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Few general dentists feel comfortable treating very young children 0-5-years old due to inadequate training and exposure. Over the past few years, there is an increasing demand on providers to be culturally competent and meet the health needs of the culturally diverse population. OBJECTIVE: Assess the gained knowledge, perception and confidence in providing clinical dental care to vulnerable populations, pregnant adolescents and to very young children 0-5-years old following the enhancement of the predoctoral pediatric dental curriculum and training which was aimed to prepare future practitioners to be culturally competent in providing pediatric dental care to the current culturally diverse population. METHODS: This is a retrospective cross-sectional analysis conducted among the predoctoral students including the Doctor of Dental Medicine-(DMD) and Advanced Standing-(AS) who underwent pediatric dental training between 2017-2022 at Boston University Henry M. Goldman School of Dental Medicine, Boston, Massachusetts. Predoctoral students participated in the pre/post training surveys of the implemented didactic training program in cultural competency and oral health literacy lectures. The students completed questionnaires on their knowledge and confidence level on treating children 0-5-years old following the novel simulation scenario discussion after the Haptic simulator training and following clinical training in the pediatric dental clinic. Descriptive statistics were calculated, univariate and multivariate analysis were used to analyze the differences in the level of knowledge gained by program type, year of training and demographic characteristics such as age and gender. Statistical significance was set at p-value<0.05. RESULTS: The cultural competency training improved the students’ knowledge and perception. DMD-students performed better to have a higher level of knowledge in the post training survey compared to AS-students (OR=4.724;p<0.001). Based on the post training questionnaires, the haptic simulator session and novel simulation scenarios increased the students’ knowledge and confidence to treat pediatric patients. Student’s confidence to treat children 0-5-years and pregnant adolescents improved after completing the trainings. CONCLUSION: The new enhanced training program increased the predoctoral students’ knowledge and confidence to treat children 0-5-years. This can be beneficial when used in dental departments to support predoctoral graduates to be culturally competent who can be better prepared to manage the diverse population.

A stressful society with a deficiency of attention has led to a growing demand for meditation techniques. One meditation technique is mindfulness, which is a tool used to reduce stress, intensify body awareness and to help us be more present. However, as mindfulness requires extensive training and dedication, many beginners may decide to quit practicing in the initial phase and may risk not ever experiencing the benefits of body awareness. Previous studies indicate that technology is often blamed for the deficiency of attention. Therefore, this study addresses the possibilities to design technology for sustained attention. More precisely, the study aims to investigate what potential possibilities wearable haptic technology has in enabling body awareness in body scan meditation in mindfulness. It also aims to explore how beginners in mindfulness experience the use of wearable haptic technology in body scan meditation. The study explores these problems by combining research through design and action research, with three phases of iteration, resulting in the design, implementation and evaluation of the wearable prototype HeatCue with haptic thermal feedback. The study implies that HeatCue provides an intimate, subtle and skin-close interaction, suitable for the context of body scan mediation. The results indicate that wearable haptic technology with thermal feedback holds the possibility to enable body awareness in body scan meditation through acting as a reminder for the body part where the feedback is applied, a reference for the rest of the body as well as encouragement. Furthermore, the study shows that wearable haptic technology is beneficial in evoking emotions and interest. The study also indicates some key aspects when designing for body awareness, namely; subtlety and interplay of the feedback, a secluded environment and an understanding that each individual is different. The study contributes to a deeper understanding of designing for body awareness and to new knowledge in the field of wearable haptic technology with thermal feedback and techno-spirituality in human-computer interaction

