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In this paper we present a hybrid generative-discriminative approach for image categorization in real-world images, based on Latent Dirichlet Allocation and SVM classifiers. We use SVMs with non-linear kernels on different visual features in a multiple kernel combination framework. A major contribution of our work is also the introduction of a novel dataset, called MICC-Flickr101, based on the popular...
An anthropomorphic underactuated prosthetic hand, endowed with position and force sensors and controlled by means of myoelectric commands, is used to perform experiments of hierarchical shared control. Three different hierarchical control strategies combined with a vibrotactile feedback system have been developed and tested by able-bodied subjects through grasping tasks used in activities of daily...
Quantity, duration, content, and intensity of training sessions are very important in order to increase the efficacy of neurorehabilitation. Unfortunately, when traditional therapy is provided in a hospital or rehabilitation center, the patient is usually seen for few hours a week. Robot-mediated therapies could improve this situation. The aim of this work was to verify the possibility of improving...
The paper presents a controller for a multi-fingered underactuated prosthetic hand based on tendon transmission. The control architecture is implemented in two subsequent and different phases. The first one is the pre-shaping of the hand, based on the grasp type is implemented by stand-alone motion controllers using PID position control algorithms. The desired force closure value is calculated according...
In the recent past, several researchers have shown that important variables in relearning motor skills and in changing the underlying neural architecture after stroke are the quantity, duration, content, and intensity of training sessions. Unfortunately, when traditional therapy is provided in a hospital or rehabilitation center, the patient is usually seen for few hours a week. Robot-mediated therapies...
This paper presents the design methods followed in order to overcome the limits of the current prosthetic hands. The prosthesis biomechatronic approach arises from the knowledge of the biological system, assumed validated by its natural evolution. Nevertheless, the state of the art of technology, actuators, sensors, electronics and software, forces some trade-off in the implementation of the prototypes...
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