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This paper presents a new performance index, called “Interactivity of Fingers (IF)”, for anthropomorphic robot hand and kinematic design optimization process using this performance index and genetic algorithm. This performance index can quantify robot hands' kinematic structures and used for optimizing the kinematic model of an robot hand collaborating with Genetic algorithm. With this procedure position...
Developing low-cost upper-limb prosthetics for amputees in developing countries is an important problem. In this paper we have discussed the development of a robotic prosthetic hand capable of producing ten grip patterns. We have done a short qualitative survey of commercial prosthetic hands. The tradeoffs for selecting the number of motors providing maximum number of functional grips by the hand...
Hand pose estimation from 3D sensor data matches a point cloud to a hand model, and has broad applications from gestural interfaces to scene understanding. We propose a novel scheme to index into a database of precomputed hand poses to initialize the match. Our index describes 2D hand silhouettes, which can be computed from either depth maps or standard video, in the form of simple yet expressive...
Under the background of networking, enterprises obtain such alliance resources as technology and knowledge in technical standard alliance and gain constant competitive advantages by means of “embedding”. Partner selection has become a significant factor and key step in the successful operation of technical standard alliance. However, there will be, due to “paradox” in relational embedding, certain...
In China, there are such a huge amount of the physical disabled demanding rehabilitation devices to assist their activities of daily living (ADL). Among all the parts of body, hand is the most dexterous and multifunctional so that its rehabilitation is complex and difficult. The soft finger detailed in this paper could help the disable hand bend and extend in a large range of safety. Its components...
For rehabilitation robots to be successful, a control system that results in safe, comfortable and effective interaction between the robot and subject is necessary. We present two types of torque-based controllers for the index finger module of a hand exoskeleton for rehabilitation. Impedance control applies a position-dependent torque at the joints, while keeping the interaction with the finger compliant...
In this paper, an approach based on the particle swarm optimization is used to multi-objective optimize the global compliance and global condition index of the 4PUS-RPU mechanism. The kinematic analysis of the mechanism is first analyzed. Then the compliance model of the mechanism is derived and the sum of the leading diagonal elements of the compliance matrix, which is also known as the global compliance,...
In order to improve the prosthetic hand's design and usability, this paper presents a synthetic framework for evaluating the current prosthetic hands' anthropomorphic features with 12 quantified prosthetic hand anthropomorphism evaluation indexes (QPHAEIs). Our primary results show that a global anthropomorphic score (GAS) of the current commercial prosthetic hands is only 45.2%. The compliance, coupling...
In this paper we address the problem of computing the probability response time distribution of periodic tasks scheduled on a uniprocessor systems. Our framework assumes an arbitrary non-idling preemptive scheduling policy that may be either a fixed-priority scheduler (such as Rate Monotonic - RM) or a dynamic-priority scheduler (such as Earliest Deadline First - EDF). At the same time, our framework...
In the last years, wearable haptic technologies became very promising since they provide the users with tactile force feedback via small and wearable interfaces. However, they have no position sensing thus additional technologies like motion capture systems or expensive gloves are required. Recently, low cost hand tracking systems based on RGB-D cameras have been developed, however they suffer from...
With the increasing popularity of social network, more and more people tend to store and transmit information in visual format, such as image and video. However, the cost of this convenience brings about a shock to traditional video servers and expose them under the risk of overloading. Among the huge amount of online videos, there are quite a number of Near-Duplicate Videos (NDVs). Although many...
The conditions which govern reliable communication over networks are often given as a union of polyhedra. As increasingly larger networks are considered, these conditions become unwieldy and intractable, unless useful structure can be found in them. An example of a polyhedron with a useful underlying structure is a polymatroid, which despite its exponential number of defining inequalities, has a simple...
It is well known that cooperation between users in a communication network can lead to significant performance gains relative to the same network without cooperation. One common model which has been studied recently is the two users degraded broadcast channel (BC) with cooperating decoders. It can be viewed as a special case of the relay-broadcast channel (RBC), where the link from the relay to the...
Motivated by distributed inference over big datasets problems, we study multi-terminal distributed hypothesis testing problems in which each terminal has data related to only one random variable. We consider a case of practical interest in which each terminal is allowed to send zero-rate messages to a decision maker. Subject to a constraint that the error exponent of the type 1 error probability is...
We study upper bounds on the sum-rate of multiple-unicasts. We approximate the Generalized Network Sharing Bound (GNS cut) of the multiple-unicasts network coding problem with k independent sources. Our approximation algorithm runs in polynomial time and yields an upper bound on the joint source entropy rate, which is within an O(log2 k) factor from the GNS cut. It further yields a vector-linear network...
The problem of simultaneously generating two keys for a cellular model is investigated, in which each of four terminals, X0, X1, X2, and X3 observes one component of correlated sources. The terminal X0 wishes to generate secret keys K1 and K2 respectively, with terminals X1 and X2 under the help of terminal X3. They are allowed to communicate over a public channel. Both K1 and K2 are required to be...
In caging, an object is geometrically confined by position-controlled robots and never escapes from the constraint. Caging has some advantages over conventional grasping, and its applications have been performed not only in 2D but also in 3D scenes with various actual robots. However, the conditions of complete caging are not always satisfied due to limited robot configuration. This paper studies...
Despite the fact that reserves still have a small impact on the final electricity price, the rapid irruption of renewable and interruptible technologies has put in the spotlight the value of these services. It seems therefore important to rely on market models able to output realistic energy and reserve prices under imperfect competition. However, few are the authors that have modeled strategic behavior...
Having human-like motions will make humanoid robots more predictable and safer for the people around them. An effective way to realize this would be to use human motions as reference. Due to different kinematic and dynamic properties between humans and humanoid robots, however, a human motion could be physically infeasible for a robot and cause the robot to fall over. Therefore, it is necessary to...
It is well known that kinematics can significantly affect the manipulation capabilities of robotic arms, traditionally illustrated by performance indices such as workspace volume, kinematic and force manipulability, and isotropy within the arm workspace. In the case of dual-arm systems and bimanual manipulation tasks, the kinematics effects to the above indices becomes even more apparent. However,...
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