<p>In this thesis, a human-in-the-loop control system is presented to assist an operator in teleoperation of a mobile robot. In a conventional teleoperation paradigm, the human operator would directly navigate the robot without any assistance which may result in poor performance in complex and unknown task environments due to inadequacy of visual feedback. The proposed method in this thesis builds on an earlier general control framework that systematically combines teleoperation and autonomous control subtasks. In this approach, the operator controls the mobile robot (slave) using a force-feedback haptic interface (master). Teleoperation control commands coordinate master and slave robots while an autonomous control subtask helps the operator avoid collisions with obstacles in the robot task environment by providing corrective force feedback. The autonomous collision avoidance is based on a Model Predictive Control (MPC) philosophy. The autonomous subtask control commands are generated by formulating and solving a constrained optimization problem over a rolling horizon window of time into the future using system models to predict the operator force and robot motion. The goal of the optimization is to prevent collisions within the prediction horizon by applying corrective force feedback, while minimizing interference with the operator teleoperation actions. It is assumed that the obstacles are stationary and sonar sensors mounted on the mobile robot measure the obstacle distances relative to the robot. Two formulation of MPC-based collision avoidance are proposed. The first formulation directly incorporates raw observation points as constraints in the MPC optimization problem. The second formulation relies on a line segment representation of the task environment. This thesis employs the well-known Hough transform method to effectively transform the raw sensor data into line segments. The extracted line segments constitute a compact model for the environment that is used in the formulation of collision constraints. The effectiveness of the proposed model-predictive control obstacle avoidance schemes is demonstrated in teleoperation experiments where the master robot is a 3DOF haptic interface and the slave is a P3-DX mobile robot equipped with eight (8) sonar sensors at the front.</p> / Master of Applied Science (MASc)

Entrainment is the rhythmic coordination of movement with a signal or other person. Most studies on entrainment have looked at synchronization with auditory or visual signals, whereas much less is known about how entrainment emerges mutually between individuals, especially when they are in physical contact with one another. In this dissertation, I empirically explored dance partnering as an ecological model for understanding interpersonal entrainment through haptic interaction. I began by performing a statistical meta-analysis of functional neuroimaging articles devoted to the most common experimental paradigm for entrainment, namely externally-paced finger tapping to an acoustic rhythmic stimulus (Chapter 2). The results showed that the cerebellar vermis was a strong neural marker of entrainment, as it was more activated by externally-paced tapping than by self-paced tapping, whereas the basal ganglia was activated by both types of rhythmic movements. Next, I used functional magnetic resonance imaging (fMRI) with a group of participants trained at couple dancing in order to explore the neural basis of haptic mutual entrainment, with a focus on the dynamics of leading and following (Chapter 3). While mutual interaction overall engaged brain networks involved in somatosensation, internal-body sensation and social cognition, leading showed enhanced activity principally in areas for motor control and self-initiated action, whereas following showed enhanced activity mainly in sensory and social-cognition areas. Finally, I used 3D motion capture to explore multisensory coupling for mutual entrainment at the group level during folk dancing (Chapter 4). The results showed that dancers relied most extensively on haptic coupling to synchronize as a group, whereas auditory and visual coupling were dependent on the spatiotemporal context. These studies advance our understanding of the neural and behavioural mechanisms underlying joint actions in which entrainment emerges mutually through haptic interaction. / Thesis / Doctor of Philosophy (PhD) / Entrainment is the rhythmic coordination of movement with a signal or other person. Most studies on entrainment have looked at synchronization with auditory or visual signals, whereas much less is known about how entrainment emerges mutually between individuals, especially when they are in physical contact with one another. I began my research by performing a statistical analysis of the literature examining the brain basis of synchronization with auditory signals, identifying a key brain area for entrainment. Next, using a group of participants trained at couple dancing, I explored the brain areas engaged when two individuals in physical contact improvised movement together, focusing on who is leading or following the interaction. Finally, I explored how folk dancers use multiple sensory signals (auditory, visual and tactile) to synchronize as a group. These studies advance our understanding of the neural and behavioural mechanisms by which people mutually entrain through physical interaction.

