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Haptics-mediated approaches for enhancing sustained attention: framework and challenges

Science China(Information Sciences) 2019年第11期62卷 5-30页

作者： Dangxiao WANG Teng LI Naqash AFZAL Jicong zhang yuru zhang State Key Lab of Virtual Reality Technology and Systems Beihang University Beijing Advanced Innovation Center for Biomedical Engineering Beihang University Peng Cheng Laboratory School of Medical Sciences University of New South Wales Neuroscience Research Australia School of Biological Science and Medical Engineering Beihang University

Sustained attention is essential in the daily human activities of perception, manipulation, and locomotion. An improvement in sustained attention exhibits potential impacts in several scenarios, including the treatment of mental disorders, such as the attention-deficit/hyperactivity disorder, and the training of certain professionals, such as aircraft pilots, who work under environments with heavy cognitive loads. In this study, we review the haptics-mediated sustained attention-training approaches from the afferent and efferent perspectives based on the bidirectional information flow in the haptic channel. Subsequently, the feasibility of modulating and enhancing attention via the haptic channel is analyzed based on the studies that have investigated the correlation between attention and the afferent/efferent pathways of the haptic *** identify several research questions, including how to design diverse haptic training tasks via the afferent and/or efferent pathways and which adaptive strategies can be used to adjust the difficulty levels of haptic training tasks to ensure user engagement. Furthermore, we examine the behavioral and biological evidence that can be used to validate the training efficacy, the manner in which the neural mechanisms underlying the attention-enhancing process can be understood, and the effective variables that can be attributed to the near-and far-transfer effects. In addition, we discuss the difficulties associated with the development of novel haptic technologies. In this study, we intend to investigate the potential impact of haptic stimuli on neuroplasticity and to promote the study of haptics-mediated sustained attention training.

关键词： sustained attention attention enhancement haptic interaction robotics electroencephalogram virtual reality human-computer interaction

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A skin-integrated device for neck posture monitoring and correction

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Microsystems & Nanoengineering 2023年第6期9卷 221-234页

作者： Hu Luo Tianhao Jin Yu zhang Bohao Tian yuru zhang Dangxiao Wang State Key Lab of Virtual Reality Technology and Systems and Bejing Advanced Innovation Center for Biomedical Engineering Beihang UniversityNo.37 Xueyuan RoadHaidian District100191 BejingChina School of General Engineering Beihang UniversityNo.37 Xueyuan RoadHaidian DistrictBejingChina Peng Cheng Laboratory Shenzhen 518055China

Cervical spondylosis is a common disease that is often caused by long-term abnormal cervical curvature due to activities such as reading books and using computers or *** paper explores building an untethered and skin-integrated device in an e-skin form factor to monitor and haptically correct neck *** proposed design features a multilayered structure that integrates all flexible electronic circuits and components into a compact skin space while being untethered and skin *** accelerometer in the e-skin attaches to the neck for posture sensing,while four vibration actuators closely touch the neck skin to provide localized vibrotactile stimuli that encode four-direction correction cues of neck flexion±αand lateral bending±β.To ensure the reliability of posture sensing and vibrotactile rendering during neck movement,it is necessary to prevent the e-skin device from shifting ***,a hollow structure-based method is implemented for stably attaching the e-skin to the neck *** validated the e-skin device's sensing precision,skin-conformal compliance,stickiness,stability and effectiveness during the motion of neck postures,including its discrimination of localized four-direction vibrotactile cues.A user study verified the device's performance for sensing and correcting different abnormal neck postures during activities such as using smartphones,reading books,and processing computer *** proposed e-skin device may create opportunities for more convenient cervical spondylosis prevention and rehabilitation.

