Force Display Research Articles

Militarized elections and citizens’ support for democratic rights: evidence from India

ABSTRACT Across the world, many citizens go to the polls amidst armed threats from both state and non-state actors. How do militarized elections affect citizens’ willingness to accept restrictions on democratic rights? We argue that when forming opinions about appropriate limits to state powers, citizens navigate competing threats from state and non-state actors. The display of state coercive force should make citizens more protective of civil and political rights. Yet, if it occurs in the context of threat posed by non-state actors, citizens may become more likely to accept that rights are restricted. We embed a vignette experiment with a selective information prime in a 2019 post-election survey of 1,080 Indian citizens across two states affected by armed insurgency. We find that being primed on a heavy state-military presence makes citizens more reluctant to accept restrictions on civil and political rights, but the effect is only found among politically marginalized groups. In the presence of violent non-state threats, however, citizens become more likely to support policies that curtail democratic rights.

Inviting Robot Touch (By Design)

What is the role of touch in inviting social interaction with robots? Forms of functional haptics in collaboration and socially assistive robots, for example, indicate one pathway. But what of more naturalistic and affective forms of touch that are more inviting, that encourage pro-social behaviours? This is a tale of three loops. First, the haptic feedback loop, where human–human touch still remains underexplored, and where human–machine touch is produced through mechanical engineering as “force display” and perceived by the user as tactile. Second, the affective feedback loop, courtesy of Höök and Dumouchel and Damiano, where technical systems influence, and are influenced by, a human user corporeally. Bringing these loops together encourages interaction design to consider how touch and affect may more effectively invite a range of users to interact with social robots, and their role in the perception of Artificial Empathy.

Small Wars and Pacification in the British Empire: A Case Study of Lushai Hills, 1850–1900

ABSTRACT The British Empire was at the height of its power in the late nineteenth century. Most scholars focus on imperial expansion. However, not much light has been shed on the process of consolidation, which I term pacification. This paper tries to cover this historiographical slip by making a case study of British pacification of the Lushai Hills of North-East India. While analysing this micro region, I shall contextualise it within the broader policies of the British imperium. Both Callwell and some of the modern commentators are wrong in asserting that British Empire building involved a display of brute force in curbing the insurrectionary natives. Overall, British consolidation policy was more complex. Repeated application of a moderate amount of violence through the medium of small war prepared the ground for pacification. The non-military components of pacification (construction of roads, schools and a job creation programme) are equivalent to what modern-day scholars term winning the hearts and minds of the populace of the disturbed regions. Use of proportionate force and implementation of certain non-military schemes enabled a small number of white men to rule over millions of brown people for more than a century.

Improving the Force Display of Haptic Device Based on Gravity Compensation for Surgical Robotics

Haptic devices are applied as masters to provide force displays for telemedicinal robots. Gravity compensation has been proven to be crucial for the accuracy and capability of force displays, which are critical for haptic devices to assist operators. Therefore, the existing method suffers from an unsatisfactory effect, a complex implementation, and low efficiency. In this paper, an approach combining active and passive gravity compensation is proposed to improve the performance of a force display. The passive compensation is conducted by counterweights fixed with the moving platform and pantographs to offset most of the gravity and reduce the loads of the motors, while the peak capability of the force display is enhanced. The required weight is optimized by a multi-objective genetic algorithm in terms of the maximum torque of the motors in the global workspace. As a supplement, the residual gravity is eliminated by active compensation to extend the accuracy of the force display. The balancing forces in the discretized workspace are entirely calibrated, and the required force for the arbitrary configuration is calculated by interpolations. The decisions regarding the algorithm parameters are also discussed to achieve a compromise between the effect and elapsed time. Finally, the prototype with a compensation mechanism is implemented and experiments are carried out to verify the performance of the proposed method. The results show that the peak capability of the force display is enhanced by 45.43% and the maximum deviation is lowered to 0.6 N.

Manifestations of forced efforts of elderly men with different breathing regimes

The analysis of the existing therapeutic and prophylactic systems of respiration is carried out, the influence of different respiratory regimes on the dynamics of force manifestations of male muscles taking into account age is investigated. Recommendations for strength exercises with observance of certain breathing rhythms of elderly men have been made.
 The aim of the study was to determine the peculiarities of the manifestation of strength abilities of older men with different respiratory regimes.
 In the course of the research the following tasks were solved: analysis of modern respiratory systems; study of the influence of different respiratory regimes on the dynamics of force manifestations of the muscles of the hand and abdominal press of elderly men; comparative assessment and determination of the influence of different respiratory regimes on the power manifestations of men aged 60+.
 Methods – before the start of the main study, the men of the experimental group mastered the method of breathing regimes (personally during strength exercises), with the men of the control group breathing practices were not performed.
 As a result of researches the optimum modes of breath for display are defined: wrist dynamometry, dynamics of display of force of abdominal muscles. Prospects for further development are seen in a more in-depth definition of the ability to perform strength exercises in different breathing modes to increase the physical performance of the elderly.

An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system.

