The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
While robotic hands have been developed for manipulation and grasping, their potential as tools for performance evaluation of engineered products - particularly compliant garments that are not easily modeled - has not been broadly studied. In this research, the development of a low-cost anthropomorphic robotic hand is introduced that is designed to characterize glove stiffness in a pressurized environment...
The problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80's. However, the control of flexible joint manipulators in a bilateral teleoperation scenario is still an open problem. In the present paper we report two versions of a proportional plus damping injection controller that are capable of globally stabilizing a nonlinear bilateral...
Redundant tendon-driven systems such as the human hand or the ACT robotic hand are high-dimensional and nonlinear systems that make traditional control strategies ineffective. The synergy hypothesis from neuroscience suggests that employing dimensionality reduction techniques can simplify the system without a major loss in function. We define a dimensionality reduction framework consisting of separate...
The human hand is considered one of the most natural tools in human-computer interaction (HCI). In virtual environments, virtual hand interactions play a key role in interactivity and realism [1]. This paper explores the use of hand gestures as a means of human-computer interactions for virtual reality applications. A lifelike hand model is constructed and some of the human hand constraints are applied...
The 20-DOF miniature humanoid “MH-2” designed as a wearable telecommunicator, is a personal telerobot system. An operator can communicate with remote people through the robot. The robot acts as an avatar of the operator. To date, four prototypes of the wearable telecommunicator T1, T2, T3 and MH-1, have been developed as research platforms. MH-1 is also a miniature humanoid robot with 11-DOF for mutual...
Dextrous object manipulation with multi-fingered robot hands remains one of the key challenges of service robotics. So far, most theoretical approaches and simulators have concentrated on the search for and evaluation of static stable grasps, but with neither a model of the full hand-arm system nor the system dynamics. GraspIt! is probably the best-known simulator of this kind.
Humans can perform fast and skillful manipulations using various parts of the body by effectively utilizing the dynamics of the targets. Visual sensation is the most important human sense used for such manipulations. Juggling is one such example involving skillful and dynamic manipulations, and visual information is essential for it to be successful. Previously, there have been several studies about...
Research in humanoid robotics in recent years has led to significant advances in terms of the ability to walk and even run. Yet, despite the general achievements in locomotion and control, energy efficiency is still one important area that requires further attention, especially as it is one of the major steeping stones leading to increased autonomy. This paper examines, and quantifies, the energetic...
Rehabilitation robotic devices have been actively explored for training patients with impaired neural functions or assisting those with weak limbs due to aging or diseases. In recent years, the authors have proposed light-weight exoskeleton designs for the upper arm, in which rigid links of the exoskeleton are replaced by lightweight cuffs attached to the moving limb segments of the human arm. Cables,...
Being able to detect and recognize human activities is essential for several applications, including personal assistive robotics. In this paper, we perform detection and recognition of unstructured human activity in unstructured environments. We use a RGBD sensor (Microsoft Kinect) as the input sensor, and compute a set of features based on human pose and motion, as well as based on image and point-cloud...
This paper presents a novel method for controlling a single-joint robot arm driven by two pneumatic artificial muscles (PAMs). We introduce the concepts of the agonist-antagonist muscle-pairs ratio (A-A ratio) and the agonist-antagonist muscle-pairs activity (A-A activity), and demonstrate that our concepts enable separate linear control of the equilibrium joint angle and joint stiffness. We also...
This paper introduced the extension method and established a danger evaluation matter-element model based on debris flow surveying data of Miyun county. The research indicates that it is reasonable and feasible for using extension method in danger division of valley debris flow. It can reflect each factor's influence on danger of valley debris flow. This paper used simple correlation function to determine...
Extracting and labeling sulcal curves on the human cerebral cortex is important for many neuroscience studies, however manually annotating the sulcal curves is a time-consuming task. In this paper, we present an automatic sulcal curve extraction method by registering a set of dense landmark points representing the sulcal curves to the subject cortical surface. A Markov random field is used to model...
Muscle force models have many applications in human-machine motion analysis, human-machine interfacing, rehabilitation and robotics. A Hill-type model was used to estimate muscle force. In this work, we are going to introduce a new model to estimate human muscle force. Our model, estimates human muscle force based on a rectified smoothed electromyography (RSEMG) signal using the back-propagation Artificial...
Depth camera has gained much more attention in applications of human computer interactivity. In this paper, we present an approach to tracking 3D human pose by constructing/estimating an articulated upper body joint model from depth data captured by Kinect camera. The system first calibrates the human pose parameters by processing the depth data of an initial pose. After that, the dynamic programming...
The finite element models have been used to evaluate the biomechanics of healthy and pathologic knee. And the imaging data provide functional representation of anatomical structures for the models. Previous studies have established the geometry of bone from Computed tomography (CT), and created the cartilage of femoral, tibial according to Magnetic Resonance Imaging (MRI). The meniscus geometric structure...
In this paper, based on the automatic extraction of the three-dimensional human skeleton, the kinematics for joint points of 3D human skeleton is introduced. The adjacent joint points show all kinds of motions by the change of position. The conformal geometric algebra method is used to describe 3D human model to realize the direct calculation using geometric language. The human skeleton gesture is...
Motion capture data acquired from high definition cameras creates accurate human motion representation but introduces many redundant frames which pose a problem in data storage and motion retrieval purposes. In this paper, a keyframing approach is proposed to reduce the motion data by extracting keyframes using motion analysis approach in sampling windows. Motion changes in sampling windows for original...
Visual saliency detection provides an important methodology for many computer vision applications. In this paper, we propose a novel method to detect salient regions from an image. To detect pixel-level saliency, this method uses joint embedding of spatial and color cues, i.e., spatial constraint based saliency, color double-opponent saliency, and similarity distribution based saliency. Finally, a...
In the human body tracking based on video sequences, the pose estimation of the upper/lower limbs is the most challenging task since the limbs possess most variations of motions and are easily occluded. In this work, we present a sophisticated scheme to track the human limbs. First, the tracking is formulated as a constrained optimization problem with multiple kernels. The color features of the upper/lower...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.