关键词： correction rendering shifting

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Design of a Lightweight Force-Feedback Glove with a Large Workspace

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Engineering 2018年第6期4卷 869-880页

作者： Yukai Zheng Dangxiao Wang Ziqi Wang Yu zhang yuru zhang Weiliang Xu State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100083China Beijing Advanced Innovation Center for Biomedical Engineering Beihang UniversityBeijing 100083China Department of Mechanical Engineering University of AucklandAuckland 1142New Zealand

A wearable force-feedback glove is a promising way to enhance the immersive sensation when a user interacts with virtual objects in virtual reality *** challenges for such a glove include allowing a large fingertip workspace,providing a desired force sensation when simulating both free-and constrained-space interactions,and ensuring a lightweight *** this paper,we present a forcefeedback glove using a pneumatically actuated mechanism mounted on the dorsal side of the user’s *** means of a triple kinematic paired link with a curved sliding slot,a hybrid cam-linkage mechanism is proposed to transmit the resistance from the pneumatic piston rod to the *** order to obtain a large normal component of the feedback force on the user’s fingertip,the profile of the sliding slot was synthesized through an analysis of the force equilibrium on the triple kinematic paired link.A prototype five-fingered glove with a mass of 245 g was developed,and a wearable force-measurement system was constructed to permit the quantitative evaluation of the interaction performance in both free and constrained *** experimental results confirm that the glove can achieve an average resistance of less than 0.1 N in free-space simulation and a maximum fingertip force of 4 N in constrained-space *** experiment further confirms that this glove permits the finger to move freely to simulate typical grasping gestures.

关键词： Force-feedback glove Lightweight Large workspace Pneumatic Virtual reality

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Development of a Hand Exoskeleton System for Index Finger Rehabilitation

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Chinese Journal of Mechanical Engineering 2012年第2期25卷 223-233页

作者： LI Jiting WANG Shuang WANG Ju ZHENG Ruoyin zhang yuru CHEN Zhongyuan State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191China

In order to overcome the drawbacks of traditional rehabilitation method,the robot-aided rehabilitation has been widely investigated for the recent *** the hand rehabilitation robot,as one of the hot research fields,remains many challenging issues to be *** paper presents a new hand exoskeleton system with some novel ***,both active and passive rehabilitative motions are ***,the device is elaborately designed and brings advantages in many *** example,joint motion is accomplished by a parallelogram mechanism and high level motion control is therefore made very simple without the need of complicated *** adjustable joint limit design ensures that the actual joint angles don＇t exceed the joint range of motion（ROM） and thus the patient safety is *** design can fit to the different patients with different joint ROM as well as to the dynamically changing ROM for individual *** device can also accommodate to some extent variety of hand ***,the proposed control strategy simultaneously realizes the position control and force control with the motor driver which only works in force control ***,the system resistance compensation is preliminary realized and the resisting force is effectively *** experiments were conducted to verify the proposed *** collected data show that the achieved ROM is close to that of a healthy hand and the range of phalange length（ROPL） covers the size of a typical hand,satisfying the size need of regular hand *** order to evaluate the performance when it works as a haptic device in active mode,the equivalent moment of inertia（MOI） of the device was *** results prove that the device has low inertia which is critical in order to obtain good *** experiments also show that in the active mode the virtual interactive force is successfully feedback to the finger and the resistance i

关键词： exoskeleton hand rehabilitation Bowden-cable transmission active control mode passive control mode

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Status quo on recycling of waste crystalline silicon for photovoltaic modules and its implications for China's photovoltaic industry

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Frontiers in Energy 2024年第5期18卷 685-698页

作者： Yichen Zhou Jia Wen Yulin Zheng Wei Yang yuru zhang Wenxing Cheng College of Environmental Science and Engineering Hunan UniversityChangsha 410082China Key Laboratory of Environmental Biology and Pollution Control of Ministry of Education Hunan UniversityChangsha 410082China

As a clean and efficient renewable energy source,solar energy has been rapidly applied *** growth rate of China's installed capacity ranks first in the ***,the life span of photovoltaic(PV)modules is 25 to 30 years,and the rapid development of installed capacity indicates that a large number of PV modules will be decommissioned in the ***,the ongoing treatment of the scrapped PV waste cells in the near future requires urgent plans and *** recycling and disposal of decommissioned PV modules is a practical requirement for the sustainable development of the country and *** silicon(c-Si)solar cells currently occupy 85%-90%of the market share,and some scholars have begun to seek the utilization pathways of the waste Si in and outside the PV *** this paper,the research status of the separation and recycling process of crystalline Si PV modules is reviewed,and the recycling ways of crystalline silicon are particularly focused *** addition,the current bottlenecks in the PV recycling industry in China are analyzed and some suggestions on the sustainable development of the PV industry are proposed.

