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In this study, grasp positions of human hands are measured for planar objects for development of a reasonable grasp criterion for a two-soft-fingered robotic hand. We first propose a grasp criterion that yields the best grasping position for a robot hand with two soft fingers. To examine the properties of this criterion with respect to some weighting coefficients included in the criterion, a grasping...
The purpose of this paper is to establish a method of shape recognition and grasping of unknown objects using a robotic hand with two soft fingers and one omnidirectional camera. For shape recognition, we propose to use a simple 2D version of the visual volume intersection method which takes advantage of a special feature of the omnidiretional camera attached to the hand. For grasping we propose a...
We developed a method using the analytic hierarchy process (AHP) to evaluate the psychological factors of family caregivers of patients with dementia. Further, the family caregivers were questioned on their policy pertaining to the living place of the patients: at their home, nursing home, or hospital. We made inquiries of sixty-two families, resulting in twenty-eight desiring care at home, twenty...
This paper proposes a method for evaluating quantitatively the degree of handedness of a person by using the haptic virtual reality technology. A definition is also given of a pair of quantitative indices for handedness and dexterity of a person from the data obtained by this method using the factor analysis. A haptic display system has been developed consisting of two PHANToM OMNI haptic devices,...
D-T burning will stimulate plasma chemical/physical reactions, radiation damage by fast neutrons and high energy gamma rays, tritium inventory, and ingress of carbon dust. Under such harsh conditions valves are required with metal seals of large aperture (a rectangular opening of 3 m in height and 1.2m in width and-a circular one of diameter 2 m), which have never been constructed before, and must...
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