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Computing grip force and torque from finger nail images using Gaussian processes

Sebastian Urban, Justin Bayer, Christian Osendorfer, Goran Westling, Benoni B. Edin, Patrick van der Smagt
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Using Gaussian processes, we can relate preprocessed images of the finger nail to measured force and torque of the finger, allowing us to predict the finger force at a level of 95%-98% accuracy at force  ...  By automatically extracting features from nail images of a finger-mounted CCD camera, we can directly relate these images to the force measured by a force-torque sensor.  ...  Weiershäuser for her help with the design of the nail extraction method.  ... 
doi:10.1109/iros.2013.6696933 dblp:conf/iros/UrbanBOWES13 fatcat:2hrszxo3ezhahnahnen3vaatea

Estimating finger grip force from an image of the hand using Convolutional Neural Networks and Gaussian processes

Nutan Chen, Sebastian Urban, Christian Osendorfer, Justin Bayer, Patrick van der Smagt
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
In the final step, a Gaussian process estimates finger force and torque from the aligned images based on color changes and deformations of the nail and its surrounding skin.  ...  In this paper we describe an approach which uses images of the human fingertip to reconstruct grip force and torque at the finger.  ...  In [10] we previously estimated force and torque using Gaussian processes (GP) and neural networks.  ... 
doi:10.1109/icra.2014.6907310 dblp:conf/icra/ChenUOBS14 fatcat:vnavekbvofcpdmroklknv447qq

Measuring fingertip forces from camera images for random finger poses

Nutan Chen, Sebastian Urban, Justin Bayer, Patrick van der Smagt
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
A force estimator method is designed: a model to predict the fingertip force from finger joints measured from 2D cameras and 3 rectangular markers in cooperation with the fingernail images are trained.  ...  The estimator is used to demonstrate lifting and replacing objects with various weights.  ...  predicting the finger-exerted force from the nail image.  ... 
doi:10.1109/iros.2015.7353524 dblp:conf/iros/ChenUBS15 fatcat:xnn47ufetbehvauogkwhpqutmm

Estimating Fingertip Forces, Torques, and Local Curvatures from Fingernail Images [article]

Nutan Chen, Göran Westling, Benoni B. Edin, Patrick van der Smagt
2019 arXiv   pre-print
a mapping from images to the corresponding labels.  ...  Four algorithms are used, c.q., Gaussian process (GP), Convolutional Neural Networks (CNN), Neural Networks with Fast Dropout (NN-FD) and Recurrent Neural Networks with Fast Dropout (RNN-FD), to model  ...  Given the high accuracy obtained in [4] [5] [6] we use Gaussian processes to estimate force from the aligned images in this paper.  ... 
arXiv:1909.05659v1 fatcat:t7vvcd35kzgbzf5i5hqggn7yyi

Finger Grip Force Estimation from Video using Two Stream Approach [article]

Andrey Sartison, Dima Mironov, Kamal Youcef-Toumi, Dzmitry Tsetserukou
2018 arXiv   pre-print
In this work, image processing and machine learning techniques are used along with dense optical flow for frame change tracking and Kalman filter is used for stream fusion.  ...  Estimation of a hand grip force is essential for the understanding of force pattern during the execution of assembly or disassembly operations.  ...  Gaussian Process based on aligned images was used to estimate force and torque applied to a fingertip. This method demonstrated good results.  ... 
arXiv:1803.01630v1 fatcat:nast46wcyferznk6ppgie5g2ce

Data-driven Fingertip Appearance for Interactive Hand Simulation

Sheldon Andrews, Marc Jarvis, Paul G. Kry
2013 Proceedings of Motion on Games - MIG '13  
Figure 1: An illustration of the texture modification process used by our system.  ...  Acknowledgements We thank CFI, GRAND-NCE, NSERC, MITACS, CM Labs, and Autodesk for research equipment, operational support, and software donations.  ...  From the forces and torque at contacts, we compute control torques at the joints by multiplying with the Jacobian transpose [Murray et al. 1994 ].  ... 
doi:10.1145/2522628.2522903 dblp:conf/mig/AndrewsJK13 fatcat:tpbrpdvfujdhbimoc6mzdyzkma

Predicting Fingertip Forces by Imaging Coloration Changes in the Fingernail and Surrounding Skin

Yu Sun, J.M. Hollerbach, S.A. Mascaro
2008 IEEE Transactions on Biomedical Engineering  
This paper presents an external camera method for measuring fingertip forces by imaging the fingernail and surrounding skin.  ...  Subsequent images from a single camera are registered to the 3-D model by adding fiducial markings to the fingernail.  ...  ACKNOWLEDGMENT Portions of this research have been published in [30] and [31] .  ... 
doi:10.1109/tbme.2008.925691 pmid:18838361 fatcat:xipiihq4ojblfcqjkgcewc5mhu