关键词： waste photovoltaic(PV)modules crystalline silicon(c-Si)battery separation and recovery sustainable development

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Influence of magnetic filter field on the radio-frequency negative hydrogen ion source of neutral beam injector for China Fusion Engineering Test Reactor

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Plasma Science and Technology 2021年第11期23卷 185-192页

作者： Yingjie WANG Jiawei HUANG yuru zhang Fei GAO Younian WANG Key Laboratory of Materials Modification by Laser Ionand Electron Beams(Ministry of Education)School of PhysicsDalian University of TechnologyDalian 116024People's Republic of China

In the design of negative hydrogen ion sources,a magnetic filter field of tens of Gauss at the expansion region is essential to reduce the electron temperature,which usually results in a magnetic field of around 10 Gauss in the driver region,destabilizing the *** magnetic shield technique is proposed in this work to reduce the magnetic field in the driver region and improve the discharge *** this paper,a three-dimensional fluid model is developed within COMSOL to study the influence of the magnetic shield on the generation and transport of plasmas in the negative hydrogen ion *** is found that when the magnetic shield material is applied at the interface of the expansion region and the driver region,the electron density can be effectively *** instance,the maximum of the electron density is 6.7×10^(17)m^(-3)in the case without the magnetic shield,and the value increases to 9.4×10^(17)m^(-3)when the magnetic shield is introduced.

关键词： radio-frequency negative hydrogen ion sources three-dimensional fluid model neutral beam injection

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Haptic display for virtual reality: progress and challenges

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Virtual Reality & Intelligent Hardware 2019年第2期1卷 136-162页

作者： Dangxiao WANG Yuan GUO Shiyi LIU yuru zhang Weiliang XU Jing XIAO State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100083China Beijing Advanced Innovation Center for Biomedical Engineering Beihang UniversityBeijing 100083China Peng Cheng Laboratory Shenzhen 518055China Department of Mechanical Engineering University of AucklandAuckland 1142New Zealand School of Computer Science and the Robotics Engineering Program Worcester Polytechnic InstituteWorcesterMA 01609-2280USA

Immersion, interaction, and imagination are three features of virtual reality (VR). Existing VR systems possess fairly realistic visual and auditory feedbacks, and however, are poor with haptic feedback, by means of which human can perceive the physical world via abundant haptic properties. Haptic display is an interface aiming to enable bilateral signal communications between human and computer, and thus to greatly enhance the immersion and interaction of VR systems. This paper surveys the paradigm shift of haptic display occurred in the past 30 years, which is classified into three stages, including desktop haptics, surface haptics, and wearable haptics. The driving forces, key technologies and typical applications in each stage are critically reviewed. Toward the future high-fidelity VR interaction, research challenges are highlighted concerning handheld haptic device, multimodal haptic device, and high fidelity haptic rendering. In the end, the importance of understanding human haptic perception for designing effective haptic devices is addressed.

关键词： Haptic display Virtual reality Desktop haptics Surface haptics Wearable haptics Multimodal haptics

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Modulation of the plasma uniformity by coil and dielectric window structures in an inductively coupled plasma

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Plasma Science and Technology 2021年第9期23卷 111-122页

作者： Xiaoyan SUN yuru zhang Jing YE Younian WANG Jianxin HE Textile and Garment Industry of Research In stitute Zhongyuan University of Tech no logyZhengzhou 450007.People's Republic of China Key Laboratory of Materials Modification by Laser Ion and Electron Beams(Ministry of Education)School of PhysicsDalian University of TechnologyDalian 116024People's Republic of China School of Textiles Zhongyuan University of Technology.Zhengzhou 450007People's Republic of China

