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1
Feth, Daniela. "Haptic Human–Robot Collaboration: Comparison of Robot Partner Implementations in Terms of Human-Likeness and Task Performance." Presence: Teleoperators and Virtual Environments 20, no. 2 (April 1, 2011): 173–89. http://dx.doi.org/10.1162/pres_a_00042.
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In the past, working spaces of humans and robots were strictly separated, but recent developments have sought to bring robots into closer interaction with humans. In this context, physical human–robot interaction represents a major challenge, as it is based on continuous bilateral information and energy exchanges which result in a mutual adaptation of the partners. To address the challenge of designing robot collaboration partners, making them as human-like as possible is an approach often adopted. In order to compare different implementations with each other, their degree of human-likeness on a continuous scale is required. So far, the human-likeness of haptic interaction partners has only been studied in the form of binary choices. In this paper, we first introduce methods that allow measuring the human-likeness of haptic interaction partners on a continuous scale. In doing so, two subjective rating methods are proposed and correlated with a task performance measure. To demonstrate the applicability and validity of the proposed measures, they are applied to a joint kinesthetic manipulation task and used to compare two different implementations of a haptic interaction partner: a feedforward model based on force replay, and a feedback model. This experiment demonstrates the use of the proposed measures in building a continuous human-likeness scale and the interpretation of the scale values achieved for formulating guidelines for future robot implementations.
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Umbrico, Alessandro, Andrea Orlandini, Amedeo Cesta, Marco Faroni, Manuel Beschi, Nicola Pedrocchi, Andrea Scala, et al. "Design of Advanced Human–Robot Collaborative Cells for Personalized Human–Robot Collaborations." Applied Sciences 12, no. 14 (July 6, 2022): 6839. http://dx.doi.org/10.3390/app12146839.
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Industry 4.0 is pushing forward the need for symbiotic interactions between physical and virtual entities of production environments to realize increasingly flexible and customizable production processes. This holds especially for human–robot collaboration in manufacturing, which needs continuous interaction between humans and robots. The coexistence of human and autonomous robotic agents raises several methodological and technological challenges for the design of effective, safe, and reliable control paradigms. This work proposes the integration of novel technologies from Artificial Intelligence, Control and Augmented Reality to enhance the flexibility and adaptability of collaborative systems. We present the basis to advance the classical human-aware control paradigm in favor of a user-aware control paradigm and thus personalize and adapt the synthesis and execution of collaborative processes following a user-centric approach. We leverage a manufacturing case study to show a possible deployment of the proposed framework in a real-world industrial scenario.
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Ballesteros, Joaquin, Francisco Pastor, Jesús M. Gómez-de-Gabriel, Juan M. Gandarias, Alfonso J. García-Cerezo, and Cristina Urdiales. "Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI." Sensors 20, no. 10 (May 18, 2020): 2863. http://dx.doi.org/10.3390/s20102863.
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In physical Human–Robot Interaction (pHRI), forces exerted by humans need to be estimated to accommodate robot commands to human constraints, preferences, and needs. This paper presents a method for the estimation of the interaction forces between a human and a robot using a gripper with proprioceptive sensing. Specifically, we measure forces exerted by a human limb grabbed by an underactuated gripper in a frontal plane using only the gripper’s own sensors. This is achieved via a regression method, trained with experimental data from the values of the phalanx angles and actuator signals. The proposed method is intended for adaptive shared control in limb manipulation. Although adding force sensors provides better performance, the results obtained are accurate enough for this application. This approach requires no additional hardware: it relies uniquely on the gripper motor feedback—current, position and torque—and joint angles. Also, it is computationally cheap, so processing times are low enough to allow continuous human-adapted pHRI for shared control.
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Fan, Jinlong, Yang Yue, Yu Wang, Bei Wan, Xudong Li, and Gengpai Hua. "A Continuous Gesture Segmentation and Recognition Method for Human-Robot Interaction." Journal of Physics: Conference Series 2213, no. 1 (March 1, 2022): 012039. http://dx.doi.org/10.1088/1742-6596/2213/1/012039.
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Abstract The process of human-computer cooperation using gesture recognition can make people get rid of the limitations of traditional input devices such as mouse and keyboard, and control artificial intelligence devices more efficiently and naturally. As a new way of human-robot interaction (HRI), gesture recognition has made some progress. There are many ways to realize gesture recognition combined with visual recognition, motion information acquisition and EMG signal. The research on isolated language gesture recognition has been quite mature, but the expression semantics of isolated gestures is single. In order to improve the interaction efficiency, the application of continuous gesture recognition is essential. This paper studies its application in continuous sign language sentence recognition based on inertial sensor and rule matching recognition algorithm. The recognition rate of nine single HRI gestures is 92.7%, and the HRI of combined gestures is realized.
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Ayoubi, Younsse, Med Laribi, Said Zeghloul, and Marc Arsicault. "V2SOM: A Novel Safety Mechanism Dedicated to a Cobot’s Rotary Joints." Robotics 8, no. 1 (March 6, 2019): 18. http://dx.doi.org/10.3390/robotics8010018.
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Unlike “classical” industrial robots, collaborative robots, known as cobots, implement a compliant behavior. Cobots ensure a safe force control in a physical interaction scenario within unknown environments. In this paper, we propose to make serial robots intrinsically compliant to guarantee safe physical human–robot interaction (pHRI), via our novel designed device called V2SOM, which stands for Variable Stiffness Safety-Oriented Mechanism. As its name indicates, V2SOM aims at making physical human–robot interaction safe, thanks to its two basic functioning modes—high stiffness mode and low stiffness mode. The first mode is employed for normal operational routines. In contrast, the low stiffness mode is suitable for the safe absorption of any potential blunt shock with a human. The transition between the two modes is continuous to maintain a good control of the V2SOM-based cobot in the case of a fast collision. V2SOM presents a high inertia decoupling capacity which is a necessary condition for safe pHRI without compromising the robot’s dynamic performances. Two safety criteria of pHRI were considered for performance evaluations, namely, the impact force (ImpF) criterion and the head injury criterion (HIC) for, respectively, the external and internal damage evaluation during blunt shocks.
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Try, Pieter, Steffen Schöllmann, Lukas Wöhle, and Marion Gebhard. "Visual Sensor Fusion Based Autonomous Robotic System for Assistive Drinking." Sensors 21, no. 16 (August 11, 2021): 5419. http://dx.doi.org/10.3390/s21165419.
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People with severe motor impairments like tetraplegia are restricted in activities of daily living (ADL) and are dependent on continuous human assistance. Assistive robots perform physical tasks in the context of ADLs to support people in need of assistance. In this work a sensor fusion algorithm and a robot control algorithm for localizing the user’s mouth and autonomously navigating a robot arm are proposed for the assistive drinking task. The sensor fusion algorithm is implemented in a visual tracking system which consists of a 2-D camera and a single point time-of-flight distance sensor. The sensor fusion algorithm utilizes computer vision to combine camera images and distance measurements to achieve reliable localization of the user’s mouth. The robot control algorithm uses visual servoing to navigate a robot-handled drinking cup to the mouth and establish physical contact with the lips. This system features an abort command that is triggered by turning the head and unambiguous tracking of multiple faces which enable safe human robot interaction. A study with nine able-bodied test subjects shows that the proposed system reliably localizes the mouth and is able to autonomously navigate the cup to establish physical contact with the mouth.
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Yamazaki, Yoichi, Masayuki Ishii, Takahiro Ito, and Takuya Hashimoto. "Frailty Care Robot for Elderly and its Application for Physical and Psychological Support." Journal of Advanced Computational Intelligence and Intelligent Informatics 25, no. 6 (November 20, 2021): 944–52. http://dx.doi.org/10.20965/jaciii.2021.p0944.
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To achieve continuous frail care in the daily lives of the elderly, we propose AHOBO, a frail care robot for the elderly at home. Two types of support systems by AHOBO were implemented to support the elderly in both physical health and psychological aspects. For physical health frailty care, we focused on blood pressure and developed a support system for blood pressure measurement with AHOBO. For psychological frailty care, we implemented reminiscent coloring with the AHOBO as a recreational activity with the robot. The usability of the system was evaluated based on the assumption of continuous use in daily life. For the support system in blood pressure measurement, we performed a qualitative evaluation using a questionnaire for 16 subjects, including elderly people under blood pressure measurement by the system. The results confirmed that the proposed robot does not affect the blood pressure readings and is acceptable in terms of ease of use based on subjective evaluation. For the reminiscent coloring interaction, subjective evaluation was conducted on two elderly people under the verbal fluency task, and it has been confirmed that the interaction can be used continuously in daily life. The widespread use of the proposed robot as an interface for AI that supports daily life will lead to a society in which AI robots support people from the cradle to the grave.