There has been a recent increase in breathing as an activity within HCI; however, breathing as the source of voice has not been explored. This thesis explores how ADA (air-driven actuator), a haptic wearable garment, may be used by singers to connect with their breath. Primarily through first-person engagement with vocal training and first-person evaluation of ADA’s capability to support vocal practice, the thesis addresses how the garment functionally and experientially supports singers’ movements. Thematic analysis results in two main lines of functional use (demonstrations, and prompts), and engagement with the garment in these two usages builds three conceptualizations of how ADA can align with a singer’s breath (through posture adjustments, inhalation as expansion, and inhalation as tension). Further thematic analysis shows how users characterize experiences with ADA as distinguished by anticipation or layering, offering insight into what experimental qualities underlie the functional use of ADA. The thesis highlights implications for future generative work in the breathing design space, offering tension-release as a breath representation, and a suggestion to explore exhalation duration as a breath parameter through the prolongations of exhalations in singing. Furthermore, it highlights layering as a quality that may be of relevance to further development of ADA, or other experience-oriented technology that aims to support movement practice.

Yes / Advances in Virtual Reality (VR) technologies allow the investigation of simulated moral actions in visually immersive environments. Using a robotic manipulandum and an interactive sculpture, we now also incorporate realistic haptic feedback into virtual moral simulations. In two experiments, we found that participants responded with greater utilitarian actions in virtual and haptic environments when compared to traditional questionnaire assessments of moral judgments. In experiment one, when incorporating a robotic manipulandum, we found that the physical power of simulated utilitarian responses (calculated as the product of force and speed) was predicted by individual levels of psychopathy. In experiment two, which integrated an interactive and life-like sculpture of a human into a VR simulation, greater utilitarian actions continued to be observed. Together, these results support a disparity between simulated moral action and moral judgment. Overall this research combines state-of-the-art virtual reality, robotic movement simulations, and realistic human sculptures, to enhance moral paradigms that are often contextually impoverished. As such, this combination provides a better assessment of simulated moral action, and illustrates the embodied nature of morally-relevant actions. / Plymouth University and Seventh Framework Programme (FP7-PEOPLE-2013-ITN-604764)

Joint torque feedback (JTF) is a new and promising means of kinesthetic feedback to provide information to a person or guide them during a motion task. However, little work has been done to apply the torque feedback to a person. This project evaluates the properties of JTF as haptic feedback, starting from the fabrication of a lightweight elbow haptic exoskeleton. A cheap hobby motor and easily accessible hardware are introduced for manufacturing and open-sourced embedded architecture for data logging. The total cost and the weights are $500 and 509g. Also, as the prerequisite step to assess the JTF in guidance, human perceptual ability to detect JTF was quantified at the elbow during all possible static and dynamic joint statuses. JTF slopes per various joint conditions are derived using the Interweaving Staircase Method. For either directional torque feedback, flexional motion requires 1.89-2.27 times larger speed slope, in mNm/(°/s), than the extensional motion. In addition, we find that JTFs during the same directional muscle's isometric contraction yields a larger slope, in mNm/mNm, than the opposing direction (7.36 times and 1.02 times for extension torque and flexion torque). Finally, the guidance performance of the JTF was evaluated in terms of time delay and position error between the directed input and the wearer's arm. When studying how much the human arm travels with JTF, the absolute magnitude of the input shows more significance than the duration of the input (p-values of <0.0001 and 0.001). In the analysis of tracking the pulse input, the highest torque stiffness, 95 mNm/°, is responsible for the smallest position error, 6.102 ± 5.117°, despite the applied torque acting as compulsory stimuli. / Doctor of Philosophy / Joint torque feedback (JTF) is a new and promising means of haptic feedback to provide information to a person or guide them during a motion task. However, little work has been done to apply the torque feedback to a person, such as determining how well humans can detect external torques or how stiff the torque input should be to augment a human motion without interference with the voluntary movement. This project evaluates the properties of JTF as haptic feedback, starting from the fabrication of a lightweight elbow haptic exoskeleton. The novelty of the hardware is that we mask most of the skin receptors so that the joint receptors are primarily what the body will use to detect external sensations. A cheap hobby motor and easily accessible hardware are introduced for manufacturing and open-sourced software architecture for data logging. The total cost and the weight are $500 and 509g. Also, as the prerequisite step to assess the JTF in guidance, human perceptual ability to detect JTF was quantified at the elbow during all possible static and dynamic joint statuses. A psychophysics tool called Interweaving Staircase Method was implemented to derive torque slopes per various joint conditions. For either directional torque feedback, flexional motion requires 1.89-2.27 times larger speed slope, in mNm/(°/s) than the extensional motion. In addition, the muscles' isometric contraction with the aiding direction required a larger slope, in $mathrm{mNm/mNm}$ than the opposing direction (7.36 times and 1.02 times for extension torque and flexion torque). Finally, the guidance performance of the JTF was evaluated in terms of time delay and position error between the directed input and the wearer's arm. When studying how much the human arm travels with JTF, the absolute magnitude of the input shows more significance than the duration of the input (p-values of <0.0001 and 0.001). In the analysis of tracking the pulse input, the highest torque stiffness, 95 mNm/°, is responsible for the smallest position error, 6.102 ± 5.117°, despite the applied torque acting as compulsory stimuli.