The effects of coil and dielectric window structures on the plasma distribution are examined in a cylindrically symmetric planar inductively coupled plasma(ICP).A two-dimensional(2 D)fluid model is employed to investigate the design issues of ICP source for *** the gradient coil structure is applied at 400 W and 20 mTorr,the ionization rate caused by the power deposition decreases at the reactor center as compared to that in a reactor with a planar coil above the planar dielectric window,and a rather uniform plasma is ***,for the vertical coil geometry,all the coils move to the position of the outermost coil,and the peaks of the power deposition and ionization rate appear at the radial edge of the *** this case,the plasma density is characterized by an edge-high ***,it is observed that the plasma uniformity is improved by increasing the source power under a gas pressure of 20 mTorr and becomes better when the gas pressure increases to 30 mTorr with the source power being fixed at400 W in the gradient coil configuration,but the uniformity of plasma worsens with the rising source power or pressure due to the strong localization in the vertical coil ***,when the discharge is sustained in a reactor with a stepped dielectric window at r=0.135 m,the best plasma uniformity is obtained at 400 W and 20 m Torr because the ionization rate is enhanced at the outermost coil,and the dielectric window at r=0.135 m blocks the diffusion of plasma towards the *** addition,higher source power and lower gas pressure produce more uniform plasma for the designs with a stepped window near the symmetry *** the dielectric window is stepped at r=0.135 m,the non-uniformity of plasma initially decreases and then increases with the increase in source power or gas *** the dielectric window is stepped at the radial edge of the chamber,the plasma uniformity is improved by increasing the source power and gas pressure due t

关键词： fluid simulation gradient coil vertical coil stepped dielectric window plasma uniformity

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Haptic rendering for dental training system

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Science in China(Series F) 2009年第3期52卷 529-546页

作者： WANG DangXiao zhang yuru WANG Yong LU PeiJun ZHOU RenGe ZHOU WanLin State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing 100191 China School and Hospital of Stomatology Peking University Beijing 100081 China

Immersion and interaction are two key features of virtual reality systems, which are especially important for medical applications. Based on the requirement of motor skill training in dental surgery, haptic rendering method based on triangle model is investigated in this paper. Multi-rate haptic rendering architecture is proposed to solve the contradiction between fidelity and efficiency requirements. Realtime collision detection algorithm based on spatial partition and time coherence is utilized to enable fast contact determination. Proxy-based collision response algorithm is proposed to compute surface contact point. Cutting force model based on piecewise contact transition model is proposed for dental drilling simulation during tooth preparation. Velocity-driven levels of detail haptic rendering algorithm is proposed to maintain high update rate for complex scenes with a large number of triangles. Hapticvisual collocated dental training prototype is established using half-mirror solution. Typical dental operations have been realized including dental caries exploration, detection of boundary within dental cross-section plane, and dental drilling during tooth preparation. The haptic rendering method is a fundamental technology to improve immersion and interaction of virtual reality training systems, which is useful not only in dental training, but also in other surgical training systems.

关键词： haptic rendering computer haptics haptic-visual collocation dental training hand-eye coordination

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Simulations of standing wave effect,stop band effect,and skin effect in large-area very high frequency symmetric capacitive discharges

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Plasma Science and Technology 2021年第3期23卷 82-92页

作者： Jiankai LIU yuru zhang Kai ZHAO Deqi WEN Younian WANG Key Laboratory of Materials Modification by Laser lonand Electron Beams(Ministry of Education)School of PhysicsDalian University of TechnologyDalian 116024People's Republic of China Department of Elctrical and Computer Engineering Michigan State UniversityEast LansingMI 48824United States of America

In this paper,Maxwell equations are coupled with a radially localized global model and an analytical sheath model to investigate the electromagnetic effects under various frequencies and electron powers in large-area very high frequency symmetric capacitive argon *** results indicate that both the vacuum wavelength and the sheath width decrease with frequency,leading to the reduced surface *** a result,the standing wave effect becomes pronounced,causing the fact that the radial profiles of the electron density,radio frequency voltage,and sheath width shift from uniform over center-high to *** the frequency is close to or higher than the series resonance frequency,the surface waves cannot propagate to the radial center because of the significant radial *** to the lack of power deposition near the radial center,the electron density is nearly zero there,*** stop band *** power increases,the higher electron density leads to the decrease of the skin ***,the importance of the skin effect gradually exceeds that of the standing wave effect,giving rise to the transition from the center-high to edge-high electron density *** method proposed in this work could help to predict the plasma distribution under different discharge conditions in a few minutes,which is of significant importance in optimizing the plasma processing.

关键词： electromagnetic effects hybrid model plasma uniformity

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