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Leib, Raz, Marta Russo, Andrea d’Avella, and Ilana Nisky. "A bang-bang control model predicts the triphasic muscles activity during hand reaching." Journal of Neurophysiology 124, no. 1 (July 1, 2020): 295–304. http://dx.doi.org/10.1152/jn.00132.2020.
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While ballistic hand reaching movements are characterized by smooth position and velocity signals, the activity of the muscles exhibits bursts and silent periods. Here, we propose that a model based on bang-bang control provides the link between the abrupt changes in the muscle activity and the smooth reaching trajectory. Using bang-bang control instead of continuous control may simplify the design of prostheses and other physical human-robot interaction systems.
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Santhanaraj, Karthik Kumar, Ramya M.M., and Dinakaran D. "A survey of assistive robots and systems for elderly care." Journal of Enabling Technologies 15, no. 1 (March 25, 2021): 66–72. http://dx.doi.org/10.1108/jet-10-2020-0043.
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Purpose The rousing phenomenon of the ageing population is becoming a vital issue and demanding fulminant actions. Population ageing is a resultant of the enhanced health-care system, groovy antibiotics, medications and economic well-being. Old age leads to copious amounts of ailments. Aged people, owing to their reduced mobility and enervating disabilities, tend to rely upon caretakers and/or nursing personnel. With the increasing vogue of nuclear families in the society, the elderly are at the risk of being unveiled to emotional, physical and fiscal insecurities in the years to come. Caring for those seniors will be an enormous undertaking. Design/methodology/approach There is a dire need for an intelligent assistive system to meet out the requirements of continuous holistic care and monitoring. Assistive robots and systems used for elderly care are studied. The design motivation for the robots, elderly–robot interaction capabilities and technology incorporated in the systems are examined meticulously. Findings From the survey, it is suggested that the subsystems of an assistive robot revamped for better human–machine interactions will be a potential alternative to the human counterpart. Affirmable advancements in the robot design and interaction methodologies that would increase the holistic care and assistance for aged people are analyzed and listed. Originality/value This paper reviews the available assistive technologies and suggests a synergistic model that can be adopted for the caring of the elderly.
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Della Santina, Cosimo, Robert K. Katzschmann, Antonio Bicchi, and Daniela Rus. "Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment." International Journal of Robotics Research 39, no. 4 (January 11, 2020): 490–513. http://dx.doi.org/10.1177/0278364919897292.
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Leveraging the elastic bodies of soft robots promises to enable the execution of dynamic motions as well as compliant and safe interaction with an unstructured environment. However, the exploitation of these abilities is constrained by the lack of appropriate control strategies. This work tackles for the first time the development of closed-loop dynamic controllers for a continuous soft robot. We present two architectures designed for dynamic trajectory tracking and surface following, respectively. Both controllers are designed to preserve the natural softness of the robot and adapt to interactions with an unstructured environment. The validity of the controllers is proven analytically within the hypotheses of the model. The controllers are evaluated through an extensive series of simulations, and through experiments on a physical soft robot capable of planar motions.
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Tsymbal, B., and P. Svirzhevskyi. "SAFETY LEVEL RESEARCH AND RISK ASSESSMENT OF PERSONAL CARE WORKS." Municipal economy of cities 1, no. 189 (April 2, 2025): 428–40. https://doi.org/10.33042/2522-1809-2025-1-189-428-440.
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This study investigates the safety levels and risk assessment of personal care robots, focusing on their interaction with users and potential hazards. The increasing use of autonomous robots in personal care, particularly for elderly individuals, presents significant safety concerns. Although these robots are designed to assist users in daily activities, they pose risks such as mechanical injuries, electrical malfunctions, and privacy violations. Additionally, ethical concerns regarding user dependency and psychological effects are becoming increasingly relevant. The research categorizes personal care robots into three groups: mobile servant robots, transportation robots, and physical assistant robots. A comprehensive analysis of accidents involving these robots has identified the most common hazards, including sensor malfunctions, unexpected movements, and collisions. Additionally, the study evaluates existing risk assessment methodologies, such as Model-Based Safety Engineering (MBSE), Model-Based Safety Analysis (MBSA), and fuzzy inference systems based on ISO 13482 safety standards. A systematic risk assessment method was developed, incorporating checklists, surveys, and a risk matrix to quantify hazard levels. The evaluation of three specific robots—Lio (a mobile assistant with a robotic arm), iARM (a robotic arm mounted on a wheelchair), and KAIST (a wearable exoskeleton robot)—demonstrated varying levels of risk, with significant dangers associated with mechanical force, power failures, and unintentional shutdowns. Special attention was given to risks associated with prolonged human-robot interactions, including potential psychological stress and ethical dilemmas regarding autonomy and decision-making in caregiving environments. Findings indicate that while some risks can be mitigated through design improvements, others require enhanced user awareness and regulatory measures. Key recommendations include improving sensor reliability, implementing emergency stop mechanisms, and enhancing user training programs. Additionally, manufacturers should incorporate advanced human-detection algorithms and collision avoidance technologies to minimize physical harm. Furthermore, ethical considerations, including the psychological impact of robot interactions and data security, are discussed in-depth, highlighting the need for strict guidelines in robot deployment. In conclusion, this study underscores the necessity of integrating robust safety measures into personal care robotics to prevent accidents and ensure user well-being. Future research should focus on refining risk assessment models, improving human-robot interaction protocols, and advancing safety regulations for personal care robots. The continuous evaluation and adaptation of safety protocols will be crucial in addressing emerging risks and ensuring the widespread acceptance of these robots in healthcare and personal assistance sectors.
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Kaichen, Ying, Chen chin-yin, and Wang Longxiang. "Fuzzy Q-Learning interaction controller design for collaborative robot." Cobot 1 (November 1, 2022): 21. http://dx.doi.org/10.12688/cobot.17595.1.
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Background: In physical human-robot interaction (pHRI), admittance control is widely used. The most critical thing in admittance control is the configuration of admittance parameters, but a constant admittance value can not meet the needs of interactive indicators smoothness especially. Variable admittance control is a method to overcome this limitation by adjusting the admittance value in real time. This paper proposes a fuzzy Q-learning (FQL) variable admittance control system, which integrates the fuzzy system (FIS) and reinforcement learning method Q-learning. Methods: FIS is used to turn a continuous input state into fuzzy set and Q-learning is used to train the premise strength of fuzzy rules to get the optimal policy of variable admittance value. To verify the performance of this method, an experiment was performed using an AUBO i5 robot. Training trajectory is point-to-point (PTP) trajectory, several interaction variables before and after training by the algorithm are compared to show the validity of algorithm. Results: Experimental results show that the reward converges to a smaller value in about 25 episodes, and the reward of the last five episodes reduces by 68%. The motion trajectory after algorithm training is closer to the ideal min-jerk trajectory and the deviation and mean value of interaction force become smaller. Conclusions: The proposed FQL method can converge in a few episodes and can improve the performance of pHRI by minimizing the jerk based cost function
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Wang, Fan, Xiongzi Li, and Jiahui Pan. "A Human-Machine Interface Based on an EOG and a Gyroscope for Humanoid Robot Control and Its Application to Home Services." Journal of Healthcare Engineering 2022 (March 19, 2022): 1–14. http://dx.doi.org/10.1155/2022/1650387.
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The human-machine interface (HMI) has been studied for robot teleoperation with the aim of empowering people who experience motor disabilities to increase their interaction with the physical environment. The challenge of an HMI for robot control is to rapidly, accurately, and sufficiently produce control commands. In this paper, an asynchronous HMI based on an electrooculogram (EOG) and a gyroscope is proposed using two self-paced and endogenous features, double blink and head rotation. By designing the multilevel graphical user interface (GUI), the user can rotate his head to move the cursor of the GUI and create a double blink to trigger the button in the interface. The proposed HMI is able to supply sufficient commands at the same time with high accuracy (ACC) and low response time (RT). In the trigger task of sixteen healthy subjects, the target was clicked from 20 options with ACC of 99.2% and RT 2.34 s. Furthermore, a continuous strategy that uses motion start and motion stop commands to create a certain robot motion is proposed to control a humanoid robot based on the HMI. It avoids the situation that combines some commands to achieve one motion or converts the certain motion to a command directly. In the home service experiment, all subjects operated a humanoid robot changing the state of a switch, grasping a key, and putting it into a box. The time ratio between HMI control and manual control was 1.22, and the number of commands ratio was 1.18. The results demonstrated that the continuous strategy and proposed HMI can improve performance in humanoid robot control.
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Sunl, Xianchun, Kui Cai, Bingjing Chen, Jingyu Zha, and Gang Zhou. "Application of Voice Recognition Interaction and Big Data Internet of Things in Urban Fire Fighting." International Journal of Mathematical Models and Methods in Applied Sciences 16 (May 13, 2022): 95–105. http://dx.doi.org/10.46300/9101.2022.16.17.
