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An audio system is one of the basic components of a humanoid robot designed for natural interaction.For many interaction purposes it is sufficient to use the sound detection and localization as attention system for the vision system.In this paper the audio perception module of the robot ROMAN is presented including the integration into the existing control structure and the localization algorithm...
This paper presents a model based approach to the soft tissue deformation planning. The deformable object is manipulated through boundary displacements induced by robot manipulators controlled in position. The manipulated boundaries are maneuvered such that the control points defined on the deformable object converge to the desired locations. The proposed control is based on a Jacobian transformation...
This paper presents the design, and performance of a high fidelity three degree-of-freedom wrist exoskeleton robot, for neuroscience study, training and rehabilitation. The IIT-Wrist is intended to provide kinesthetic feedback during the training of motor skills or rehabilitation of reaching movements. Motivation for such applications is based on findings that show robot-assisted physical therapy...
Current challenges in biomanipulations for life-sciences research include extensive operator training, low success rates and low consistency of operations. These problems were tackled here through the use of teleoperation techniques and the development of a unified interface for simultaneous control of all devices used for standard biomanipulations. The developed system was created with high-end commercial...
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