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Product design is an important process in industry whereas it has been usually performed based on aesthetics and static strength rather than on dynamical features of the product in use, or more specifically, in grasping. In this paper, dynamical analysis of grasping is to be discussed. Because it is difficult to deal with an actual hand dynamically interacting with an object, a hand model in dynamical...
Recently, the development of a versatile robotic hand aiming at the application to an artificial arm or a humanoid robot is in demand. In this paper, omni-directional bending mechanism called "double-screw-drive mechanism" was applied to a robotic hand. The robotic hand with three fingers was built, and experiment was carried out, in which each fingertip was controlled so as to track the...
This paper describes hand pose estimation from camera images of ring-shaped markers. The ring-shaped markers are employed to more simplify the measurement than measurement with conventional reflective markers. Using results of the pose estimation of the ring-shaped markers, the entire finger pose is estimated with anatomical constraints on finger kinematics.
Recently, the development of a versatile robot hand aiming at the application to an artificial arm or a humanoid robot is in demand. In this paper, omni-directional bending mechanism which is called ldquodouble-screw-drive mechanismrdquo was applied to a robot hand. The robot hands with two fingers and three fingers were built. For the robot hand with three fingers, each fingertip was controlled so...
This paper proposes a kinematic knee load model corresponding to variation of actual muscular tension for noncontact measurement of the load. The proposed model estimates knee load based only on kinematic data, i.e. time series of joint center positions, which are obtained from noncontact measurement such as imagery measurement. The correspondence was confirmed through experiments by using cross-correlation...
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