity

Index divisibility in dynamical sequences and cyclic orbits modulo p

Let φ(x) = x d + c be an integral polynomial of degree at least 2, and consider the sequence (φ n (0))∞n=0, which is the orbit of 0 under iteration by φ. Let Dd,c denote the set of positive integers n for which n | φ n (0). We give a characterization of Dd,c in terms of a directed graph and describe a number of its properties, including its cardinality and the primes contained therein. In particular, we study the question of which primes p have the property that the orbit of 0 is a single p-cycle modulo p. We show that the set of such primes is finite when d is even, and conjecture that it is infinite when d is odd

Tetanus toxin Hc fragment induces the formation of ceramide platforms and protects neuronal cells against oxidative stress

Tetanus toxin (TeTx) is the protein, synthesized by the anaerobic bacteria Clostridium tetani, which causes tetanus disease. TeTx gains entry into target cells by means of its interaction with lipid rafts, which are membrane domains enriched in sphingomyelin and cholesterol. However, the exact mechanism of host membrane binding remains to be fully established. In the present study we used the recombinant carboxyl terminal fragment from TeTx (Hc-TeTx), the domain responsible for target neuron binding, showing that Hc-TeTx induces a moderate but rapid and sustained increase in the ceramide/sphingomyelin ratio in primary cultures of cerebellar granule neurons and in NGF-differentiated PC12 cells, as well as induces the formation of ceramide platforms in the plasma membrane. The mentioned increase is due to the promotion of neutral sphingomyelinase activity and not to the de novo synthesis, since GW4869, a specific neutral sphingomyelinase inhibitor, prevents neutral sphingomyelinase activity increase and formation of ceramide platforms. Moreover, neutral sphingomyelinase inhibition with GW4869 prevents Hc-TeTx-triggered signaling (Akt phosphorylation), as well as the protective effect of Hc-TeTx on PC12 cells subjected to oxidative stress, while siRNA directed against nSM2 prevents protection by Hc-TeTx of NSC-34 cells against oxidative insult. Finally, neutral sphingomyelinase activity seems not to be related with the internalization of Hc-TeTx into PC12 cells. Thus, the presented data shed light on the mechanisms triggered by TeTx after membrane binding, which could be related with the events leading to the neuroprotective action exerted by the Hc-TeTx fragment

Comparison of CT, MRI, and F-18 FDG PET/CT for initial N-staging of oral squamous cell carcinoma: a cost-effectiveness analysis.

BACKGROUND AND PURPOSE Treatment of oral squamous cell carcinoma (OSCC) is based on clinical exam, biopsy, and a precise imaging-based TNM-evaluation. A high sensitivity and specificity for magnetic resonance imaging (MRI) and F-18 FDG PET/CT are reported for N-staging. Nevertheless, staging of oral squamous cell carcinoma is most often based on computed tomography (CT) scans. This study aims to evaluate cost-effectiveness of MRI and PET/CT compared to standard of care imaging in initial staging of OSCC within the US Healthcare System. METHODS A decision model was constructed using quality-adjusted life years (QALYs) and overall costs of different imaging strategies including a CT of the head, neck, and the thorax, MRI of the neck with CT of the thorax, and whole body F-18 FDG PET/CT using Markov transition simulations for different disease states. Input parameters were derived from literature and willingness to pay (WTP) was set to US $100,000/QALY. Deterministic sensitivity analysis of diagnostic parameters and costs was performed. Monte Carlo modeling was used for probabilistic sensitivity analysis. RESULTS In the base-case scenario, total costs were at US$239,628 for CT, US $240,001 for MRI, and US$239,131 for F-18 FDG PET/CT whereas the model yielded an effectiveness of 5.29 QALYs for CT, 5.30 QALYs for MRI, and 5.32 QALYs for F-18 FDG PET/CT respectively. F-18 FDG PET/CT was the most cost-effective strategy over MRI as well as CT, and MRI was the cost-effective strategy over CT. Deterministic and probabilistic sensitivity analysis showed high robustness of the model with incremental cost effectiveness ratio remaining below US $100,000/QALY for a wide range of variability of input parameters. CONCLUSION F-18 FDG PET/CT is the most cost-effective strategy in the initial N-staging of OSCC when compared to MRI and CT. Despite less routine use, both whole body PET/CT and MRI are cost-effective modalities in the N-staging of OSCC. Based on these findings, the implementation of PET/CT for initial staging could be suggested to help reduce costs while increasing effectiveness in OSCC

Effects of a robot-assisted training of grasp and pronation/supination in chronic stroke: a pilot study

<p>Abstract</p> <p>Background</p> <p>Rehabilitation of hand function is challenging, and only few studies have investigated robot-assisted rehabilitation focusing on distal joints of the upper limb. This paper investigates the feasibility of using the <it>HapticKnob</it>, a table-top end-effector device, for robot-assisted rehabilitation of grasping and forearm pronation/supination, two important functions for activities of daily living involving the hand, and which are often impaired in chronic stroke patients. It evaluates the effectiveness of this device for improving hand function and the transfer of improvement to arm function.</p> <p>Methods</p> <p>A single group of fifteen chronic stroke patients with impaired arm and hand functions (Fugl-Meyer motor assessment scale (FM) 10-45/66) participated in a 6-week 3-hours/week rehabilitation program with the <it>HapticKnob</it>. Outcome measures consisted primarily of the FM and Motricity Index (MI) and their respective subsections related to distal and proximal arm function, and were assessed at the beginning, end of treatment and in a 6-weeks follow-up.</p> <p>Results</p> <p>Thirteen subjects successfully completed robot-assisted therapy, with significantly improved hand and arm motor functions, demonstrated by an average 3.00 points increase on the FM and 4.55 on the MI at the completion of the therapy (4.85 FM and 6.84 MI six weeks post-therapy). Improvements were observed both in distal and proximal components of the clinical scales at the completion of the study (2.00 FM wrist/hand, 2.55 FM shoulder/elbow, 2.23 MI hand and 4.23 MI shoulder/elbow). In addition, improvements in hand function were observed, as measured by the Motor Assessment Scale, grip force, and a decrease in arm muscle spasticity. These results were confirmed by motion data collected by the robot.</p> <p>Conclusions</p> <p>The results of this study show the feasibility of this robot-assisted therapy with patients presenting a large range of impairment levels. A significant homogeneous improvement in both hand and arm function was observed, which was maintained 6 weeks after end of the therapy.</p