Integrated jerk as an indicator of affinity for artificial agent kinematics: laptop and virtual reality experiments involving index finger motion during two-digit grasping.

Uncanny valley research has shown that human likeness is an important consideration when designing artificial agents. It has separately been shown that artificial agents exhibiting human-like kinematics can elicit positive perceptual responses. However the kinematic characteristics underlying that perception have not been elucidated. This paper proposes kinematic jerk amplitude as a candidate metric for kinematic human likeness, and aims to determine whether a perceptual optimum exists over a range of jerk values. We created minimum-jerk two-digit grasp kinematics in a prosthetic hand model, then added different amplitudes of temporally smooth noise to yield a variety of animations involving different total jerk levels, ranging from maximally smooth to highly jerky. Subjects indicated their perceptual affinity for these animations by simultaneously viewing two different animations side-by-side, first using a laptop, then separately within a virtual reality (VR) environment. Results suggest that (a) subjects generally preferred smoother kinematics, (b) subjects exhibited a small preference for rougher-than minimum jerk kinematics in the laptop experiment, and that (c) the preference for rougher-than minimum-jerk kinematics was amplified in the VR experiment. These results suggest that non-maximally smooth kinematics may be perceptually optimal in robots and other artificial agents.

Expansion of effective wet bulb globe temperature for vapor impermeable protective clothing.

The wet bulb globe temperature (WBGT) is an effective measure for risk screening to prevent heat dISOrders. However, a heat risk evaluation by WBGT requires adjustments depending on the clothing. In this study, we proposed a new effective WBGT (WBGTeff*) for general vapor permeable clothing ensembles and vapor impermeable protective clothing that is applicable to occupants engaged in moderate intensity work with a metabolic heat production value of around 174W/m2. WBGTeff* enables the conversion of heat stress into the scale experienced by the occupant dressed in the basic clothing ensemble (work clothes) based on the heat balances for a human body. We confirmed that WBGTeff* was effective for expressing the critical thermal environments for the prescriptive zones for occupants wearing vapor impermeable protective clothing. Based on WBGTeff*, we succeeded in clarifying how the weights for natural wet bulb, globe, and air temperatures and the intercept changed depending on clothing properties and the surrounding environmental factors when heat stress is expressed by the weighted sum of natural wet bulb, globe, and air temperatures and the intercept. The weight of environmental temperatures (globe and air temperatures) for WBGTeff* for vapor impermeable protective clothing increased compared with that for general vapor permeable clothing, whereas that of the natural wet bulb temperature decreased. For WBGTeff* in outdoor conditions with a solar load, the weighting ratio of globe temperature increased and that of air temperature decreased with air velocity. Approximation equations of WBGTeff* were proposed for both general vapor permeable clothing ensembles and for vapor impermeable protective clothing.

Heat balance model for a human body in the form of wet bulb globe temperature indices.

The purpose of this study is to expand the empirically derived wet bulb globe temperature (WBGT) index to a rational thermal index based on the heat balance for a human body. We derive the heat balance model in the same form as the WBGT for a human engaged in moderate intensity work with a metabolic heat production of 174W/m2 while wearing typical vapor-permeable clothing under shady and sunny conditions. Two important relationships are revealed based on this derivation: (1) the natural wet bulb and black globe temperature coefficients in the WBGT coincide with the heat balance equation for a human body with a fixed skin wettedness of approximately 0.45 at a fixed skin temperature; and (2) the WBGT can be interpreted as the environmental potential to increase skin temperature rather than the heat storage rate of a human body. We propose an adjustment factor calculation method that supports the application of WBGT for humans dressed in various clothing types and working under various air velocity conditions. Concurrently, we note difficulties in adjusting the WBGT by using a single factor for humans wearing vapor-impermeable protective clothing. The WBGT for shady conditions does not need adjustment depending on the positive radiant field (i.e., when a radiant heat source exists), whereas that for the sunny condition requires adjustments because it underestimates heat stress, which may result in insufficient human protection measures.