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With the continuous development of science and technology, especially computer technology, people need a more convenient and natural way to communicate with the machine. Language can provide people with convenient and efficient information, and speech recognition technology makes this convenience extended to the field of science and deep into human daily life. In this paper, based on human-computer speech recognition interaction system, using big data Internet of things as technical support, the contribution of intelligent social service robot to urban fire protection is studied. In this system, the user can control the action of the service robot through voice command, and the user can also realize voice interaction with the robot. Because of the continuous expansion of information technology and computer technology, human beings have entered the era of information overload, and big data technology has become a hot spot in people’s production and life. The integration of big data and Internet of things technology will make the intelligence of human society to a new level, and its development has unlimited possibilities in the future. In recent years, China’s urbanization process continues to accelerate, and the land price and house price of cities begin to rise rapidly. In order to meet people’s need, a large number of high-rise, super high-rise and underground buildings continue to increase, which not only provides us with convenience, but also makes fire safety a hot concern of the whole society. Fire fighting plays an increasingly important role in the life of urban residents. In order to greatly reduce the lack of fire safety monitoring ability, this paper uses speech recognition technology to design a city fire safety management service platform based on big data Internet of things.
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Wang, Jianmin, Yuxi Wang, Yujia Liu, Tianyang Yue, Chengji Wang, Weiguang Yang, Preben Hansen, and Fang You. "Experimental Study on Abstract Expression of Human-Robot Emotional Communication." Symmetry 13, no. 9 (September 14, 2021): 1693. http://dx.doi.org/10.3390/sym13091693.
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With the continuous development of intelligent product interaction technology, the facial expression design of virtual images on the interactive interface of intelligent products has become an important research topic. Based on the current research on facial expression design of existing intelligent products, we symmetrically mapped the PAD (pleasure–arousal–dominance) emotion value to the image design, explored the characteristics of abstract expressions and the principles of expression design, and evaluated them experimentally. In this study, the experiment of PAD scores was conducted on the emotion expression design of abstract expressions, and the data results were analyzed to iterate the expression design. The experimental results show that PAD values can effectively guide designers in expression design. Meanwhile, the efficiency and recognition accuracy of human communication with abstract expression design can be improved by facial auxiliary elements and eyebrows.
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Xia, Kang, Xianglei Chen, Xuedong Chang, Chongshuai Liu, Liwei Guo, Xiaobin Xu, Fangrui Lv, Yimin Wang, Han Sun, and Jianfang Zhou. "Hand Exoskeleton Design and Human–Machine Interaction Strategies for Rehabilitation." Bioengineering 9, no. 11 (November 11, 2022): 682. http://dx.doi.org/10.3390/bioengineering9110682.
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Stroke and related complications such as hemiplegia and disability create huge burdens for human society in the 21st century, which leads to a great need for rehabilitation and daily life assistance. To address this issue, continuous efforts are devoted in human–machine interaction (HMI) technology, which aims to capture and recognize users’ intentions and fulfil their needs via physical response. Based on the physiological structure of the human hand, a dimension-adjustable linkage-driven hand exoskeleton with 10 active degrees of freedom (DoFs) and 3 passive DoFs is proposed in this study, which grants high-level synergy with the human hand. Considering the weight of the adopted linkage design, the hand exoskeleton can be mounted on the existing up-limb exoskeleton system, which greatly diminishes the burden for users. Three rehabilitation/daily life assistance modes are developed (namely, robot-in-charge, therapist-in-charge, and patient-in-charge modes) to meet specific personal needs. To realize HMI, a thin-film force sensor matrix and Inertial Measurement Units (IMUs) are installed in both the hand exoskeleton and the corresponding controller. Outstanding sensor–machine synergy is confirmed by trigger rate evaluation, Kernel Density Estimation (KDE), and a confusion matrix. To recognize user intention, a genetic algorithm (GA) is applied to search for the optimal hyperparameters of a 1D Convolutional Neural Network (CNN), and the average intention-recognition accuracy for the eight actions/gestures examined reaches 97.1% (based on K-fold cross-validation). The hand exoskeleton system provides the possibility for people with limited exercise ability to conduct self-rehabilitation and complex daily activities.
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Wang, Haoyu. "LMPA Epidural Continuum Robot: A New Type of Programmable Stiffness and Environment Interaction Design." Applied and Computational Engineering 142, no. 1 (April 24, 2025): 208–13. https://doi.org/10.54254/2755-2721/2025.kl22305.
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With the continuous development of robotics, the adaptability and flexibility of robots in complex environments have become a research hotspot. In practical application, the robot needs to face the changeable terrain, load and dynamic interactive environment, which puts forward higher requirements for the physical performance of the robot. This paper presents a variable stiffness robot epidermis design scheme, aiming to realize the adaptive ability of the robot in different task scenarios through the stiffness regulation of the epidermis. This study first conducted an in-depth analysis of the mechanical properties, and properties of epidermis materials, and comprehensively considered the properties of materials. Based on this, a variable stiffness epidermis structure based on intelligent material is designed, which can dynamically adjust its stiffness according to the changes of the external environment, thus achieving a balance between softness and rigidity. To verify the feasibility of the design scheme, this study performed a systematic analysis of the performance of the epidermis structures under different loads by modeling simulations. The simulation results show that the epidermis structure can effectively adjust the stiffness under a variety of complex working conditions, showing good adaptability. The research results in this paper provide a new direction for the intelligent design of robot epidermis, with broad application prospects, and are expected to play an important role in the future of robot technology.
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Aliev, Khurshid, and Dario Antonelli. "Proposal of a Monitoring System for Collaborative Robots to Predict Outages and to Assess Reliability Factors Exploiting Machine Learning." Applied Sciences 11, no. 4 (February 10, 2021): 1621. http://dx.doi.org/10.3390/app11041621.
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Industry standards pertaining to Human-Robot Collaboration (HRC) impose strict safety requirements to protect human operators from danger. When a robot is equipped with dangerous tools, moves at a high speed or carries heavy loads, the current safety legislation requires the continuous on-line monitoring of the robot’s speed and a suitable separation distance from human workers. The present paper proposes to make a virtue out of necessity by extending the scope of on-line monitoring to predicting failures and safe stops. This has been done by implementing a platform, based on open access tools and technologies, to monitor the parameters of a robot during the execution of collaborative tasks. An automatic machine learning (ML) tool on the edge of the network can help to perform the on-line predictions of possible outages of collaborative robots, especially as a consequence of human-robot interactions. By exploiting the on-line monitoring system, it is possible to increase the reliability of collaborative work, by eliminating any unplanned downtimes during execution of the tasks, by maximising trust in safe interactions and by increasing the robot’s lifetime. The proposed framework demonstrates a data management technique in industrial robots considered as a physical cyber-system. Using an assembly case study, the parameters of a robot have been collected and fed to an automatic ML model in order to identify the most significant reliability factors and to predict the necessity of safe stops of the robot. Moreover, the data acquired from the case study have been used to monitor the manipulator’ joints; to predict cobot autonomy and to provide predictive maintenance notifications and alerts to the end-users and vendors.
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Wang, Ziheng, Michael Kasman, Marco Martinez, Robert Rege, Herbert Zeh, Daniel Scott, and Ann Majewicz Fey. "A Comparative Human-Centric Analysis of Virtual Reality and Dry Lab Training Tasks on the da Vinci Surgical Platform." Journal of Medical Robotics Research 04, no. 03n04 (September 2019): 1942007. http://dx.doi.org/10.1142/s2424905x19420078.
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There is a growing, widespread trend of adopting robot-assisted minimally invasive surgery (RMIS) in clinical care. Dry lab robot training and virtual reality simulation are commonly used to train surgical residents; however, it is unclear whether both types of training are equivalent or can be interchangeable and still achieve the same results in terms of training outcomes. In this paper, we take the first step in comparing the effects of physical and simulated surgical training tasks on human operator kinematics and physiological response to provide a richer understanding of exactly how the user interacts with the actual or simulated surgical robot. Four subjects, with expertise levels ranging from novice to expert surgeon, were recruited to perform three surgical tasks — Continuous Suture, Pick and Place, Tubes, with three repetitions — on two training platforms: (1) the da Vinci Si Skills Simulator and (2) da Vinci S robot, in a randomized order. We collected physiological response and kinematic movement data through body-worn sensors for a total of 72 individual experimental trials. A range of expertise was chosen for this experiment to wash out inherent differences based on expertise and only focus on inherent differences between the virtual reality and dry lab platforms. Our results show significant differences ([Formula: see text]-[Formula: see text]) between tasks done on the simulator and surgical robot. Specifically, robotic tasks resulted in significantly higher muscle activation and path length, and significantly lower economy of volume. The individual tasks also had significant differences in various kinematic and physiological metrics, leading to significant interaction effects between the task type and training platform. These results indicate that the presence of the robotic system may make surgical training tasks more difficult for the human operator. Thus, the potentially detrimental effects of virtual reality training alone are an important topic for future investigation.
