Lynette A. Jones

Bio: Lynette A. Jones is an academic researcher from Massachusetts Institute of Technology. The author has contributed to research in topics: Haptic technology & Body movement. The author has an hindex of 40, co-authored 116 publications receiving 5868 citations. Previous affiliations of Lynette A. Jones include Montreal Neurological Institute and Hospital & McGill University.

Human Hand Function

Abstract: 1. Historical Overview and general introduction 2. Evolutionary development and anatomy of the hand 3. Sensory neurophysiology 4. Tactile sensing 5. Active haptic sensing 6. Prehension 7. Non-prehensile skilled movements 8. End-effector constraints 9. Hand function across the lifespan 10. Applications 11. Summary, conclusions and future directions

Tactile displays: guidance for their design and application.

Abstract: Objective: This article provides an overview of tactile displays. Its goal is to assist human factors practitioners in deciding when and how to employ the sense of touch for the purpose of information representation. The article also identifies important research needs in this area. Background: First attempts to utilize the sense of touch as a medium for communication date back to the late 1950s. For the next 35 years progress in this area was relatively slow, but recent years have seen a surge in the interest and development of tactile displays and the integration of tactile signals in multimodal interfaces. A thorough understanding of the properties of this sensory channel and its interaction with other modalities is needed to ensure the effective and robust use of tactile displays. Methods: First, an overview of vibrotactile perception is provided. Next, the design of tactile displays is discussed with respect to available technologies. The potential benefit of including tactile cues in multimodal inte...

A perceptual analysis of stiffness.

Abstract: The perception of stiffness was studied in ten human subjects using two servo-controlled electromagnetic linear motors with computercontrolled stiffness, one motor coupled to each wrist of the subject. Using the contralateral limbmatching procedure in which subjects adjusted the stiffness of the motor connected to one (matching) arm until it was perceived to be the same as that connected to the other (reference) arm, a psychophysical function for stiffness was calculated. Eight different stiffness intensities were matched by subjects with five repetitions at each stimulus amplitude. The relation between the stiffness of the reference and matching motors was linear, and the accuracy with which subjects could match stiffness paralleled that reported previously for force and displacement. The Weber fraction for stiffness was 0.23 which is three times that reported for elbow flexion forces and forearm displacement. These findings were interpreted as indicating that subjects can perceive changes in the stiffness of mechanical devices used to effect action in the environment and that these perceptions are based on sensory signals conveying force and movement information.

A teleoperated microsurgical robot and associated virtual environment for eye surgery

Abstract: We have developed a prototype teleoperated microsurgical robot MSR-1 and associated virtual environment for eye surgery. Bidirectional pathways relay visual, auditory, and mechanical information between the MSR-1 master and slave. The surgeon wears a helmet visual master that is used to control the orientation of a stereo camera system visual slave observing the surgery. Images from the stereo camera system are relayed back to the helmet or adjacent screen where they are viewed by the surgeon. In each hand the surgeon holds a pseudotool a shaft shaped like a microsurgical scalpel that projects from the left and right limbs of a force reflecting interface mechanical master. Movements of the left and right pseudotools cause corresponding movements scaled down by 1 to 100 times in the microsurgical tools held by the left and right limbs of the micromotion robot mechanical slave that performs the surgery. Forces exerted on the left and right limbs of the slave microsurgical robot via the microtools are reflected back after being scaled up by 1 to 100 times to the pseudotools and hence surgeon via actuators in the left and right limbs of the mechanical master. This system enables tissue cutting forces to be felt including those that would normally be imperceptible if they were transmitted directly to the surgeon's hands. The master and slave subsystems visual, auditory, and mechanical communicate through a computer system which serves to enhance and augment images, filter hand tremor, perform coordinate transformations, and perform safety checks. The computer system consists of master and slave computers that communicate via an optical fiber connection. As a result, the MSR-1 master and slave may be located at different sites, which permits remote robotic microsurgery to become a reality. MSR-1 is being used as an experimental testbed for studying the effects of feedforward and feedback delays on remote surgery and is used in research on enhancing the accuracy and dexterity of microsurgeons by creating mechanical and visual telepresence.