The accurate sensing and display of the delicate needle-tissue interaction force to the operator is desirable for needle insertion procedures. It not only plays a significant role in the surgical treatment effect, but also has a great significance in improving surgical safety and reducing the incidence of complications. However, the direct detection of the interaction force between the tissue and needle tip by placement of a force sensor is challenging owing to the constraints of miniaturisation, cost, and sterilisation. In this study, a new position-based force-to-motion controller with magnified force feedback is presented to provide augmented force perception to the operator during needle insertion on the soft tissue. Furthermore, the demonstration to the position-based low level motion controller is more suitable for needle insertion surgical requirements in the cooperative robotic system. The proposed controller was experimentally validated by a collaborative lumbar puncture robotics system. Additionally, to provide hand tremor rejection for the stable manipulation of the puncture needle, it was demonstrated that the proposed amplified feedback force controller allowed a safer object interaction with the robotic needle insertion assistance. The results of the experiment show that a desirable interaction force profile is perceived by the operator during the overall insertion task operation. The admittance gain for the simplified admittance controller has a significant impact on the operator's ability to accurately control the applied force.

Cogno-Vest: A Torso-Worn, Force Display to Experimentally Induce Specific Hallucinations and Related Bodily Sensations

Recent advances in virtual reality and robotic technologies have allowed researchers to explore the mechanisms underlying bodily aspects of self-consciousness which are largely attributed to the multisensory and sensorimotor processing of bodily signals (bodily self-consciousness, BSC). One key contribution to BSC, that is, currently poorly addressed due to the lack of a wearable solution, concerns realistic collision sensations on the torso. Here, we introduce and validate a proof-of-concept prototype of the torso-worn force display, the Cogno-vest, that provides mechanical touch on the user’s back in a sensorimotor perception experiment. In a first empirical study, we characterized human finger poking ( <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$N=28$ </tex-math></inline-formula> ). In order to match these poking characteristics and meet the wearability criteria, we used bidirectional, push–pull solenoids as a force actuator in the Cogno-vest. Subsequently, and based on an iterative design procedure, a body-conforming, unisex, torso-worn force display was prototyped. Finally, we conducted a behavioral study that investigated BSC in 25 healthy participants by introducing conflicting sensorimotor signals between their hands and torso (back). Using the final reiteration of the Cogno-vest, we successfully replicated previous findings on illusory states of BSC, characterized by presence hallucinations (PH) and passivity symptoms, and achieved higher illusion ratings compared to static conditions used in prior studies.

Dynamic Brake Control for a Wearable Impulsive Force Display by a String and a Brake System

In recent years, it has become possible to experience sports in the virtual reality (VR) space. Although many haptic displays in the VR environment currently use vibrators as the mainstream, the vibrators’ presentation is not suitable to express ball-receiving in the VR sports experience. Therefore, we have developed a novel haptic display that reproduces an impulsive force by instantaneously applying traction to the palm using a string and wearable brake system. This paper proposes a method to present various reaction forces by dynamic control of the braking system and report the quantitative evaluation of the device’s physical and psychological usability.

Force display control system for simultaneous 3-axis translational motion in surgical training simulator for chiseling operation

The present study proposes an advanced force display control system for a surgical training simulator with virtual reality. In oral and orthopedic surgeries, a surgeon uses a chisel and mallet for chiseling and cutting hard tissue. To enable the representation of force sensation for the chiseling operation in a virtual training simulator, the force display device has been constructed with the ball-screw mechanism to obtain high stiffness. In addition, two-degrees-of-freedom (2DOF) admittance control has been used to react instantaneously to the impactive force caused by pounding with the mallet. The virtual chiseling operation was realized by the force display device with a single axis in the previous studies. In the current study, we propose the design procedure for the force display control system with the 2DOF admittance control approach to virtual operation in three-dimensional space. Furthermore, we propose the design method for the PD controller with imperfect derivative using frequency characteristics for the 2DOF admittance control system. The efficacy of the proposed control system is verified through the virtual experience from manipulating the chisel using the developed force display device in the current study.

Force Display and Tactile Display of Color Image Texture

In haptic interaction technology, texture haptic display is an important part. In order to perceive color image texture better, the haptic display methods of color texture based on force feedback and tactile feedback are proposed in this work. On the one hand, through the study of the physiological and psychological perception characteristics of color information, a new force rendering method of color image texture based on force feedback device is presented. The experimental results of color texture force perception show that the color texture force rendering algorithm in this paper works well. On the other hand, a color texture vibration tactile model is established based on the designed vibrotactile device. Its effectiveness is verified by vibration tactile perception experiment. Finally, for the color texture image of the real object surface, the force and vibrotactile display methods of color texture in this paper are used to conduct perception experiments and compared.

The meaning of Hendon: the Royal Air Force Display, aerial theatre and the technological sublime, 1920–37*

Abstract The annual Royal Air Force Display at Hendon was a hugely popular form of aerial theatre, with attendance peaking at 195,000. Most discussions of Hendon have understood it as ‘a manifestation of popular imperialism’, focusing on the climactic set-pieces which portrayed the bombing of a Middle Eastern village or desert fortress. However, scenarios of this kind were a small minority of Hendon’s set-pieces: most depicted warfare against other industrialized states. Hendon should rather be seen as an attempt to persuade spectators that future wars could be won through the use of airpower rather than large armies or expensive navies.