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Javeed, Madiha, Munkhjargal Gochoo, Ahmad Jalal, and Kibum Kim. "HF-SPHR: Hybrid Features for Sustainable Physical Healthcare Pattern Recognition Using Deep Belief Networks." Sustainability 13, no. 4 (February 4, 2021): 1699. http://dx.doi.org/10.3390/su13041699.
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The daily life-log routines of elderly individuals are susceptible to numerous complications in their physical healthcare patterns. Some of these complications can cause injuries, followed by extensive and expensive recovery stages. It is important to identify physical healthcare patterns that can describe and convey the exact state of an individual’s physical health while they perform their daily life activities. In this paper, we propose a novel Sustainable Physical Healthcare Pattern Recognition (SPHR) approach using a hybrid features model that is capable of distinguishing multiple physical activities based on a multiple wearable sensors system. Initially, we acquired raw data from well-known datasets, i.e., mobile health and human gait databases comprised of multiple human activities. The proposed strategy includes data pre-processing, hybrid feature detection, and feature-to-feature fusion and reduction, followed by codebook generation and classification, which can recognize sustainable physical healthcare patterns. Feature-to-feature fusion unites the cues from all of the sensors, and Gaussian mixture models are used for the codebook generation. For the classification, we recommend deep belief networks with restricted Boltzmann machines for five hidden layers. Finally, the results are compared with state-of-the-art techniques in order to demonstrate significant improvements in accuracy for physical healthcare pattern recognition. The experiments show that the proposed architecture attained improved accuracy rates for both datasets, and that it represents a significant sustainable physical healthcare pattern recognition (SPHR) approach. The anticipated system has potential for use in human–machine interaction domains such as continuous movement recognition, pattern-based surveillance, mobility assistance, and robot control systems.
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Liu, Huaping, Di Guo, Fuchun Sun, Wuqiang Yang, Steve Furber, and Tengchen Sun. "Embodied tactile perception and learning." Brain Science Advances 6, no. 2 (June 2020): 132–58. http://dx.doi.org/10.26599/bsa.2020.9050012.
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Various living creatures exhibit embodiment intelligence, which is reflected by a collaborative interaction of the brain, body, and environment. The actual behavior of embodiment intelligence is generated by a continuous and dynamic interaction between a subject and the environment through information perception and physical manipulation. The physical interaction between a robot and the environment is the basis for realizing embodied perception and learning. Tactile information plays a critical role in this physical interaction process. It can be used to ensure safety, stability, and compliance, and can provide unique information that is difficult to capture using other perception modalities. However, due to the limitations of existing sensors and perception and learning methods, the development of robotic tactile research lags significantly behind other sensing modalities, such as vision and hearing, thereby seriously restricting the development of robotic embodiment intelligence. This paper presents the current challenges related to robotic tactile embodiment intelligence and reviews the theory and methods of robotic embodied tactile intelligence. Tactile perception and learning methods for embodiment intelligence can be designed based on the development of new large‐scale tactile array sensing devices, with the aim to make breakthroughs in the neuromorphic computing technology of tactile intelligence.
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Messinger, Daniel S., Emily B. Prince, Minzhang Zheng, Katherine Martin, Samantha G. Mitsven, Shengda Huang, Tanja Stölzel, et al. "Continuous measurement of dynamic classroom social interactions." International Journal of Behavioral Development 43, no. 3 (January 23, 2019): 263–70. http://dx.doi.org/10.1177/0165025418820708.
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Human observations can only capture a portion of ongoing classroom social activity, and are not ideal for understanding how children’s interactions are spatially structured. Here we demonstrate how social interaction can be investigated by modeling automated continuous measurements of children’s location and movement using a commercial system based on radio frequency identification. Continuous location data were obtained from 16 five-year-olds observed during three 1-h classroom free play observations. Illustrative coordinate mapping indicated that boys and girls tended to cluster in different physical locations in the classroom, but there was no suggestion of gender differences in children’s velocity (i.e., speed of movement). To detect social interaction, we present the radial distribution function, an index of when children were in social contact at greater than chance levels. Rank-order plots indicated that children were in social contact tens to hundreds of times more with some peers than others. We illustrate the use of social ties (higher than average levels of social contact) to visualize the classroom network. Analysis of the network suggests that transitivity is a potential lens through which to examine male, female, and mixed-sex cliques. The illustrative findings suggest the validity of the new measurement approach by re-examining well-established gender segregation findings from a new perspective.
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Zhuang, Qianzheng, Huan Wang, and Chuanqi Yan. "Research on user experience of button controls based on multi-modal interaction." Journal of Physics: Conference Series 2977, no. 1 (March 1, 2025): 012103. https://doi.org/10.1088/1742-6596/2977/1/012103.
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Abstract With the increasing research of multi-modal human-computer interaction technology in aircraft cockpits, the interaction process is developing in a more natural and convenient direction, but the application scenarios of multi-modal interaction are still in a state of continuous exploration. Aiming at the button controls in the human-computer interaction interface, this paper discussed the experience of using ordinary buttons and drop-down buttons in physical button interaction, touch interaction, eye movement interaction, hand-eye cooperation interaction, and gesture interaction, respectively. We conducted an experimental study on five ways of interaction, and collected 15 experts’ subjective satisfaction scores based on task completion and experience process. The results show that different interaction modes have a significant impact on the task completion time, and the task completion time is the fastest when using physical button interaction, touch interaction, and hand-eye collaborative interaction. Experts are most satisfied with physical button interaction and touch interaction in ordinary button interaction, and are most satisfied with hand-eye collaborative interaction in drop-down buttons. The scene of physical button interaction and touch interaction is more suitable for single-click tasks, and the scene of hand-eye collaborative interaction is more suitable for multi-level parameter setting tasks. The research results of this paper are helpful to the interactive function design of button controls.
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Sabbagh Novin, Roya, Amir Yazdani, Andrew Merryweather, and Tucker Hermans. "A model predictive approach for online mobile manipulation of non-holonomic objects using learned dynamics." International Journal of Robotics Research 40, no. 4-5 (February 15, 2021): 815–31. http://dx.doi.org/10.1177/0278364921992793.
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Assistive robots designed for physical interaction with objects will play an important role in assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior to safely using robots in real-life applications. In this article, we introduce a mobile manipulation framework based on model predictive control using learned dynamics models of objects. We focus on the specific problem of manipulating legged objects such as those commonly found in healthcare environments and personal dwellings (e.g., walkers, tables, chairs). We describe a probabilistic method for autonomous learning of an approximate dynamics model for these objects. In this method, we learn dynamic parameters using a small dataset consisting of force and motion data from interactions between the robot and object. Moreover, we account for multiple manipulation strategies by formulating manipulation planning as a mixed-integer convex optimization. The proposed framework considers the hybrid control system composed of (i) choosing which leg to grasp and (ii) control of continuous applied forces for manipulation. We formalize our algorithm based on model predictive control to compensate for modeling errors and find an optimal path to manipulate the object from one configuration to another. We present results for several objects with various wheel configurations. Simulation and physical experiments show that the obtained dynamics models are sufficiently accurate for safe and collision-free manipulation. When combined with the proposed manipulation planning algorithm, the robot successfully moves the object to the desired pose while avoiding any collision.
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Rusli, Nazreen, Hazlina Md Yusof, Zulkifli Zainal Abidin, Zulhafiz Zulkifli, Fadly Jashi Darsivan, Taufik Yunahar, and Mohd Hirzi Amiruddin. "Developing a Telepresence Robot for Autism Diagnosis." International Journal on Robotics, Automation and Sciences 7, no. 1 (March 31, 2025): 47–57. https://doi.org/10.33093/ijoras.2025.7.1.6.
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The global COVID-19 pandemic posed significant challenges to the healthcare industry in maintaining continuous operations while adhering to strict physical distancing protocols. Critical functions such as delivering meals to patients, supplying medical instruments, monitoring vital signs, assisting those with impaired mobility, and ensuring accurate disease diagnoses became increasingly difficult. As the world adapts to a post-pandemic reality, robots are expected to play a more prominent role by becoming more self-reliant, adaptable, and collaborative. In response to these evolving needs, the Centre for Unmanned Technologies (CUTe) at International Islamic University Malaysia (IIUM), in collaboration with Prostrain Technologies, developed the innovative medical robot called "Medibot". Medibot, a telepresence robot, presents a promising tool for observing children's true behaviours and interactions—essential for diagnosing Autism Spectrum Disorder (ASD). Equipped with a high-resolution camera, Medibot facilitates seamless video conferencing between children and experts, enabling detailed behavioural analysis during diagnostic sessions. The presence of parents beside the child enhances comfort, while the robot's non-intrusive character encourages natural responses and interactions. Compared to traditional human-led assessments, Medibot's presence is less intimidating, potentially leading to more accurate diagnoses. Medibot’s development is underpinned by a robust ROS-based software architecture, enabling autonomous navigation in complex hospital environments while avoiding static and dynamic obstacles with high operational consistency. Extensive testing has validated its mapping and navigation capabilities, ensuring smooth and predictable movements without human intervention, making the diagnostic process less intrusive and seamless. The incorporation of telepresence technology, primarily through a teleconferencing camera for live image streaming, represents a significant advancement in remote healthcare. With applications ranging from ASD diagnosis to broader medical monitoring, Medibot exemplifies the transformative potential of telepresence robotics in expanding access to specialized care and improving patient outcomes.