Spinal and Supraspinal Factors in Human Muscle Fatigue

Abstract: Muscle fatigue is an exercise-induced reduction in maximal voluntary muscle force. It may arise not only because of peripheral changes at the level of the muscle, but also because the central nervous system fails to drive the motoneurons adequately. Evidence for “central” fatigue and the neural mechanisms underlying it are reviewed, together with its terminology and the methods used to reveal it. Much data suggest that voluntary activation of human motoneurons and muscle fibers is suboptimal and thus maximal voluntary force is commonly less than true maximal force. Hence, maximal voluntary strength can often be below true maximal muscle force. The technique of twitch interpolation has helped to reveal the changes in drive to motoneurons during fatigue. Voluntary activation usually diminishes during maximal voluntary isometric tasks, that is central fatigue develops, and motor unit firing rates decline. Transcranial magnetic stimulation over the motor cortex during fatiguing exercise has revealed focal cha...

Tactile Sensing—From Humans to Humanoids

Abstract: Starting from human ?sense of touch,? this paper reviews the state of tactile sensing in robotics. The physiology, coding, and transferring tactile data and perceptual importance of the ?sense of touch? in humans are discussed. Following this, a number of design hints derived for robotic tactile sensing are presented. Various technologies and transduction methods used to improve the touch sense capability of robots are presented. Tactile sensing, focused to fingertips and hands until past decade or so, has now been extended to whole body, even though many issues remain open. Trend and methods to develop tactile sensing arrays for various body sites are presented. Finally, various system issues that keep tactile sensing away from widespread utility are discussed.

Neurobiology of muscle fatigue.

Abstract: Muscle fatigue encompasses a class of acute effects that impair motor performance. The mechanisms that can produce fatigue involve all elements of the motor system, from a failure of the formulation of the descending drive provided by suprasegmental centers to a reduction in the activity of the contractile proteins. We propose four themes that provide a basis for the systematic evaluation of the neural and neuromuscular fatigue mechanisms: 1) task dependency to identify the conditions that activate the various mechanisms; 2) force-fatigability relationship to explore the interaction between the mechanisms that results in a hyperbolic relationship between force and endurance time; 3) muscle wisdom to examine the association among a concurrent decline in force, relaxation rate, and motor neuron discharge that results in an optimization of force; and 4) sense of effort to determine the role of effort in the impairment of performance. On the basis of this perspective with an emphasis on neural mechanisms, we suggest a number of experiments to advance our understanding of the neurobiology of muscle fatigue.

The Proprioceptive Senses: Their Roles in Signaling Body Shape, Body Position and Movement, and Muscle Force

Abstract: This is a review of the proprioceptive senses generated as a result of our own actions. They include the senses of position and movement of our limbs and trunk, the sense of effort, the sense of force, and the sense of heaviness. Receptors involved in proprioception are located in skin, muscles, and joints. Information about limb position and movement is not generated by individual receptors, but by populations of afferents. Afferent signals generated during a movement are processed to code for endpoint position of a limb. The afferent input is referred to a central body map to determine the location of the limbs in space. Experimental phantom limbs, produced by blocking peripheral nerves, have shown that motor areas in the brain are able to generate conscious sensations of limb displacement and movement in the absence of any sensory input. In the normal limb tendon organs and possibly also muscle spindles contribute to the senses of force and heaviness. Exercise can disturb proprioception, and this has implications for musculoskeletal injuries. Proprioceptive senses, particularly of limb position and movement, deteriorate with age and are associated with an increased risk of falls in the elderly. The more recent information available on proprioception has given a better understanding of the mechanisms underlying these senses as well as providing new insight into a range of clinical conditions.

Medical robotics in computer-integrated surgery

Abstract: This paper provides a broad overview of medical robot systems used in surgery. After introducing basic concepts of computer-integrated surgery, surgical CAD/CAM, and surgical assistants, it discusses some of the major design issues particular to medical robots. It then illustrates these issues and the broader themes introduced earlier with examples of current surgical CAD/CAM and surgical assistant systems. Finally, it provides a brief synopsis of current research challenges and closes with a few thoughts on the research/industry/clinician teamwork that is essential for progress in the field.