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Background: Two different Human-Machine Interfaces (HMIs) were developed, both based on electro-biological signals. One is based on the EMG signal and the other is based on the EEG signal. Two major features of such interfaces are their relatively simple data acquisition and processing systems, which need just a few hardware and software resources, so that they are, computationally and financially speaking, low cost solutions. Both interfaces were applied to robotic systems, and their performances are analyzed here. The EMG-based HMI was tested in a mobile robot, while the EEG-based HMI was tested in a mobile robot and a robotic manipulator as well.

This paper presents a novel calibration procedure as a simple, yet powerful, method to place and align inertial sensors with body segments. The calibration can be easily replicated without the need of any additional tools. The proposed method is validated in three different applications: a computer mathematical simulation; a simplified joint composed of two semi-spheres interconnected by a universal goniometer; and a real gait test with five able-bodied subjects. Simulation results demonstrate that, after the calibration method is applied, the joint angles are correctly measured independently of previous sensor placement on the joint, thus validating the proposed procedure. In the cases of a simplified joint and a real gait test with human volunteers, the method also performs correctly, although secondary plane errors appear when compared with the simulation results. We believe that such errors are caused by limitations of the current inertial measurement unit (IMU) technology and fusion algorithms. In conclusion, the presented calibration procedure is an interesting option to solve the alignment problem when using IMUs for gait analysis.

Physiological signals may be used as objective markers to identify emotions, which play relevant roles in social and daily life. To measure these signals, the use of contact-free techniques, such as Infrared Thermal Imaging (IRTI), is indispensable to individuals who have sensory sensitivity. The goal of this study is to propose an experimental design to analyze five emotions (disgust, fear, happiness, sadness and surprise) from facial thermal images of typically developing (TD) children aged 7–11 years using emissivity variation, as recorded by IRTI. For the emotion analysis, a dataset considered emotional dimensions (valence and arousal), facial bilateral sides and emotion classification accuracy. The results evidence the efficiency of the experimental design with interesting findings, such as the correlation between the valence and the thermal decrement in nose; disgust and happiness as potent triggers of facial emissivity variations; and significant emissivity variations in nose, cheeks and periorbital regions associated with different emotions. Moreover, facial thermal asymmetry was revealed with a distinct thermal tendency in the cheeks, and classification accuracy reached a mean value greater than 85%. From the results, the emissivity variations were an efficient marker to analyze emotions in facial thermal images, and IRTI was confirmed to be an outstanding technique to study emotions. This study contributes a robust dataset to analyze the emotions of 7-11-year-old TD children, an age range for which there is a gap in the literature.

People with severe disabilities may have difficulties when interacting with their home devices due to the limitations inherent to their disability. Simple home activities may even be impossible for this group of people. Although much work has been devoted to proposing new assistive technologies to improve the lives of people with disabilities, some studies have found that the abandonment of such technologies is quite high. This work presents a new assistive system based on eye tracking for controlling and monitoring a smart home, based on the Internet of Things, which was developed following concepts of user-centered design and usability. With this system, a person with severe disabilities was able to control everyday equipment in her residence, such as lamps, television, fan, and radio. In addition, her caregiver was able to monitor remotely, by Internet, her use of the system in real time. Additionally, the user interface developed here has some functionalities that allowed improving the usability of the system as a whole. The experiments were divided into two steps. In the first step, the assistive system was assembled in an actual home where tests were conducted with 29 participants without disabilities. In the second step, the system was tested with online monitoring for seven days by a person with severe disability (end-user), in her own home, not only to increase convenience and comfort, but also so that the system could be tested where it would in fact be used. At the end of both steps, all the participants answered the System Usability Scale (SUS) questionnaire, which showed that both the group of participants without disabilities and the person with severe disabilities evaluated the assistive system with mean scores of 89.9 and 92.5, respectively.

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