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GRASP Special Seminar – Milos Zefran, University of Illinois at Chicago, “Teaching Sensorimotor Skills with Haptic Playback”

June 21, 2010 @ 11:00 am - 12:00 pm

Abstract: Haptic simulators are increasingly popular for teaching of sensorimotor skills. A useful feature of any training environment is the ability to record motor data streams of an expert and display them to a student. This talk will describe haptic playback, a framework for displaying motor streams in a haptic simulator. It will be argued that haptic playback calls for an explicit model of the human user; a simple model for the user will be subsequently presented, along with a preliminary validation through studies of human subjects. The model will be used to formulate a control strategy that achieves both force and position tracking by a cooperative user in a haptic environment. A human study will be then described that was designed to evaluate the effectiveness of the haptic playback for teaching of sensorimotor skills. The study suggests that superior tracking performance during training does not necessarily indicate superior effectiveness in motor skill acquisition. This work is motivated by PerioSim, a haptic virtual reality simulator for sensorimotor skill acquisition in dentistry.


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Milos Zefran completed his undergraduate studies in Electrical Engineering and Mathematics at the University of Ljubljana, Slovenia, where he also received a M.Sc. degree in Electrical Engineering. He received a M.Sc. degree in Mechanical Engineering and a Ph.D. degree in Computer Science from the University of Pennsylvania in 1995 and 1996, respectively. From 1997 to 1999 he was a NSF Postdoctoral Scholar at the California Institute of Technology and afterwards he joined the Rensselaer Polytechnic Institute. Since 1999 he has been with the Department of Electrical and Computer Engineering at the University of Illinois at Chicago where he is currently an associate professor. His research interests are in haptics, robot networks, and control of hybrid systems. He received the NSF Career Award in 2000 and is an Associate Editor of the IEEE Transactions on Control Systems Technology.


June 21, 2010
11:00 am - 12:00 pm
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