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Conventional kinematic studies of serial manipulators involve the proper selection of coordinate frames of reference at appropriate positions. The standard practice, being used in the past, is the use of Denavit-Hartenberg (D-H) algorithm for assigning coordinate frames. However, it has been observed that when an open kinematic chain contains a spatial link with two consecutive joint axes at right...
This paper reports on the findings from an experiment on human performance in tactile language learning and tactile memory. A set of vibrotactile patterns representing verbal words was presented to a group of 20 voluntary subjects. Upon learning, subjects were capable of recognizing the patterns with high accuracy. Patterns were then combined with the aim of constructing sentences that gradually represent...
This article presents the design and execution of the experiments used to develop and evaluate a robot prototype system for fluent Human-Robot object handover interactions. A key aspect of our experimental methodology is the deep integration between Human-Robot and Human-Human object handover experiments. This provides a solid baseline and knowledge base for the prototype evaluation, both in terms...
Within the scope of the current research the goal was to develop an autonomous transport assistant for hospitals. As a sort of social robots, they need to fulfill two main requirements with respect to their interactive behavior with humans: (1) a high level of safety and (2) a behavior that is perceived as socially proper. One important element includes the characteristics of movement. However, state-of-the-art...
This paper proposes a novel design of a robotic hand exoskeleton device (PMHand) for the purpose of aiding post stroke rehabilitation. The main effects of a stroke on the human hand and the current rehabilitation methods and their limitations are briefly reviewed. The design process and fabrication of a full hand exoskeleton, control system and preliminary experimental results are presented in detail.
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