Search Results (20)

This study evaluates the impact of fortifying pimento-paste stuffed olives with nutritional chloride salts (KCl, CaCl₂, and MgCl₂) on the quality characteristics of the products, using a D-optimal mixture design and Response Surface Methodology. To this aim, the effects of varying salt concentrations on physicochemical characteristics and sensory descriptors were analysed. Results showed that KCl was predominantly favourable, improving sensory attributes and contributing positively to overall product quality. MgCl₂ exhibited a neutral influence on most characteristics. However, CaCl₂, while enhancing kinaesthetic properties such as hardness, crunchiness, and fibrousness, also increased bitterness, which may detract from consumer preference. The optimal formulation was identified, highlighting the beneficial effects of KCl and a balanced mixture of CaCl₂ and MgCl₂. KCl and MgCl₂ are key components for fortification. The use of CaCl₂ improves the kinaesthetic properties but requires caution due to its potential to impart a bitter taste, which may not be favourable for specific consumers. These findings provide a basis for developing fortified pimento-paste stuffed olives or similar products tailored to consumer preferences. Full article

This study presents a novel investigation into immersive teleoperation systems using collaborative, device-agnostic interfaces for advancing smart haptics in industrial assistive applications. The research focuses on evaluating the quality of experience (QoE) of users interacting with a teleoperation system comprising a local robotic arm, a robot gripper, and heterogeneous remote tracking and haptic feedback devices. By employing a modular device-agnostic framework, the system supports flexible configurations, including one-user-one-equipment (1U-1E), one-user-multiple-equipment (1U-ME), and multiple-users-multiple-equipment (MU-ME) scenarios. The experimental set-up involves participants manipulating predefined objects and placing them into designated baskets by following specified 3D trajectories. Performance is measured using objective QoE metrics, including temporal efficiency (time required to complete the task) and spatial accuracy (trajectory similarity to the predefined path). In addition, subjective QoE metrics are assessed through detailed surveys, capturing user perceptions of presence, engagement, control, sensory integration, and cognitive load. To ensure flexibility and scalability, the system integrates various haptic configurations, including (1) a Touch kinaesthetic device for precision tracking and grounded haptic feedback, (2) a DualSense tactile joystick as both a tracker and mobile haptic device, (3) a bHaptics DK2 vibrotactile glove with a camera tracker, and (4) a SenseGlove Nova force-feedback glove with VIVE trackers. The modular approach enables comparative analysis of how different device configurations influence user performance and experience. The results indicate that the objective QoE metrics varied significantly across device configurations, with the Touch and SenseGlove Nova set-ups providing the highest trajectory similarity and temporal efficiency. Subjective assessments revealed a strong correlation between presence and sensory integration, with users reporting higher engagement and control in scenarios utilizing force feedback mechanisms. Cognitive load varied across the set-ups, with more complex configurations (e.g., 1U-ME) requiring longer adaptation periods. This study contributes to the field by demonstrating the feasibility of a device-agnostic teleoperation framework for immersive industrial applications. It underscores the critical interplay between objective task performance and subjective user experience, providing actionable insights into the design of next-generation teleoperation systems. Full article

Tactile aspects of the urban environment may be recognised through various capacities of human sensation, including cutaneous, kinaesthetic, and proprioceptive awareness. Haptic attributes often need intentional engagement for ultimate experience and information provision, but it is exactly this imprecision that initiates challenges when dealing with tactility in a space. Whilst tactile components can be experienced when stationary or through walking an identified space (a sensewalk), there is no standard method for tactile sensewalk implementation. We therefore critically discuss common methodologies, outlining benefits, disadvantages, and suitability for each identified sensewalk method. We find that immersive sensory enquiry approaches are well suited to reveal past experience of sensory perceptions, deeper understandings and rediscovery of places; the recording of dimensional measurements is appropriate when determining linkages and correlations between physical and perceptual dimensions; and interviews and post-data collection reflections provide an opportunity to explore sensory characteristics and experience, and for realisation of local heritages. Furthermore, unusual methods such as the visualisation of urban textures and multimodal post-processing techniques are identified and discussed. Full article