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Colgate, J. E. "Coupled Stability of Multiport Systems—Theory and Experiments." Journal of Dynamic Systems, Measurement, and Control 116, no. 3 (September 1, 1994): 419–28. http://dx.doi.org/10.1115/1.2899237.
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This paper presents both theoretical and experimental studies of the stability of dynamic interaction between a feedback controlled manipulator and a passive environment. Necessary and sufficient conditions for “coupled stability”—the stability of a linear, time-invariant n-port (e.g., a robot, linearized about an operating point) coupled to a passive, but otherwise arbitrary, environment—are presented. The problem of assessing coupled stability for a physical system (continuous time) with a discrete time controller is then addressed. It is demonstrated that such a system may exhibit the coupled stability property; however, analytical, or even inexpensive numerical conditions are difficult to obtain. Therefore, an approximate condition, based on easily computed multivariable Nyquist plots, is developed. This condition is used to analyze two controllers implemented on a two-link, direct drive robot. An impedance controller demonstrates that a feedback controlled manipulator may satisfy the coupled stability property. A LQG/LTR controller illustrates specific consequences of failure to meet the coupled stability criterion; it also illustrates how coupled instability may arise in the absence of force feedback. Two experimental procedures—measurement of endpoint admittance and interaction with springs and masses—are introduced and used to evaluate the above controllers. Theoretical and experimental results are compared.
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Wang, Chongyang, Yuan Gao, Akhil Mathur, Amanda C. De C. Williams, Nicholas D. Lane, and Nadia Bianchi-Berthouze. "Leveraging Activity Recognition to Enable Protective Behavior Detection in Continuous Data." Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 5, no. 2 (June 23, 2021): 1–27. http://dx.doi.org/10.1145/3463508.
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Protective behavior exhibited by people with chronic pain (CP) during physical activities is very informative to understanding their physical and emotional states. Existing automatic protective behavior detection (PBD) methods rely on pre-segmentation of activities predefined by users. However, in real life, people perform activities casually. Therefore, where those activities present difficulties for people with CP, technology-enabled support should be delivered continuously and automatically adapted to activity type and occurrence of protective behavior. Hence, to facilitate ubiquitous CP management, it becomes critical to enable accurate PBD over continuous data. In this paper, we propose to integrate human activity recognition (HAR) with PBD via a novel hierarchical HAR-PBD architecture comprising graph-convolution and long short-term memory (GC-LSTM) networks, and alleviate class imbalances using a class-balanced focal categorical cross-entropy (CFCC) loss. Through in-depth evaluation of the approach using a CP patients' dataset, we show that the leveraging of HAR, GC-LSTM networks, and CFCC loss leads to clear increase in PBD performance against the baseline (macro F1 score of 0.81 vs. 0.66 and precision-recall area-under-the-curve (PR-AUC) of 0.60 vs. 0.44). We conclude by discussing possible use cases of the hierarchical architecture in CP management and beyond. We also discuss current limitations and ways forward.
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Liu, Stephanie Q., Khadija Ali Vakeel, Nicholas A. Smith, Roya Sadat Alavipour, Chunhao(Victor) Wei, and Jochen Wirtz. "AI concierge in the customer journey: what is it and how can it add value to the customer?" Journal of Service Management 35, no. 6 (May 2, 2024): 136–58. http://dx.doi.org/10.1108/josm-12-2023-0523.
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PurposeAn AI concierge is a technologically advanced, intelligent and personalized assistant that is designated to an individual customer, proactively taking care of that customer’s needs throughout the service journey. This article envisions the idea of AI concierges and discusses how to leverage AI concierges in the customer journey.Design/methodology/approachThis article takes a conceptual approach and draws insights from literature in service management, marketing, psychology, human-computer interaction and ethics.FindingsThis article delineates the fundamental forms of AI concierges: dialog interface (no embodiment), virtual avatar (embodiment in the virtual world), holographic projection (projection in the physical world) and tangible service robot (embodiment in the physical world). Key attributes of AI concierges are the ability to exhibit semantic understanding of auditory and visual inputs, maintain an emotional connection with the customer, demonstrate proactivity in refining the customer’s experience and ensure omnipresence through continuous availability in various forms to attend to service throughout the customer journey. Furthermore, the article explores the multifaceted roles that AI concierges can play across the pre-encounter, encounter and post-encounter stages of the customer journey and explores the opportunities and challenges associated with AI concierges.Practical implicationsThis paper provides insights for professionals in hospitality, retail, travel, and healthcare on leveraging AI concierges to enhance the customer experience. By broadening AI concierge services, organizations can deliver personalized assistance and refined services across the entire customer journey.Originality/valueThis article is the first to introduce the concept of the AI concierge. It offers a novel perspective by defining AI concierges’ fundamental forms, key attributes and exploring their diverse roles in the customer journey. Additionally, it lays out a research agenda aimed at further advancing this domain.
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Syed Ali Fathima S. J. and Shankar S. "AR Using NUI Based Physical Therapy Rehabilitation Framework with Mobile Decision Support System." Journal of Global Information Management 26, no. 4 (October 2018): 36–51. http://dx.doi.org/10.4018/jgim.2018100103.
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This article describes how physical therapy rehabilitation promotes functional ability of the disabled people to improve quality of life using Range of Motion exercises. The conventional rehabilitation seems to be effective; however, the efficiency of the treatment sessions is not guaranteed resulting in longer recovery period. Thus, there is a need of self-motivating and engaging training solution to support rehabilitation and enhance continuous assessment of disabled patients. The proposed framework is “AR-NUI-REHAB-MDSS,” augmented reality (AR) using natural user interface (NUI) based physical therapy rehabilitation with personalized exercise rendering and monitoring system for patients and mobile decision support system (MDSS) for therapists leading to a global solution for remote assistance. NUI allows human computer interaction intuitively through human body gestures. AR provides an entertaining environment for treatments with less-assistance. MDSS enables therapist to customize treatment plans at dynamic environments. Upper limb is considered as its functional recovery is significant and more challenging.
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Roy, David M., Marilyn Panayi, Richard Foulds, Roman Erenshteyn, William S. Harwin, and Robert Fawcus. "The Enhancement of Interaction for People with Severe Speech and Physical Impairment through the Computer Recognition of Gesture and Manipulation." Presence: Teleoperators and Virtual Environments 3, no. 3 (January 1994): 227–35. http://dx.doi.org/10.1162/pres.1994.3.3.227.
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The research involves using drama and mime to elicit Intentional behaviors such as gesture and manipulation from people who cannot access a keyboard directly due to severe speech and physical impairment due to cerebral palsy. Although the resulting movements are often imprecise and idiosyncratic, attempts are being made to recognize them by computer. Sensors are being used to monitor continuous signals from the body. Feature extraction and classification techniques involving artificial neural networks are being developed to recognize intention. As part of an early intervention strategy, the system could create the opportunity for children with disabilities to learn through physical interaction and exploration. It is envisioned that the final system could be used to facilitate interaction with a selection of multisensory real and virtual worlds.
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Chang, Chun, Kaihua Chen, Jianjun Cao, Qian Wu, and Hemu Chen. "Analyzing the Effect of Badminton on Physical Health and Emotion Recognition on the account of Smart Sensors." Applied Bionics and Biomechanics 2022 (April 4, 2022): 1–13. http://dx.doi.org/10.1155/2022/8349448.
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Emotional ability is an important symbol of human intelligence. Human’s understanding of emotions, from subjective consciousness to continuous or discrete emotional dimensions, and then to physiological separability, has shown a trend of gradually diverging from psychological research to the field of intelligent human-computer interaction. This article is aimed at studying the effects of smart sensor-based emotion recognition technology and badminton on physical health. It proposes a method of using smart sensor technology to recognize badminton movements and emotions during the movement. And the impact of emotion recognition based on smart sensors and badminton sports on physical health is carried out in this article. Experimental results show that the emotion recognition technology based on smart sensors can well recognize the changes in people’s emotions during badminton sports, and the accuracy of emotion recognition is higher than 70%. At the same time, experiments show that badminton can greatly improve people’s physical fitness and strengthen people’s physique.
