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Importance: Before the widespread implementation of robotic systems to provide patient care during the COVID-19 pandemic occurs, it is important to understand the acceptability of these systems among patients and the economic consequences associated with the adoption of robotics in health care settings. Objective: To assess the acceptability and feasibility of using a mobile robotic system to facilitate health care tasks. Design, Setting, and Participants: This study included 2 components: a national survey to examine the acceptability of using robotic systems to perform health care tasks in a hospital setting and a single-site cohort study of patient experiences and satisfaction with the use of a mobile robotic system to facilitate triage and telehealth tasks in the emergency department (ED). The national survey comprised individuals living in the US who participated in a sampling-based survey via an online analytic platform. Participants completed the national survey between August 18 and August 21, 2020. The single-site cohort study included patients living in the US who presented to the ED of a large urban academic hospital providing quaternary care in Boston, Massachusetts between April and August 2020. All data were analyzed from August to October 2020. Exposures: Participants in the national survey completed an online survey to measure the acceptability of using a mobile robotic system to perform health care tasks (facilitating telehealth interviews, acquiring vital signs, obtaining nasal or oral swabs, placing an intravenous catheter, performing phlebotomy, and turning a patient in bed) in a hospital setting in the contexts of general interaction and interaction during the COVID-19 pandemic. Patients in the cohort study were exposed to a mobile robotic system, which was controlled by an ED clinician and used to facilitate a triage interview. After exposure, patients completed an assessment to measure their satisfaction with the robotic system. Main Outcomes, NIH (Grants K23DA044874,T32DK007191-45, R01DA047236), Hans and Mavis Lopater Psychosocial Foundation (Grant R44DA051106)

Thesis. 1977. Ph.D.--Massachusetts Institute of Technology. Dept. of Psychology., MICROFICHE COPY AVAILABLE IN ARCHIVES AND HUMANITIES., Vita., Includes bibliographies., by Marc H. Raibert., Ph.D.

This is the first of a two-part presentation which deals with certain computer controlled manipulator problems. This first part discusses a model which is designed to address problems of motor control, motor learning, adaptation, and sensorimotor integration. In this section the problems are outlined and a solution is given which makes used of a state space memory and a piece-wise linearization of the equations of motion. A forthcoming companion article will present the results of tests performed on an implementation of the model.

This is the second of a two part presentation of a model for motor control and learning. The model was implemented using a small computer and the MIT -Scheinman manipulator. Experiments were conducted which demonstrate the controller's ability to learn new movements, adapt to mechanical changes caused by inertial and elastic loading, and generalize its behavior among similar movements. A second generation model, based on improvements suggested by these experiments is suggested.

A model is presented that deals with problems of motor control, motor learning, and sensorimotor integration. The equations of motion for a limb are parameterized and used in conjunction with a quantized, multi-dimensional memory organized by state variables. Descriptions of desired trajectories are translated into motor commands which will replicate the specified motions. The initial specification of a movement is free of information regarding the mechanics of the effector system. Learning occurs without the use of error correction when practice data are collected and analyzed.

This report documents our work in exploring active balance for dynamic legged systems for the period from September 1985 through September 1989. The purpose of this research is to build a foundation of knowledge that can lead both to the construction of useful legged vehicles and to a better understanding of animal locomotion. In this report we focus on the control of biped locomotion, the use of terrain footholds, running at high speed, biped gymnastics, symmetry in running, and the mechanical design of articulated legs.

Complicated systems with non-linear time-varying behavior are difficult to control using classical linear feedback methods applied separately to individual degrees of freedom. At the present, mechanical manipulators, for example, are limited in their rate of movement by the inability of traditional feedback systems to deal with time-varying inertia, torque coupling effects between links and Coriolis forces. Analysis of the dynamics of such systems, however, provides the basic information needed to achieve adequate control.