Virtual reality systems may benefit from wearable (fingertip-mounted) haptic displays capable of rendering the softness of virtual objects. According to neurophysiological evidence, the easiest reliable way to render a virtual softness is to generate purely tactile (as opposed to kinaesthetic) feedback to be delivered via a finger-pulp-interfaced deformable surface. Moreover, it is necessary to control not only the skin indentation depth by applying quasi-static (non-vibratory) contact pressures, but also the skin contact area. This is typically impossible with available devices, even with those that can vary the contact area, because the latter cannot be controlled due to the complexity of sensing it at high resolutions. This causes indetermination on an important tactile cue to render softness. Here, we present a technology that allows the contact area to be open-loop controlled via personalised optical calibrations. We demonstrate the solution on a modified, pneumatic wearable tactile display of softness previously described by us, consisting of a small chamber containing a transparent membrane inflated against the finger pulp. A window on the device allowed for monitoring the skin contact area with a camera from an external unit to generate a calibration curve by processing photos of the skin membrane interface at different pressures. The solution was validated by comparisons with an ink-stain-based method. Moreover, to avoid manual calibrations, a preliminary automated procedure was developed. This calibration strategy may be applied also to other kinds of displays where finger pulps are in contact with transparent deformable structures. Full article

Manipulation involves both fine tactile feedback, with dynamic transients perceived by fingerpad mechanoreceptors, and kinaesthetic force feedback, involving the whole hand musculoskeletal structure. In teleoperation experiments, these fundamental aspects are usually divided between different setups at the operator side: those making use of lightweight gloves and optical tracking systems, oriented toward tactile-only feedback, and those implementing exoskeletons or grounded manipulators as haptic devices delivering kinaesthetic force feedback. At the level of hand interfaces, exoskeletons providing kinaesthetic force feedback undergo a trade-off between maximum rendered forces and bandpass of the embedded actuators, making these systems unable to properly render tactile feedback. To overcome these limitations, here, we investigate a full upper limb exoskeleton, covering all the upper limb body segments from shoulder to finger phalanxes, coupled with linear voice coil actuators at the fingertips. These are developed to render wide-bandwidth tactile feedback together with the kinaesthetic force feedback provided by the hand exoskeleton. We investigate the system in a pick-and-place teleoperation task, under two different feedback conditions (visual-only and visuo-haptic). The performance based on measured interaction forces and the number of correct trials are evaluated and compared. The study demonstrates the overall feasibility and effectiveness of a complex full upper limb exoskeleton (seven limb-actuated DoFs plus five hand DoFs) capable of combined kinaesthetic and tactile haptic feedback. Quantitative results show significant performance improvements when haptic feedback is provided, in particular for the mean and peak exerted forces, and for the correct rate of the pick-and-place task. Full article

This article aims to take part in the ongoing discussion on the social and political potentialities as well as the conceptual premises of choreography and to contribute to the discussion about world relations in the choreographed movement. The much-used definition of Western choreography is “organized movement in space and time”. Although this definition always applies, it does not specify the world relations and worldmaking capacities of the choreographed movement. The main focus of this article is an ontological rethinking of the basic concepts of choreography: movement, space, time and organization, with the addition of kinaesthetic fields, kinaesthetic and spatial intelligence, virtual and actual realms, striated and smooth spaces (Deleuze and Guattari) and different conceptions of time. By analyzing these concepts, the aim is to provide a view of ontologically elementary units in choreography (such as a change in space, the difference over time and space, and passage to shared actuality), with a wider understanding of the inherent social relationality in choreographed movement. After discussing these topics, a few social choreography events and protests are described to represent different choreographic aims and organizational modes arising from each specific situation. The article concludes by proposing that choreography could be seen as organizing movement in space and time but also as a choreographic actualization of intensities in different discursive fields. Full article

Most haptic actuators available on the market today can generate only a single modality of stimuli. This ultimately limits the capacity of a kinaesthetic haptic controller to deliver more expressive feedback, requiring a haptic controller to integrate multiple actuators to generate complex haptic stimuli, with a corresponding complexity of construction and control. To address this, we designed a haptic controller to deliver several modalities of kinaesthetic haptic feedback using a single actuator: a flywheel, the orientation of which is controlled by two gimbals capable of rotating over 360 degrees, in combination with a flywheel brake. This enables the controller to generate multiple haptic feedback modalities, such as torque feedback, impact simulation, low-frequency high-amplitude vibrations, inertial effects (the sensation of momentum), and complex haptic output effects such as the experience of vortex-like forces (whirl effects). By combining these diverse haptic effects, the controller enriches the haptic dimension of VR environments. This paper presents the device’s design, implementation, and characterization, and proposes potential applications for future work. Full article