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Peralta, J. O., and M. T. C. de Peralta. "Security PIDS with physical sensors, real-time pattern recognition, and continuous patrol." IEEE Transactions on Systems, Man and Cybernetics, Part C (Applications and Reviews) 32, no. 4 (November 2002): 340–46. http://dx.doi.org/10.1109/tsmcc.2002.806069.
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Hasani, Ramin, Mathias Lechner, Alexander Amini, Lucas Liebenwein, Aaron Ray, Max Tschaikowski, Gerald Teschl, and Daniela Rus. "Closed-form continuous-time neural networks." Nature Machine Intelligence 4, no. 11 (November 15, 2022): 992–1003. http://dx.doi.org/10.1038/s42256-022-00556-7.
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AbstractContinuous-time neural networks are a class of machine learning systems that can tackle representation learning on spatiotemporal decision-making tasks. These models are typically represented by continuous differential equations. However, their expressive power when they are deployed on computers is bottlenecked by numerical differential equation solvers. This limitation has notably slowed down the scaling and understanding of numerous natural physical phenomena such as the dynamics of nervous systems. Ideally, we would circumvent this bottleneck by solving the given dynamical system in closed form. This is known to be intractable in general. Here, we show that it is possible to closely approximate the interaction between neurons and synapses—the building blocks of natural and artificial neural networks—constructed by liquid time-constant networks efficiently in closed form. To this end, we compute a tightly bounded approximation of the solution of an integral appearing in liquid time-constant dynamics that has had no known closed-form solution so far. This closed-form solution impacts the design of continuous-time and continuous-depth neural models. For instance, since time appears explicitly in closed form, the formulation relaxes the need for complex numerical solvers. Consequently, we obtain models that are between one and five orders of magnitude faster in training and inference compared with differential equation-based counterparts. More importantly, in contrast to ordinary differential equation-based continuous networks, closed-form networks can scale remarkably well compared with other deep learning instances. Lastly, as these models are derived from liquid networks, they show good performance in time-series modelling compared with advanced recurrent neural network models.
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Song, Yazhou, and Mohamad Nizam Mohamed Shapie. "IoT-Integrated System for Continuous Assessment of Elementary School Martial Arts Education with Automated Classifier." International Journal on Recent and Innovation Trends in Computing and Communication 11, no. 6 (July 30, 2023): 319–29. http://dx.doi.org/10.17762/ijritcc.v11i6.7720.
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The IoT system would facilitate the continuous assessment of students' martial arts development by tracking their progress over time. The integration of Internet of Things (IoT) technology in elementary school martial arts education has the potential to revolutionize the learning experience and promote holistic development. This paper proposed an IoT-integrated system for the assessment of elementary school martial arts education. The proposed architecture incorporates an Automated Ranking Parallel Classifier (ARPC) model. The proposed ARPC system incorporates physical health monitoring and assessment, providing real-time data on students' physical activity, heart rate, and other relevant health metrics. The IoT system enables continuous monitoring of students' physical activity, allowing instructors to track their progress, level of engagement, and effort. the system monitors students' physical health parameters, such as heart rate, respiration rate, and sleep patterns, enabling early detection of health issues and supporting overall well-being. The ARPC model comprises the ranking of the features in the IoT data with parallel data processing. With ARPC the activities of the students are monitored and martial arts education in elementary schools is examined. Simulation analysis stated that the ARPC model achieves a higher classification accuracy of 99.73% compared with the conventional state-of-art techniques.
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Amarjeet Singh, Et al. "Microservices Container Security Orchestration Framework within Kubernetes and Docker for Business-Critical Applications within Digital Transformation." International Journal on Recent and Innovation Trends in Computing and Communication 11, no. 3 (March 31, 2023): 332–36. http://dx.doi.org/10.17762/ijritcc.v11i3.9863.
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Container virtualization technology facilitates the creation of microservices-based systems through continuous integration. Container-based apps can be deployed more easily when they use orchestration systems like Kubernetes, which has become the de facto standard. It can be difficult to create effective and precise orchestration systems, nevertheless. The scheduler, a crucial orchestrator task that allocates physical resources to containers, is the subject of this article. Scheduling strategies are developed using several Quality-of-Service metrics. The CI in CI/CD stands for continuous integration. Continuous integration drives the automation in the development and delivery of the code and developers frequently apply code changes. It’s an automated process that allows multiple developers to contribute software components to the same project without integration conflicts. CI also triggers the process of testing the applications automatically upon code commit into the repository. Container virtualization technology facilitates the creation of microservices-based systems through continuous integration. Container-based apps can be deployed more easily when they use orchestration systems like Kubernetes, which has become the de facto standard. It can be difficult to create effective and precise orchestration systems, nevertheless. The scheduler, a crucial orchestrator task that allocates physical resources to containers, is the subject of this article. Scheduling strategies are developed using several Quality of Service metrics.
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Efthimiadou, Euphrosyne. "Hot and Cold Cognition in Hybrid Communication." Frontiers in Education Technology 4, no. 3 (June 30, 2021): p1. http://dx.doi.org/10.22158/fet.v4n3p1.
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In the socioprofessional as well as the educational context, hybrid communication has experienced an explosion and exerted strong influence not only on our psychic but also on our physical existence. In this context, cybernetics makes it possible to exploit the mechanism of control and interaction among people in continuous motion. With the integration of digital media in all aspects of human life, the exchange of digital data is continuously spreading without neglecting that these new modes of communication and collaboration can also determine our senses as well as our behavior by exerting influence not only on our perceptions and thoughts but also on our mentality. On the other hand, human capacities linked to psychomotor factors make it possible to cultivate critical thinking, sense of responsibility and cooperation. However, the risk of disturbances could lead to a gap of psychomotor investment. Above all, it is necessary to take into account social cognition and the role of memory in online interactions and learning techniques with the uses of computer systems, because the memorization of actual experiences becomes profound, if we perceive each situation in a state of strong emotional involvement.
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Gao, Xuerui, Miao Sun, Yong Zhao, Pute Wu, Shan Jiang, and La Zhuo. "The Cognitive Framework of the Interaction between the Physical and Virtual Water and the Strategies for Sustainable Coupling Management." Sustainability 11, no. 9 (May 3, 2019): 2567. http://dx.doi.org/10.3390/su11092567.
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In the context of a changing environment and economic globalization, the evolution of regional hydrology and water resources systems has undergone profound changes. It is not enough to rely on traditional physical water resources planning, scheduling, and regulation methods to solve problems such as water shortages and imbalances in the water cycle associated with rapid economic development. The theory of virtual water expands the cognitive scope of hydrology and water resources and enriches the solutions to water problems. However, the academic community has not yet reached a consensus on how to build a unified framework of the virtual water theory and traditional hydrology and water resources recognition system, how to understand the new laws of water resources evolution in the natural–economic continuous system, and then how to realize efficient and sustainable usage of water resources through physical water–virtual water integrated management. This paper proposes a basic cognitive model of coupling of physical water–virtual water and discusses the evolution of hydrology and water resources in a natural–economic system, presenting the laws of the coupled flow of physical water–virtual water in natural systems and human economic systems. A quantitative expression equation is proposed for the flow process, and a basic theoretical framework for the coupled flow of physical water–virtual water is preliminarily constructed. At the end of the paper, the basic strategy for the regulation of a physical water–virtual water integrated management system is proposed, which provides a new perspective for the efficient and sustainable use of global water resources in a changing environment.
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Horváth, László, and Imre J. Rudas. "Intelligent Human-Computer Communication of Engineers at Extended Companies." Journal of Advanced Computational Intelligence and Intelligent Informatics 10, no. 4 (July 20, 2006): 510–16. http://dx.doi.org/10.20965/jaciii.2006.p0510.
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During the past decades, prevailing method of engineering changed from manual drawing to computer modeling. By now, capabilities of modeling and analysis in virtual engineering systems give better results and more quickly than expensive physical prototypes. The next step in advancement of engineering is development of modeling systems for utilization of intelligent computing. The authors propose in this paper a methodology for intelligent communication and change management for engineering modeling. They were motivated by increasing of importance of change management because of continuous product development and high number of custom tailored product variants. Configuration and open architecture features of engineering modeling, portal management, and product data management (PDM) systems are available for implementation of the proposed modeling in the form of an extension to complex industrial engineering system. In this paper, the authors first give a general schema of advanced engineering activities and define role and place of the proposed modeling. Following this, modeling by behavior, adaptivity and design intent descriptions are explained as an integrated method to enhance intelligence of shape centered models. Next computer assisted activity of an active engineer, and procedure of change processing at decision on change information are detailed. Finally, flexible and controlled definition of characteristics of modeled engineering objects and behaviors are emphasized and discussed.
