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We present a new palm design that features a dense array of micro-spines for the JPL Robosimian human-scale climbing robot. A linearly-constrained spine mechanism is introduced and analyzed using adhesion and stiffness models. This mechanism achieves a spine density of 19/cm2 and a mean adhesion of 67N (207kPa) on coarse concrete surfaces. The models are validated on two different surfaces with two...
Pinching is an important capability for mobile robots handling small items or tools. Successful pinching requires force-closure and, in underwater applications, gentle suction flow at the fingertips can dramatically improve the handling of light objects by counteracting the negative effects of water lubrication and enhancing friction. In addition, monitoring the flow gives a measure of suction-engagement...
We present a light, actuated smart staff with 5DOF tip force sensing which can be used by a humanoid robot operating in challenging terrain. The staff has an extension mechanism that employs mechanical multiplexing to achieve a high extension ratio in a stiff and compact package. The tip force sensor uses two metal diaphragms to achieve decoupling of axial and radial forces and the ability to tune...
Stroke remains the third leading cause of death. The rising of stroke illness and the continuous aging of the global population requires a collaboration of stroke services systems based on relations and exchange of information to address needs of caregiver and patients in the healthcare community. The collaborative stroke services system involves interconnected changes and the development of integrated...
Fingertip suction is investigated using a compliant, underactuated, tendon-driven hand designed for underwater mobile manipulation. Tendon routing and joint stiffnesses are designed to provide ease of closure while maintaining finger rigidity, allowing the hand to pinch small objects, as well as secure large objects, without diminishing strength. While the hand is designed to grasp a range of objects,...
This paper proposes a novel method for human action recognition. Different from many action recognition methods which consider an action sequence along the time axis, the proposed method views an action sequence along the space axis. This brings two advantages: the human body structures in all frames are encoded in the feature; the time information is completely used. The process of feature extraction...
In order to improve the mass transfer rate of salt to eggs and increase the efficiency of salting eggs, the can of highly active salting eggs based on ARM was designed, adopting physical measures including pulsed pressure; heating; using ultrasonic wav and so on to change the stress field; the field of permeating and the concentration field. The automatic control system of salting can is comprised...
This paper presents a method for representing and recognizing human actions based on pose similarity. For pose representation, we extend Histogram of Oriented Gradients (HOG) with directional statistics to obtain a HOG based descriptor with a smaller dimension. Then a directional similarity measurement for the proposed descriptor is put forward to provide a measure consistent with human perception...
We address the problem of action recognition. Our aim is to recognize single person activities in surveillance scenes. To meet the requirements of real scene action recognition, we present a compact motion representation for human activity recognition. With the employment of efficient features extracted from optical flow as the main part, together with global information, our motion representation...
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