Fuzzy logic-based evaluation function for haptic tasks

This paper discusses the possibility of improving eye-hand coordination in children diagnosed with this problem, using a robotic mapping from a haptic user interface to a virtual environment. The goal is to develop, implement and refine a system that will assess and improve the eye-hand coordination and grip strength in children diagnosed with having problems with it. A detailed analysis of patters (e.g., labyrinths, letters and angles) was conducted which would yield the greatest benefit in terms of assessment of coordination and strength issues as well as in training. Support algorithms (position, force, velocity, inertia and viscosity) were also developed and incorporated into the tasks to assist the user´s movements. The evaluate performance (given by % accuracy and time) of the executed tasks; a sophisticated evaluation function was designed based on image analysis and edge detection algorithms. A Fuzzy Logic-based function that takes the accuracy and time results and makes a suggestion in the next task to be performed is also described in this paper. This paper also presents the results of a study implemented at the Motor Development Clinic at Cal Poly Pomona. The purpose of this study was to test the functionality of the haptic tasks, evaluation function and Fuzzy Logic-based decision making algorithm.