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Safitri, Novi, and F. Furqon. "PENGELOLAAN LINGKUNGAN KELAS DALAM MENCAPAI HASIL BELAJAR SISWA PADA MATA PELAJARAN EKONOMI." Jurnal MANAJERIAL 17, no. 1 (January 29, 2018): 124. http://dx.doi.org/10.17509/manajerial.v17i1.9781.
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Behavioristic learning theory states that student learning outcomes are determined by the content of learning and environmental influences. One factor is the classroom environment, the comfortable classroom environment allows students to concentrate. Students spend more time in class than in other school environments. Education in economic subjects is a lifelong learning process, which is beneficial to life. Economic subjects discuss the basic economic concepts that are directly related to everyday life. The main objective of economic subjects is to prepare students with the knowledge necessary to understand the world and make better choices and prepare them to serve as economic actors in the future. The classroom environment on economic subjects will be connected to the teaching and learning process, including the physical and non-physical environments. Learning theory from Albert Bandura known as Social Learning Theory (social learning theory) with the main concept of reciprocal determination, states that there is a constant interaction between environment, behavior and people that influence the learning process that will ultimately affect the learning outcomes obtained. So it can be said that human behavior is the result of continuous interaction between internal factors (behavior, people) and external (environment).
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Gruevski, Kristina M., Joanne N. Hodder, and Peter J. Keir. "Upper Extremity Muscle Activity During In-Phase and Anti-Phase Continuous Pushing Tasks." Human Factors: The Journal of the Human Factors and Ergonomics Society 59, no. 7 (June 12, 2017): 1066–77. http://dx.doi.org/10.1177/0018720817714367.
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Objective: To determine the effect of anti-phase, in-phase bimanual and unimanual simulated industrial pushing tasks and frequency on upper extremity muscle activity. Background: Research investigating symmetrical (in-phase) and asymmetrical (anti-phase) pushing exertions is limited despite a high prevalence in industry. Methods: Fifteen female participants completed five pushing tasks using a dual handle apparatus at three frequencies: 15 cycles per minute (cpm), 30 cpm, and self-selected. Tasks included two bimanual symmetrical pushes (constrained and unconstrained), two bimanual asymmetrical pushes (reciprocating and continuous), and one right unimanual push. Surface electromyography (EMG) from the right anterior, middle, and posterior deltoid (AD, MD, and PD); right and left trapezius (RT and LT); right pectoralis major (PM); and right and left external obliques (REO and LEO) was collected and normalized to maximum voluntary effort. Results: There was a task by frequency interaction in the AD, MD, PD, and RT ( p < .005), where activity in AD, MD, and PD was highest in the continuous task at 15 cpm, but activity was similar across task in 30 cpm and self-selected. Muscle activity coefficient of variation was lowest during continuous task across all frequencies. Conclusion: Continuous, anti-phase pushes and constrained, in-phase pushes had the highest muscle activity demands and the least amount of variability in muscle activity and therefore may present the greatest risk of injury. Application: Anti-phase pushing is known to have a greater cognitive demand, and this study demonstrated that it also has a greater physical demand when performed continuously.
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Cantone, Andrea Antonio, Mariarosaria Esposito, Francesca Pia Perillo, Marco Romano, Monica Sebillo, and Giuliana Vitiello. "Enhancing Elderly Health Monitoring: Achieving Autonomous and Secure Living through the Integration of Artificial Intelligence, Autonomous Robots, and Sensors." Electronics 12, no. 18 (September 17, 2023): 3918. http://dx.doi.org/10.3390/electronics12183918.
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The use of robots in elderly care represents a dynamic field of study aimed at meeting the growing demand for home-based health care services. This article examines the application of robots in elderly home care and contributes to the literature by introducing a comprehensive and functional architecture within the realm of theInternet of Robotic Things (IoRT). This architecture amalgamates robots, sensors, and Artificial Intelligence (AI) to monitor the health status of the elderly. This study presented a four-actor system comprising a stationary humanoid robot, elderly individuals, medical personnel, and caregivers. This system enables continuous monitoring of the physical and emotional well-being of the elderly through specific sensors that measure vital signs, with real-time updates relayed to physicians and assistants, thereby ensuring timely and appropriate care. Our research endeavors to develop a fully integrated architecture that seamlessly integrates robots, sensors, and AI, enabling comprehensive care for elderly individuals in the comfort of their homes, thus reducing their reliance on institutional hospitalization. In particular, the methodology used was based on a user-centered approach involving geriatricians from the outset. This has been of fundamental importance in assessing their receptivity to the adoption of an intelligent information system, and above all, in understanding the issues most relevant to the elderly. The humanoid robot is specifically designed for close interaction with the elderly, capturing vital signs, emotional states, and cognitive conditions while providing assistance in daily routines and alerting family members and physicians to anomalies. Furthermore, communication was facilitated through an external Telegram bot. To predict the health status of the elderly, a machine learning model based on the Modified Early Warning Score (MEWS), a medical scoring scale, was developed. Five key lessons emerged from the study, showing how the system presented can provide valuable support to physicians, caregivers, and older people.
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Filipchuk, N., and Z. Udych. "SOCIAL ASPECT OF MUSEUM-EDUCATIONAL INTERACTION." Aesthetics and Ethics of Pedagogical Action, no. 23 (August 4, 2021): 27–42. http://dx.doi.org/10.33989/2226-4051.2021.23.238221.
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The review article describes the social aspect of museum-educational interaction. It turns out that a museum is a unique place where an essential social model of ‘lifelong learning’ can be successfully implemented. It has been found that since the modern understanding of education as a process throughout life is associated with a person’s continuous personal development; the introduction of this concept in the museum space of culture is an obvious and natural phenomenon. In the museum, through studying and learning experience, the adaptation of the individual to the social and natural environment occurs using knowledge of past and present human existence. It has been found that museum pedagogy, as well as the learning process itself, should be considered in the context of its purpose, to apply its inherent methods, tools, technologies to all age groups, differing in education, social status, motivational interests, and more. It is substantiated that the use of the potential of museum institutions is expedient in the conditions of inclusion.
The authors prove that it is necessary to start implementing inclusion in the museum with special training of employees, which provides for the formation of values, sustainable and positive motivation to interact with people with disabilities, inclusive competence to interact with people with different communicative, intellectual, physical, sensory opportunities and persons accompanying them (assistants, parents, sign language
interpreters, etc.). Such training can be provided by inclusive education support centers, inclusive resource centers, advanced training centers, specialists working in inclusive education, etc. Excursion as a form of guided museum visit in an inclusive museum corresponds to the principle of accessibility, which involves not only providing verbal information but also involving all other senses of the visitor: tactile in combination with auditory, providing the ability to feel the vibration of the object, texture, material, etc.
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Baranov, L. I. "Digital twins in the information space as a reflection of a person." Journal of Digital Economy Research 1, no. 3 (November 30, 2023): 38–52. http://dx.doi.org/10.24833/14511791-2023-3-38-52.
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The article considers the phenomenon of the influence of information and communication technologies on human life and the growth of the scale of this influence in the modern era, characterized by the ubiquity of the Internet. The research proves that the growth in the number of Internet users, intensification of human immersion in the network, improvement of Internet technologies, have led to significant changes in social life. The development of electronic services and provision of roundthe-clock access to them have led to a significant increase in online sales of almost all types of everyday goods. In addition, the continuous improvement of electronic devices with a wide range of opportunities for users has led to a qualitative development of the infrastructure of interaction with the Internet. Under these conditions, the information space forms conditions and opportunities for the creation and preservation of digital doubles of a human, partially or fully reflecting his or her physical and personal characteristics. As technologies develop, these digital doubles can become more independent and closer to their originals not only in the information space, but also in the physical world. In this regard, the author notes the threats of such development and argues for the need to carefully analyze the possible consequences of the widespread use of digital doubles in order to ensure that their development is for the benefit of human beings.
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Li, Junjun, Jin Wang, and Xun Li. "Heritage Value Assessment and Landscape Preservation of Traditional Chinese Villages Based on the Daily Lives of Local Residents: A Study of Tangfang Village in China and the UNESCO HUL Approach." Land 13, no. 9 (September 22, 2024): 1535. http://dx.doi.org/10.3390/land13091535.
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Traditional Chinese villages, recognized as national heritage sites, are invaluable cultural assets. Since 2012, efforts have focused on their preservation, though issues remain such as prioritizing authenticity over usability and material over cultural elements. This paper adopts the Historic Urban Landscape (HUL) approach, emphasizing the integration of physical heritage with daily life to shift value assessment. The fundamental argument of this paper is that the HUL method can serve as a new tool for preserving the historical heritage and landscape of rural areas, particularly in the context of assessing and formulating preservation frameworks for traditional Chinese villages. Through the case study of Tangfang village’s new conservation plan, the research demonstrates that the value of traditional villages lies in the continuous interaction between daily activities and physical space, including landscape, functional, and spiritual dimensions. The study concludes that a preservation framework based on local residents’ daily lives ensures more effective heritage conservation and landscape preservation by addressing both material and human values.