The objective of this work was to create a 3D visualization that would be capable of giving commanding officers and others not intimately knowledgeable about VSW/MCM operations a better understanding of the mission tasks involved and techniques used by the VSW/MCM units. Our approach was to implement a real time mission visualization with the interactive 3D graphics application called PeopleShop(TM). The application shows divers, mammals and other personnel performing the various steps in the VSW/MCM task. This tool is useful for interactively viewing and changing the scenarios and provides a base line tool for planning and analysis. Using source material on the real time mission visualization we produced a professional quality videotape that serves as a tool for explaining and planning the VSW/MCM mission and procedures. The system may be extended to applications such as tactical planning, concept development for advanced technology and immersive training., Viewgraphs.

Our goal is to develop the technological foundation of advanced haptic systems and to assembly that technology into a useful surgical simulator. The surgical simulator we envision will allow training of biomedical procedures in a virtual environment that features realistic interaction with simulated anatomy and surgical tools through haptic force feedback, 3D graphics, and sound. In addition to direct training, surgical emulators could be used to assess surgical performance and play a role in certification. This report describes our progress in building such a system., Included with AD-M000 850 - Appendices to Final Report is film entitled Virtual Surgery.

Interaction through touch and manipulation is known as haptic interaction. We are working to develop advanced haptic technology that allows human users to touch, feel, grasp, and manipulate a set of special objects: objects located remotely, objects too small, too large, or too dangerous for normal human interaction, or objects that exist only in simulated worlds (virtual objects). The goal of this work is to develop the technological foundation of advanced haptic systems and to assemble that technology into a useful surgical simulator. In the first year of this effort we focused on developing the basic technology and methods needed to build interactive haptic applications. In this, the second year of effort, we have assembled these components into several prototype systems. We have built integrated systems for surgical anastomosis, heart palpation and aircraft maintenance. These systems were built upon a common software foundation that includes modules for virtual haptic interaction, physics-based simulation, and computer graphics. While these systems are not yet complete they demonstrate significant progress towards our goal of building virtual reality based training systems that are realistic, flexible, useful, and commercially viable.

Interaction through touch and manipulation is known as haptic interaction. We are working to develop advanced haptic technology that allows human users to touch, feel, grasp, and manipulate a set of special objects: objects located remotely, objects too small, too large, or too dangerous for normal human interaction, or objects that exist only in simulated worlds (virtual objects). We have built a baseline haptic system that includes a light, high bandwidth force feedback device that allows the user to touch and manipulate virtual objects in a simulated environment. We have created software that simulates the behavior of and interaction between virtual objects. We have designed efficient contact detection software for detecting the collision between simulated bodies or the collision between those bodies and the haptic interface. We have created haptic algorithms for mediating the force that the user feels when touching a virtual object. Using these components we have created a collection of working demonstrations to illustrate the functionality of an advanced haptic system. Finally, we have built prototype, integrated haptic demonstrations for aircraft maintenance training and a common surgical procedure known as an anastomosis.

This report documents our study of active legged systems that balance actively and move dynamically. The purpose of this research is to build a foundation of knowledge that can lead both to the construction of useful legged vehicles and to a better understanding of how animal locomotion works. In this report we provide an update on progress during the past year. Here are the topics covered in this report: * Is Cockroach Locomotion Dynamic? -To address this question we created three models of cockroaches, each abstracted at a different level. We provided each model with a control system and computer simulation. One set of results suggests that "Groucho Running," a type of dynamic walking, seems feasible at cockroach scale. * How Do Bipeds Shift Weight Between the Legs? - We built a simple planar biped robot specifically to explore this question. It shifts its weight from one curved foot to the other, using a toe-off and toe-on strategy, in conjunction with dynamic tipping. * 3D Biped Gymnastics -The 3D biped robot has done front somersaults in the laboratory. The robot changes its leg length in flight to control rotation rate. This in turn provides a mechanism for controlling the landing attitude of the robot once airborne. * Passively Stabilized Layout Somersault-We have found that the passive structure of a gymnast, the configuration of masses and compliances, can stabilize inherently unstable maneuvers. This means that body biomechanics could play a larger role in controlling behavior than is generally thought. We used a physical "doll" model and computer simulation to illustrate the point. * Twisting-Some gymnastic maneuvers require twisting. We are studying how to couple the biomechanics of the system to its control to produce efficient, stable twisting maneuvers.