Carpal tunnel syndrome is caused by the compression of the median nerve as it transits the carpal tunnel, with an incidence of about 1% of the population. If surgery is needed, the treatment involves decompression of the median nerve followed sometimes by musculoskeletal outpatient rehabilitation. This paper presents a proof-of-concept pilot clinical trial in which the Rutgers Masters II haptic glove was tested on five subjects, who were two weeks post-hand surgery. Subjects trained for 13 sessions, 30 min per session, three sessions per week, and had no conventional outpatient therapy. Computerized measures of performance showed group effects in hand mechanical energy (1200% for the virtual ball squeezing and DigiKey exercises and 600% for the power putty exercise). Improvement in their hand function was also observed (a 38% reduction in virtual pegboard errors, and 70% fewer virtual hand ball errors). Clinical strength measures showed increases in grip (by up to 150%) and key pinch (up to 46%) strength in three of the subjects, while two subjects had decreased strength following the study. However, all five subjects improved in their tip pinch strength of their affected hand (between 20%-267%). When asked whether they would recommend the virtual reality exercises to others, four subjects very strongly agreed and one strongly agreed that they would.

Low spatial frequency (SF) processing has been shown to be impaired in people with schizophrenia, but it is not clear how this varies with clinical state or illness chronicity. We compared schizophrenia patients (SCZ, n = 34), first episode psychosis patients (FEP, n = 22), and healthy controls (CON, n = 35) on a gender/facial discrimination task. Images were either unaltered (broadband spatial frequency, BSF), or had high or low SF information removed (LSF and HSF conditions, respectively). The task was performed at hospital admission and discharge for patients, and at corresponding time points for controls. Groups were matched on visual acuity. At admission, compared to their BSF performance, each group was significantly worse with low SF stimuli, and most impaired with high SF stimuli. The level of impairment at each SF did not depend on group. At discharge, the SCZ group performed more poorly in the LSF condition than the other groups, and showed the greatest degree of performance decline collapsed over HSF and LSF conditions, although the latter finding was not significant when controlling for visual acuity. Performance did not change significantly over time for any group. HSF processing was strongly related to visual acuity at both time points for all groups. We conclude the following: 1) SF processing abilities in schizophrenia are relatively stable across clinical state; 2) face processing abnormalities in SCZ are not secondary to problems processing specific SFs, but are due to other known difficulties constructing visual representations from degraded information; and 3) the relationship between HSF processing and visual acuity, along with known SCZ- and medication-related acuity reductions, and the elimination of a SCZ-related impairment after controlling for visual acuity in this study, all raise the possibility that some prior findings of impaired perception in SCZ may be secondary to acuity reductions.

Advances in sensor technologies, object detection algorithms, planning frameworks and hardware designs have motivated the deployment of robots in warehouse automation. A variety of such applications, like order fulfillment or packing tasks, require picking objects from unstructured piles and carefully arranging them in bins or containers. Desirable solutions need to be low-cost, easily deployable and controllable, making minimalistic hardware choices desirable. The challenge in designing an effective solution to this problem relates to appropriately integrating multiple components, so as to achieve a robust pipeline that minimizes failure conditions. The current work proposes a complete pipeline for solving such packing tasks, given access only to RGB-D data and a single robot arm with a vacuum-based end-effector, which is also used as a pushing finger. To achieve the desired level of robustness, three key manipulation primitives are identified, which take advantage of the environment and simple operations to successfully pack multiple cubic objects. The overall approach is demonstrated to be robust to execution and perception errors. The impact of each manipulation primitive is evaluated by considering different versions of the proposed pipeline, which incrementally introduce reasoning about object poses and corrective manipulation actions.

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