Development of Mirror Symmetric Type Rehabilitation Support System Using Passive Force Display

Development of Mirror Symmetric Type Rehabilitation Support System Using Passive Force Display

The augmented reality application for simulating electromotive force concept

The discussion of the concept of electromotive force often leads to misconceptions. Unity program can produce 3-dimensional media from 2-dimensional media. In this article, we will describe the form of electromotive force simulation that is displayed with augmented reality technology. Development of electromotive force simulation using 4D development model (define, design, develop, and disseminate). The application of augmented reality technology can visualize the three-dimensional form of abstract electromotive force processes into reality. The design process is based on pedagogical content knowledge. The electromotive force display can simulate the impact of changes in the number of turns, magnetic fields, and time of playback of the generator against the value of electromotive force. The simulation has succeeded in providing an interesting description of the ratio of variables to the magnitude of the force of electricity produced in the generator. Display simulation electromotive force with augmented reality technology has met the principle of technological pedagogical content knowledge (TPACK).

The Book of Esther and the Typology of Female Transfiguration in American Literature, by Silver, Ariel Clark

<i>The Book of Esther and the Typology of Female Transfiguration in American Literature</i>, by Silver, Ariel Clark

The militarisation of aerial theatre: air displays and airmindedness in Britain and Australia between the world wars

ABSTRACT Aerial theatre, the use of aviation spectacle to project images of future warfare, national power and technological prowess, was a key method for creating an airminded public in the early twentieth century. The most significant and influential form of aerial theatre in interwar Britain was the Royal Air Force Display at Hendon, in which military aircraft put on impressive flying performances before large crowds, including an elaborate set-piece acting out a battle scenario with an imaginary enemy. Hendon was emulated by other air displays in Britain and in Australia, even civilian ones. Indeed, the inability of the much smaller Royal Australian Air Force to regularly project spectacle on the scale of Hendon across a much larger nation created a gap which civilian aviation organisations then tried to fill. Hendon thus helped to propagate a militarised civilian aerial theatre, and hence airmindedness, in both Britain and Australia.

SpiroSurface: A Repulsive and Attractive Force Display for Interactive Tabletops Using a Pneumatic System

We present SpiroSurface, a novel force display for interactive tabletops. SpiroSurface uses a pneumatic system to generate both repulsive and attractive forces. We develop a prototype with 5x5 grid holes on the surface connected to an air compressor and vacuum tanks through electromagnetic valves. The display can output a maximum of +1.0 and -0.08 megapascal (MPa) pressure from a hole that generates 74 and -6 N force. We investigated the latency of the output pressure through pneumatics and an experiment, which indicated a minimum of 50-ms latency. The display allows the creation of three kinds of novel interactions: (1) enhancement of GUI, (2) deformation of soft objects, and (3) three-degree-of-freedom rotation of objects. In the first application, users can feel the force from the display without holding or attaching additional devices. In the second and third applications, the shape and motion of an object on the surface can be manipulated without embedding additional active components in the objects. These aspects allow users to easily experience interaction and expand the freedom of interaction design. We introduce several examples combining video projection and motion tracking. These examples demonstrate the potential of the display.

Improvement of control performances in pneumatic servo and its application to force display

Improvement of control performances in pneumatic servo and its application to force display

Evaluation of Grasping Accuracy When Using a Passive Force Display Glove

In virtual reality (VR) technology, force feedback/display devices are expected to enhance fine sensation and contribute to the user's immersive experience. This is particularly true for glove...

Design of an accurate end-of-arm force display system based on wearable arm gesture sensors and EMG sensors

Most upper limb rehabilitation patients are still hard to feel the accuracy force they have imposed in the end of arm after a systematic upper limb rehabilitation. In order to provide an accurate end-of-arm force for those disabled people, a force display system based on wearable arm gesture sensors and Electromyographic (EMG) sensors is designed and given in this paper. The wearable arm gesture sensors and EMG sensors are specially placed to detect the arm gesture and the EMG signal of the arm, and a force sensor is used to measure the force and verify the force display effect. In order to control the rehabilitation arm move slowly at a constant speed, the kinematic model of the upper arm is analyzed. A special experiment platform is established so as to get the simultaneous data of end-of-arm force and the arm gesture and EMG signal, then the Generalized Regression Neural Network (GRNN) is brought in to catch the relationship between them. A group of horizontal movement experiment and vertical movement experiment are designed specially and verify the feasibility and effectiveness of the system. The result shows that the information fusion based on GRNN for this system could accurately display the end-of-arm force.

シリアルリンク機構/パラレルワイヤ駆動システムによる力覚呈示装置の開発( 遠隔操作システム)

シリアルリンク機構/パラレルワイヤ駆動システムによる力覚呈示装置の開発( 遠隔操作システム)