This article investigates the corporeal practices by the Catalonian artist Fina Miralles (b.1950) in some of her performances during the 1970s. I specifically focus my analysis on the manner in which the artist verifies the existence of her body under the acute political restrictions on the body during the last years of Francoism (1939–1975). I argue that she does this by a process of sensorial investigations, which include painting, filming and touching natural elements, and moving them and leaving different types of tracks, which lead to generating corporeal scores and body mapping. I elaborate on the way that producing corporeal sensorial knowledge generated from her body mapping and kinaesthetic knowledge is a transgressive and emancipatory feminist intervention. My argument is that kinesthesia generates a process of body-mapping awareness within the body and its movement, which reinforces a sensorial way of knowledge that leads to a reconstitution of the body that function as corporeal agency. Based on feminist theories of embodiment and agency, taking the Carrie Noland concept of kinesthesia (2009) as a central analytical tool, and with a background as a psychologist, I approach this research with embodied methodologies (conversations with the artist, recreation of her actions, etc.) and draw mainly from research-creation methods and kinaesthetic empathy. Full article

Olive paté is a traditional Italian food typical of the Mediterranean diet, derived from debittered, pitted, and crushed table olives. Currently, there is no sensory standard for the quality of the product. In this research, a specific lexicon and an innovative profile sheet for sensory analysis of olive paté have been developed and tested to fill the gap. The list of descriptors was set in terms of negative sensations, olfactory/gustatory sensations, and kinaesthetic attributes. The assessors of a professional panel were first trained with and then used the profile sheet to characterize 40 olive paté commercial samples from five different Olea europaea L. cultivars. From a sensorial point of view, Nocellara del Belice paté was perceived as the saltiest, Nocellara etnea as the bitterest, and Hojiblanca and Bella di Cerignola were the most balanced and characterized on the olfactory/gustatory level. In terms of texture, Hojiblanca paté is the most consistent and grainiest. To support and verify kinaesthetic descriptors, textural analysis by back extrusion was performed. Through the agglomerative hierarchical analysis, the various paté showed a clear clusterization into two clusters: Nocellara del Belice-Itrana and Hojblanca-Nocellara etnea-Bella di Cerignola. The results obtained showed the validity of the profile sheet to correctly assess the different products. Full article

This study proposes a new hybrid multi-modal sensory feedback system for prosthetic hands that can provide not only haptic and proprioceptive feedback but also facilitate object recognition without the aid of vision. Modality-matched haptic perception was provided using a mechanotactile feedback system that can proportionally apply the gripping force through the use of a force controller. A vibrotactile feedback system was also employed to distinguish four discrete grip positions of the prosthetic hand. The system performance was evaluated with a total of 32 participants in three different experiments (i) haptic feedback, (ii) proprioceptive feedback and (iii) object recognition with hybrid haptic-proprioceptive feedback. The results from the haptic feedback experiment showed that the participants’ ability to accurately perceive applied force depended on the amount of force applied. As the feedback force was increased, the participants tended to underestimate the force levels, with a decrease in the percentage of force estimation. Of the three arm locations (forearm volar, forearm ventral and bicep), and two muscle states (relaxed and tensed) tested, the highest accuracy was obtained for the bicep location in the relaxed state. The results from the proprioceptive feedback experiment showed that participants could very accurately identify four different grip positions of the hand prosthesis (i.e., open hand, wide grip, narrow grip, and closed hand) without a single case of misidentification. In experiment 3, participants could identify objects with different shapes and stiffness with an overall high success rate of 90.5% across all combinations of location and muscle state. The feedback location and muscle state did not have a significant effect on object recognition accuracy. Overall, our study results indicate that the hybrid feedback system may be a very effective way to enrich a prosthetic hand user’s experience of the stiffness and shape of commonly manipulated objects. Full article

Individual mobility deficit in older adults induces a variety of medical conditions, diminishing their functional capacity in pursuing activities of daily living. In immobility syndrome patients, such conditions are prone further deterioration through a drastically reduced scope of physical activity, owing mostly to poor self-motivation and the monotonous character of conventional rehabilitation regimens. As evidenced by published research, virtual reality technology solutions in rehabilitation management actually add significantly to patients’ self-motivation, while promoting their active involvement in therapy through visual, auditory, and kinaesthetic stimuli. Effective rehabilitation training aided by virtual reality solutions helps patients acquire specific physical and cognitive skills to be subsequently emulated in the real-world environment. The extra added advantage lies in facilitating such training within patients’ own home environments, combined with online monitoring of their progress, when not personally supervised by a physiotherapist, which also boosts the overall cost effectiveness of the therapeutic management itself. This narrative review appears to be the very first one principally focused on critically comparing individual immobilisation with immobility syndrome, especially through the application of the Authors’ own substantial hands-on therapeutic experience in managing various rehabilitation schemes, specifically aided by diverse virtual reality technology solutions. Full article

