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This paper studies modeling and bio-mimetic control of a 3D 8-dof whole arm cooperative manipulation system using sensitive skin. The control law is designed based on integration of voluntary movement and reflex considering the system's redundancy. The voluntary task for holding the object is realized by impedance control at four contact points with the object using the contact force information from...
By considering the dexterous multi-fingered manipulation problem as a hybrid one, we at first propose a MLD model which encapsulates occurrence of impacts, switching between types of contact motion, and phases of continuous motion. Then we deal with planning and tracking problem of the derived MLD system, propose to realize dexterous hand manipulation via MIQP. The effectiveness of the proposed approach...
Mine detection is a sensitive task confronting the battlefield strategists. There is an ever-increasing demand for proper and sophisticated resources for many issues involved in the task. Traditional practices still involve human force directly in executing the tasks in spite of the advances in technology for tools and implements for the operation [GAO, 2001]. The problem includes various facets inherently:...
This paper presents a novel trajectory control-method for power assisting robot. Human input force is intermittent in many cases such as assisting devices for upper limbs and power assisting wheelchair; therefore, the suitable trajectory must be generated also after the human decreases his force. This paper tries to solve this significant problem based on minimum jerk model closely approximating human...
Human movements are performed by the combination of feedforward control and feedback control. In order to extract a feedforward component we propose a method to estimate a planned trajectory from a measured trajectory in an actual human movement. Here two assumptions are used. (1) A feedback signal has time delay, and the start of a measured trajectory can be regarded as the part of a planned trajectory...
A novel model of organized neural network is shown to be very effective for path planning and obstacle avoidance in an unknown map which is represented by topologically ordered neurons. With the limited information of neighbor position and distance of the target position, the robot autonomously provides a proper path with free-collision and no redundant exploring in the process of exploring. Finally,...
In this paper a neuro-musculo-skeletal system for human leg cycling movements is constructed based on the neural oscillator theory. Neural oscillator is derived from the center pattern generator (CPG) existing in the biological nervous system
This article deals with the optimal gait pattern in terms of the proposed control system. The phase difference among the oscillators is selected as the optimization variable. The duty ratio is selected as the optimization parameter. The performance index is constructed as a quadratic form of the input torque vector at the joints. The simulated annealing (SA) method is used as the optimization algorithm...
Hierarchical structures of multiple modules are investigated to solve large and complex problems. Here, we propose organization of the evaluation space considering the continuity and overlapping of multiple rewards. Multiple reward functions are applied to the planning scheme and each reward function provides different discretization of the state space. Based on the use of multiple resolutions, we...
The modeling of joints on human limbs involves complexities due to the presence of articular cartilage at the synovial joint interface between mating bones, and the geometries involved. In this work, a simple yet innovative model for such a joint which can still capture most of the behavior of the bone joint system is presented. The model is applied to a ball and socket joint system with soft cartilage...
In this article, we present a learning model that can control a simulated anthropomorphic arm kinematics motion in order to reach and grasp a static prototypic object placed behind an obstacle of varying position and size. The network, composed of two generic neural network modules, learns to combine multi-modal arm-related information such as trajectory parameters as well as obstacle-related information...
Two neural network models of human prehension are reviewed. The first model simulates coordination of the reach and grasp components of prehension. Simulations of this model produce realistic timing of the velocity peaks of reach and grasp; realistic scaling of peak grasp size with reach velocity and target grasp size; and realistic adaptation of reach and grasp to perturbations of initial grasp size,...
In this paper, we propose a colour based tracking algorithm for capturing the motion of human body parts for home-based rehabilitation. Different colour belts are attached to the body joints of interest and tracked in the video sequence. The performance of the colour-based tracking algorithm is analysed by comparing the tracking results with the results from a commercial marker-based tracking system,...
This paper considers the stability and stabilization of switched descriptor systems in discrete-time domain. First, the concept of regularity, causality are formulated for such systems. Next, the stability under arbitrary switching signals are investigated. The common Lyapunov functional method and the switched Lyapunov functional method are extended from the regular switched linear systems to the...
Although locomotor patterns of many legged animals have been widely studied from a viewpoint of energetic optimality, the optimality of the leg swing trajectory has not been well studied. In this paper, we examine whether the leg swing trajectory in human walking is determined based on the criterion of the minimization of the energetic cost or not. The computed optimal leg swing trajectory shows following...
The presented works are a part of the realization of an automobile accessibility movement simulator. The aim of this paper is to propose an optimization step of the kinematic model representing the human body. This model is made of two rigid bodies representing the trunk (torso and pelvis) and 4 simple open kinematics chains, in a star-shaped topology, with 7 degrees of freedom constituting the arms...
A mismatch between the goals as interpreted by a designer of a system or a system's interface and the goals of the users can be a cause for problems in system usage and danger to safety. A successful tool for communicating system information between designers, the interface and users is the abstraction hierarchy (AH). Creation of an AH forces designers to assemble knowledge about the system and its...
In a flexible airspace environment the pilot disposes of an increased amount of travel opportunities. At the same time the airspace traffic situation becomes more complex and the aircraft separation assurance task is shifted towards the cockpit. The design paradigm of ecological interface design is applied to support the pilot with the airborne planning of efficient trajectory paths that maintain...
Previous participative studies concerning the intensive care nursing process revealed contextual factors influencing the behavior of the nurse (contextual cues), which were included in a model categorizing them being primarily related to the current, future, and past situation. This model is being used as an information framework for designing a new supportive system for the intensive care nursing...
Data integration and interpretation plays a crucial role in supervisory control. The paper defines a set of generic inference steps for the data integration and interpretation process based on a three-layer model of system representations. The three-layer model is used to clarify the combination of constraint and object-centered representations of the work domain throwing new light on the basic principles...
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