HapCompass: A Rotational Haptic Device for Contact-Rich Robotic Teleoperation

The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive directional cues within wearable teleoperation interfaces remains a bottleneck. Existing solutions, such as non-directional vibrations from handheld controllers, provide limited information, while vibrotactile arrays are prone to perceptual interference. To address these limitations, we propose HapCompass, a novel, low-cost wearable haptic device that renders 2D directional cues by mechanically rotating a single linear resonant actuator (LRA). We evaluated HapCompass's ability to convey directional cues to human operators and showed that it increased the success rate, decreased the completion time and the maximum contact force for teleoperated manipulation tasks when compared to vision-only and non-directional feedback baselines. Furthermore, we conducted a preliminary imitation-learning evaluation, suggesting that the directional feedback provided by HapCompass enhances the quality of demonstration data and, in turn, the trained policy. We release the design of the HapCompass device along with the code that implements our teleoperation interface: https://ripl.github.io/HapCompass/.

Lightweight Mobile Automated Assistant-to-physician for Global Lower-resource Areas

Importance: Lower-resource areas in Africa and Asia face a unique set of healthcare challenges: the dual high burden of communicable and non-communicable diseases; a paucity of highly trained primary healthcare providers in both rural and densely populated urban areas; and a lack of reliable, inexpensive internet connections. Objective: To address these challenges, we designed an artificial intelligence assistant to help primary healthcare providers in lower-resource areas document demographic and medical sign/symptom data and to record and share diagnostic data in real-time with a centralized database. Design: We trained our system using multiple data sets, including US-based electronic medical records (EMRs) and open-source medical literature and developed an adaptive, general medical assistant system based on machine learning algorithms. Main outcomes and Measure: The application collects basic information from patients and provides primary care providers with diagnoses and prescriptions suggestions. The application is unique from existing systems in that it covers a wide range of common diseases, signs, and medication typical in lower-resource countries; the application works with or without an active internet connection. Results: We have built and implemented an adaptive learning system that assists trained primary care professionals by means of an Android smartphone application, which interacts with a central database and collects real-time data. The application has been tested by dozens of primary care providers. Conclusions and Relevance: Our application would provide primary healthcare providers in lower-resource areas with a tool that enables faster and more accurate documentation of medical encounters. This application could be leveraged to automatically populate local or national EMR systems.