Contact localization on grasped objects using tactile sensing

Artem Molchanov, Oliver Kroemer, Zhe Su, Gaurav S. Sukhatme
2016 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
We also compare the neural networks with Gaussian process regression and support vector machine classification with spatiotemporal hierarchical matching pursuit feature learning.  ...  In this paper, we present a data-driven approach for detecting and localizing contacts between a grasped object and the environment using tactile sensing.  ...  BioTac sensors used in this research were kindly provided by SynTouch LLC. This work was funded in part by the NSF under grant CNS-1213128 and the ONR under grant N00014-14-1-0536.  ... 
doi:10.1109/iros.2016.7759058 dblp:conf/iros/MolchanovKSS16 fatcat:rjuzgaqg3zc3rbk7ewxnoe644e

Worst-case structural analysis

Qingnan Zhou, Julian Panetta, Denis Zorin
2013 ACM Transactions on Graphics  
The development pipeline for such products is radically different from the conventional manufacturing pipeline: 3D geometric models are designed by users often with little or no manufacturing experience  ...  While in its general form this optimization has a prohibitively high computational cost, we demonstrate that an approximate method makes it possible to solve the problem rapidly for a broad range of printed  ...  We also thank Professor Yu Zhang (NYU Dental School) and Professor Nikhil Gupta (NYU Poly), who allowed us to use their facilities for material testing and Professor Alan T.  ... 
doi:10.1145/2461912.2461967 fatcat:t6ffzppr4rdadacoc75rzc6ha4

Origami Folding by Multifingered Hands with Motion Primitives

Akio Namiki, Shuichi Yokosawa
2021 Cyborg and Bionic Systems  
Also, to measure the paper deformation in real-time, we built an estimator using a physical simulator and a depth camera.  ...  As a result, our experimental system achieved consecutive valley folds and a squash fold.  ...  Acknowledgments This work was supported by JSPS KAKENHI Grant Number JP731131 and JP1069176.  ... 
doi:10.34133/2021/9851834 fatcat:x3jrlfwzrzhmzkcz32klhfp3vu

A posture sequence learning system for an anthropomorphic robotic hand

Antonio Chella, Haris Džindo, Ignazio Infantino, Irene Macaluso
2004 Robotics and Autonomous Systems  
These are the need to define a metric of imitation performance and the need to determine a representation common to visual and motor systems.  ...  It impacts both fundamental research and application-oriented studies.  ...  Acknowledgments Support for all authors was provided by ATR Computational Neuroscience Laboratories, Department of Humanoid Robotics and Computational Neuroscience, and the Communications Research Laboratory  ... 
doi:10.1016/j.robot.2004.03.008 fatcat:fefnr5l7gnhnhaca5nw52f3kru

Manipulation Motion Taxonomy and Coding for Robots [article]

David Paulius, Yongqiang Huang, Jason Meloncon, Yu Sun
2019 arXiv   pre-print
This paper introduces a taxonomy of manipulations as seen especially in cooking for 1) grouping manipulations from the robotics point of view, 2) consolidating aliases and removing ambiguity for motion  ...  Using instructional videos as a reference, we selected a list of common manipulation motions seen in cooking activities grouped into similar motions based on several trajectory and contact attributes.  ...  ACKNOWLEDGEMENT This material is based upon work supported by the National Science Foundation under Grants No. 1421418 and 1560761.  ... 
arXiv:1910.00532v1 fatcat:f24m4xzqozb5fnhgqfealbtuwy

The predictive brain in action: Involuntary actions reduce body prediction errors [article]

Pablo Lanillos, Sae Franklin, David W. Franklin
2020 bioRxiv   pre-print
Here we describe a computational model, based on the free-energy principle, that forecasts involuntary forces in sensorimotor conflicts.  ...  From low-level body perception to body-ownership, discovering how the brain represents the body and generates actions is of major importance for cognitive science and also for robotics and artificial intelligence  ...  Acknowledgements The authors would like to thank Gordon Cheng for his advise and support, and Mohamad Atayi for the development of the VR environment and his help in the preliminary study.  ... 
doi:10.1101/2020.07.08.191304 fatcat:4wpytkvqmffjvifgzlvgnzo46u

Robotics, Motor Learning, and Neurologic Recovery

David J. Reinkensmeyer, Jeremy L. Emken, Steven C. Cramer
2004 Annual Review of Biomedical Engineering  
Images taken early during the process of motor learning were contrasted with images taken during arm movement in the absence of a force field.  ...  A six-axis sensor measures the forces and torques between the robot and the paretic limb.  ... 
doi:10.1146/annurev.bioeng.6.040803.140223 pmid:15255778 fatcat:ts2he7c5irffton4alsvrrw7be

Automated calibration and registration using active appearance models for a fingernail imaging system

Thomas R. Grieve
2014
Fingernail imaging is a method of sensing finger force using the color patterns on the nail and surrounding skin.  ...  Photos of the finger and surrounding skin may be correlated to the m agnitude and direction of force on the fingerpad.  ...  , using the shapes from one subject's Training Images, how the entire process works.  ... 
doi:10.26053/0h-8577-msg0 fatcat:eewnlzwmuvdwnidkuormfjucae
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