A qualitative analysis of a rotary traveling wave-type ultrasonic motor (USM) used to supply feedback forces in force-feel systems is carried out. Prior to simulation, the subsystems and contact mechanics needed to define the motor's equations of motion are discussed along with the pitfalls of modeling a USM. A mathematical model is assembled and simulated in MATLAB Simulink. Accompanying the dynamic model, a new reduced model is presented from which predictions of USM performance can be made without a complicated dynamic model. Outputs from the reduced model are compared with those of the dynamic model to show the differences in the transient solution, agreement in the steady state solution, and above all that it is an efficient tool for approximating a motor's steady state response as a function of varying the motor parameters. In addition, the reduced model provides the means of exploring the USMs response to additive loading, loads acting in the direction of motor motion, where only resistive loads, those opposite to the motor rotation, had been considered previously. Fundamental differences between force-feel systems comprising standard DC brushless motors as the feedback actuators and the proposed system using the USM are explained by referencing the USM contact mechanics. Outputs from USM model simulations are explored, and methods by which the motor can be implemented in the force-feel system are derived and proven through simulation. The results show that USMs, while capable of providing feedback forces in feel systems, are far from ideal for the task. The speed and position of the motor can be controlled through varying stator excitation parameters, but the transient motor output torque cannot; it is solely a function of the motor load, whether additive or resistive. / Master of Science

This thesis focuses on the detailed design, implementation, and testing of a unique high performance rotary actuator for use in a custom haptic force feedback device. This six degree of freedom (DoF) position input and three DoF force output haptic device is specifically designed to recreate force sensations with the goal of improving operator performance in remote or simulated environments. By upholding the strict design principles of an ideal force-source actuator, the developed actuator and consequently the haptic controller can successfully replicate forces accurately and realistically. In the comprehensive presentation of this design, numerous analytical tools are also developed and presented with the intention of them being resourceful in the design or improvement of other haptic actuators, specifically cable-driven force feedback designs. These tools which include a linear system model can be valuable not only in the development but in the control of cable-driven actuators. Due to the imposed design criteria, the developed 1.045 Nm (1.359 Nm peak) cable-driven sectorial rotary actuator exhibits numerous properties that are desired in an open-loop force controlled actuator. These properties include low inertia (6.53e-04 kgm^2), low perceived mass (0.102 kg), small torque resolution (3.84e-04 Nm), small position resolution (21.5 arcsec), and high bandwidth (300 Hz). Due to the efficient cable transmission the design is also backdrivable, isotropic, low friction, and zero backlash. As a result of these numerous intrinsic properties, a high fidelity force feedback haptic actuator was conceived and is presented in this thesis. / Master of Science