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Alsaeedi, Nassr, and Albert Zündorf. "Composite Spatial Manipulation Framework for Redirected Walking." Computers 11, no. 11 (October 31, 2022): 156. http://dx.doi.org/10.3390/computers11110156.
Full textAbstract:
In this study, we present a composite spatial manipulation framework for the redirected walking technique. The proposed framework focuses on utilizing two different approaches simultaneously to manipulate the user’s position and orientation in the physical space, aiming to substantially improve their redirection in a confined physical space and reduce the special requirements for the RDW technique. Each approach utilizes different perceptual processes. The first is a discrete spatial manipulation approach that introduces translation and/or rotation gains to the user’s virtual perspective in the immersive virtual environment (IVE) during temporal events such as eyeblinks. The second approach is the continuous spatial manipulation approach, which continuously introduces (with each frame) translation and/or rotation gains below the user’s perception threshold to their virtual perspective in the IVE. Two simulation experiments were conducted to investigate the feasibility of adopting the composite spatial manipulation framework for RDW without considering the user’s walking behavior or the impact of the proposed approach on user performance in the immersive virtual environment. In the second simulation experiment we aimed to investigate the performance of the proposed approach while considering the user’s walking behavior and performance in the IVE. Finally, a user experiment was conducted to validate the proposed framework and its impact on the user’s performance in the IVE. The findings revealed a significant improvement in the redirection performance of the proposed controller when it was compared to the classical RDW controller. Additionally, there was significant improvement in the user’s performance when the composite RDW controller was utilized.
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Rodriguez, Andres. "Sketching enactive interactions." Journal of Computer Science and Technology 20, no. 2 (October 29, 2020): e13. http://dx.doi.org/10.24215/16666038.20.e13.
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The continuous development of interactive technologies and the greater understanding of body importance in cognitive processes has driven HCI research, specifically on interaction design, to solve the user’s relationship with a multitude of beyond desktop devices. This has opened new challenges for having processes, methods and tools to achieve appropriate user experiences. Insofar as new devices and systems involve the body and social aspects of the human being, the consideration of paradigms, theories and support models that exceed the selection of navigation nodes and the appropriate visual organization of widgets and screens becomes more relevant. The interaction design must take care not only to get the product built properly but also to build the right product. This thesis is at the crossroads of three themes: the design of interactive systems that combine a foot in the digital and one in the physical, the theories of embodied and enactive cognition and the creative practices supported by sketching, in particular the processes of generation, evaluation and communication of interaction design ideas. This work includes contributions of different character. An in-depth study of the theories on embodied and enactive cognition, the design of interaction with digital devices and sketching as a basic tool of creative design is carried out. Based on this analysis of the existing literature and with a characterization of the enactive practice of enactive interactions based on ethnomethodological studies, a framework is proposed to conceptually organize this practice and a support tool for that activity conceived as a creative composition. The contributions are discussed, and possible lines of future work are considered.
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Orstad, Stephanie L., Lauren Gerchow, Nikhil R. Patel, Meghana Reddy, Christina Hernandez, Dawn K. Wilson, and Melanie Jay. "Defining Valid Activity Monitor Data: A Multimethod Analysis of Weight-Loss Intervention Participants’ Barriers to Wear and First 100 Days of Physical Activity." Informatics 8, no. 2 (June 6, 2021): 39. http://dx.doi.org/10.3390/informatics8020039.
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Despite the popularity of commercially available wearable activity monitors (WAMs), there is a paucity of consistent methodology for analyzing large amounts of accelerometer data from these devices. This multimethod study aimed to inform appropriate Fitbit wear thresholds for physical activity (PA) outcomes assessment in a sample of 616 low-income, majority Latina patients with obesity enrolled in a behavioral weight-loss intervention. Secondly, this study aimed to understand intervention participants’ barriers to Fitbit use. We applied a heart rate (HR) criterion (≥10 h/day) and a step count (SC) criterion (≥1000 steps/day) to 100 days of continuous activity monitor data. We examined the prevalence of valid wear and PA outcomes between analytic subgroups of participants who met the HR criterion, SC criterion, or both. We undertook qualitative analysis of research staff notes and participant interviews to explore barriers to valid Fitbit data collection. Overall, one in three participants did not meet the SC criterion for valid wear in Weeks 1 and 13; however, we found the SC criterion to be more inclusive of participants who did not use a smartphone than the HR criterion. Older age, higher body mass index (BMI), barriers to smartphone use, device storage issues, and negative emotional responses to WAM-based self-monitoring may predict higher proportions of invalid WAM data in weight-loss intervention research.
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DINA, Maria-Miana, and Cornelia RADA. "TRAFFICKING IN WOMEN AND PROSTITUTION – LEGISLATIVE MODELS, INSTITUTIONAL PRACTICES AND RISK FACTORS." ANTHROPOLOGICAL RESEARCHES AND STUDIES 14, no. 1 (2024): 219–35. http://dx.doi.org/10.26758/14.1.16.
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Objective. The objective was to analyze the impact of institutional practices on the physical and mental health of women victims of human trafficking and prostitution, as well as to highlight the main risk factors for them. Material and methods. By using several databases, the number of studies included in this meta-analysis was 25. Scientific articles, doctoral theses, dissertations, presentations at conferences, book chapters, or reports were taken into account. There were longitudinal or cross-sectional studies. The meta-analysis totaled 455,406 subjects, the heterogeneity being a significant one (Q = 5062,288, df = 24, p = 0.000), and we increase the average effect, 38% of the variance of the results being due to the studied variables (95%: 1.08 % – 0.31%). Results. The hostile attitude of the authorities towards sex workers and the refusal to offer protection were identified as the most widespread consequences of institutional practices. Other consequences that arise as a result of the direct interaction of sex workers with the authorities are risky behaviors such as drug use, violent sexual acts, or discontinuation of drug treatment. The key risk factors for women in this category are psychological difficulties, gender and economic inequalities and an inadequate sexual history. Conclusions. There is a continuous interaction between the legislative model, institutional practices, and the physical and mental health of sex workers. Awareness and understanding of the problems that these women face when they practice prostitution would facilitate the improvement of the management capacity of this phenomenon. Keywords: prostitution, human trafficking, legislative model, risk.
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Purwanto, Gatot Hadi, and Hakim Ajhar. "Islamic Law on Trading Using Virtual Reality-Based Metaverse." Al-Insyiroh: Jurnal Studi Keislaman 9, no. 1 (March 30, 2023): 126–42. http://dx.doi.org/10.35309/alinsyiroh.v9i1.228.
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Islam has given limitations in all human activities in the Qur'an. Islam regulates correct trade procedures such as the fulfillment of legal trade conditions, which include sellers, buyers, goods and agreements. The development of information technology provides major changes to the types and procedures of trade, such as through electronic media (online), or known as the metaverse. Trading in metaverse makes use of a post-reality universe, a continuous and systematic multi-user environment combining physical reality with digital virtuality. Trading in the metaverse requires a medium of interaction between sellers and buyers, one of which is Virtual Reality (VR). Virtual Reality (VR) is a technology allowing users to interact with a computer-simulated environment in the form of an artificial environment or an imaginative environment. In addition to using media for interaction, trading in the metaverse also requires a special currency which can be in the form of crypto coins such as Exie Infinity (AXS), Decentraland (MANA), Sumnium Space (CUBE) obtained from the exchange of real rupiah money into electronic money in the form of crypto coins
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Purwanto, Gatot Hadi, and Hakim Ajhar. "Islamic Law on Trading Using Virtual Reality-Based Metaverse." Al-Insyiroh: Jurnal Studi Keislaman 9, no. 1 (March 26, 2023): 126–42. http://dx.doi.org/10.35309/alinsyiroh.v9i1.5996.
Full textAbstract:
Islam has given limitations in all human activities in the Qur'an. Islam regulates correct trade procedures such as the fulfillment of legal trade conditions, which include sellers, buyers, goods and agreements. The development of information technology provides major changes to the types and procedures of trade, such as through electronic media (online), or known as the metaverse. Trading in metaverse makes use of a post-reality universe, a continuous and systematic multi-user environment combining physical reality with digital virtuality. Trading in the metaverse requires a medium of interaction between sellers and buyers, one of which is Virtual Reality (VR). Virtual Reality (VR) is a technology allowing users to interact with a computer-simulated environment in the form of an artificial environment or an imaginative environment. In addition to using media for interaction, trading in the metaverse also requires a special currency which can be in the form of crypto coins such as Exie Infinity (AXS), Decentraland (MANA), Sumnium Space (CUBE) obtained from the exchange of real rupiah money into electronic money in the form of crypto coins