Because of its benefits in providing an engaging and mobile environment, virtual reality (VR) has recently been rapidly adopted and integrated in education and professional training. Augmented reality (AR) is the integration of VR with the real world, where the real world provides context and the virtual world provides or reconstructs missing information. Mixed reality (MR) is the blending of virtual and physical reality environments allowing users to interact with both digital and physical objects at the same time. In recent years, technology for creating reality-based 3D models has advanced and spread across a diverse range of applications and research fields. The purpose of this paper is to design, develop, and test VR for kinaesthetic distance learning in a museum setting. A VR training program has been developed in which learners can select and perform pre-made scenarios in a virtual environment. The interaction in the program is based on kinaesthetic learning characteristics. Scenarios with VR controls simulate physical interaction with objects in a virtual environment for learners. Learners can grasp and lift objects to complete scenario tasks. There are also simulated devices in the virtual environment that learners can use to perform various actions. The study’s goal was to compare the effectiveness of the developed VR educational program to that of other types of educational material. Our innovation is the development of a system for combining their 3D visuals with rendering capable of providing a mobile VR experience for effective heritage enhancement. Full article

This study aimed to examine the differences in coordination motor abilities between track and field (T&F) runners and foot orienteers (Foot-O). Another purpose of this study was to analyse gender differences in terms of coordination motor abilities. Coordination skills tests were undertaken by 11 Foot-O and 11 T&F runners. Each group consisted of five women and six men who lived in the Lower Silesia region of Poland. The Foot-O group consisted of 11 orienteers aged 24.09 (±4.78) years, with a minimum 10 years of experience, while the T&F group consisted of 11 long-distance runners aged 24.91 (±4.04) years and with a performance level at distances of 5 km and 10 km equivalent to that for orienteering. Some of the participants represented world-class level (e.g., world junior medallists), and most of them were of national elite level. Coordination tests of motor abilities were chosen for their reliability and repeatability and included tests of spatial orientation, rhythmisation of movements, balance and kinaesthetic differentiation. The Foot-O group performed significantly better than the T&F group in terms of some coordination abilities. Differences were observed between the Foot-O and T&F runners in balance ability measured during the “Walk on the bench” test. Further research should be carried out in this area in order to confirm these differences. Full article

This research was performed on marketed table olives. We investigated possible correlations among textural parameters obtained using both sensory assessment and instrumental textural analysis. The purpose of this research study was to find out any possible correlation between the two different analysis methods, especially in relation to acoustic compression. Up to now, there are no available studies on this topic. Samples from different olive cultivars and different processing methods were analysed, and a data matrix resulting from four textural/acoustic and six sensorial kinaesthetic parameters was processed. The two parameters “S_crunch” and “T_noise” (the “S” letter is for “sensorial”, and the “T” letter is for “textural”) showed complementarity, but they did not discriminate properly. The textural values of “T_flesh_h” and the sensory values of “S_flesh_h” were directly correlated to “S_crunch”, and as an unexpected result, the textural values of “T_skin_bs” and the sensory values of “S_skin_h” were closely linked to each other. Regarding the analysed parameters, the results showed that the two techniques are clearly complementary and could constitute a valid tool for varietal characterization and for determining the instrumental and organoleptic qualities of the product; it was not possible to proceed with the characterization by type of processing method, as the dataset was not large enough. Full article

Attention deficit hyperactivity disorder is the most common neuropsychological disorder in childhood and adolescence, affecting the basic psychological processes involved in learning, social adaptation and affective adjustment. From previous research, the disorder is linked to problems in different areas of development, with deficiencies in psychological processes leading to the development of the most common characteristics of the disorder such as inattention, excess of activity and lack of inhibitory control. As for the diagnosis, in spite of being a very frequent disorder, there are multiple controversies about which tools are the most suitable for evaluation. One of the most widespread tools in the professional field is behavior inventories such as the Strengths and Difficulties Questionnaires for Parents and Teachers or the ADHD Rating Scale-V. The main disadvantage of these assessment tools is that they do not provide an objective observation. For this reason, there are different studies focused on recording objective measures of the subjects’ movement, since hyperkinesia is one of the most characteristic symptoms of this disorder. In this sense, we have developed an application that, using a Kinect device, is capable of measuring the movement of the different parts of the body of up to six subjects in the classroom, being a natural context for the student. The main objective of this work is twofold, on the one hand, to investigate whether there are correlations between excessive movement and high scores in the inventories for the diagnosis of ADHD, Rating Scale-V and Strengths and Difficulties Questionnaire (SDQ) and, on the other hand, to determine which sections of the body present the most significant mobility in subjects diagnosed with ADHD. Results show that the control group, composed of neurotypical subjects, presents less kinaesthetic activity than the clinical group diagnosed with ADHD. This indicates that the experimental group presents one of the main characteristics of the disorder. In addition, results also show that practically all the measured body parts present significant differences, being higher in the clinical group, highlighting the head as the joint with the highest effect size. Full article