A containerised approach for multiform robotic applications.

As the area of robotics achieves promising results, there is an increasing need to scale robotic software architectures towards real-world domains. Traditionally, robotic architectures are integrated using common frameworks, such as ROS. Therefore, systems with a uniform structure are produced, making it difficult to integrate third party contributions.

Users' Perspective on the AI-Based Smartphone PROTEIN App for Personalized Nutrition and Healthy Living: A Modified Technology Acceptance Model (mTAM) Approach.

The ubiquitous nature of smartphone ownership, its broad application and usage, along with its interactive delivery of timely feedback are appealing for health-related behavior change interventions mobile apps. However, users' perspectives about such apps are vital in better bridging the gap between their design intention and effective practical usage. In this vein, a modified technology acceptance model (mTAM) is proposed here, to explain the relationship between users' perspectives when using an AI-based smartphone app for personalized nutrition and healthy living, namely, PROTEIN, and the mTAM constructs toward behavior change in their nutrition and physical activity habits.

Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing.

This paper demonstrates how tactile and proximity sensing can be used to perform automatic mechanical fractures detection (surface cracks). For this purpose, a custom-designed integrated tactile and proximity sensor has been implemented. With the help of fiber optics, the sensor measures the deformation of its body, when interacting with the physical environment, and the distance to the environment's objects.

Modelling the structure of object-independent human affordances of approaching to grasp for robotic hands.

Grasp affordances in robotics represent different ways to grasp an object involving a variety of factors from vision to hand control. A model of grasp affordances that is able to scale across different objects, features and domains is needed to provide robots with advanced manipulation skills. The existing frameworks, however, can be difficult to extend towards a more general and domain independent approach.

Correction: Palpation force modulation strategies to identify hard regions in soft tissue organs.

[This corrects the article DOI: 10.1371/journal.pone.

Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure.

Tactile perception is a feature benefiting reliable grasping and manipulation. This paper presents the design of an integrated fingertip force sensor employing an optical fiber based approach where applied forces modulate light intensity. The proposed sensor system is developed to support grasping of a broad range of objects, including those that are hard as well those that are soft.

Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model.

Haptic information in robotic surgery can significantly improve clinical outcomes and help detect hard soft-tissue inclusions that indicate potential abnormalities. Visual representation of tissue stiffness information is a cost-effective technique. Meanwhile, direct force feedback, although considerably more expensive than visual representation, is an intuitive method of conveying information regarding tissue stiffness to surgeons.

Palpation force modulation strategies to identify hard regions in soft tissue organs.

This paper presents experimental evidence for the existence of a set of unique force modulation strategies during manual soft tissue palpation to locate hard abnormalities such as tumors. We explore the active probing strategies of defined local areas and outline the role of force control. In addition, we investigate whether the applied force depends on the non-homogeneity of the soft tissue.

Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue.

This paper explores methods that make use of visual cues aimed at generating actual haptic sensation to the user, namely pseudo-haptics. We propose a new pseudo-haptic feedback-based method capable of conveying 3D haptic information and combining visual haptics with force feedback to enhance the user's haptic experience. We focused on an application related to tumor identification during palpation and evaluated the proposed method in an experimental study where users interacted with a haptic device and graphical interface while exploring a virtual model of soft tissue, which represented stiffness distribution of a silicone phantom tissue with embedded hard inclusions.

Behavioral characteristics of manual palpation to localize hard nodules in soft tissues.

Improving the effectiveness of artificial tactile sensors for soft-tissue examination and tumor localization is a pressing need in robot-assisted minimally invasive surgery. Despite the availability of tactile probes, guidelines for optimal palpation behavior that best exploit soft-tissue properties are not available as yet. Simulations on soft-tissue palpation show that particular stress-velocity patterns during tissue probing lead to constructive dynamic interactions between the probe and the tissue, enhancing the detection and localization of hard nodules.