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A natural human hand model

Onno A. van Nierop, Aadjan van der Helm, Kees J. Overbeeke, Tom J.P. Djajadiningrat
2007 The Visual Computer  
The appendix shows motion sequences of the model and the real hand. Animations can be fetched from our website.  ...  To evaluate we first introduce a hand-motion taxonomy in a twodimensional parameter space based on tasks that are evolutionary linked to the environment. Second, we discuss and test the model.  ...  Appendix The animated NHHM can be seen after loading free software from the internet and visit our website. or http://www.divx/windows/, and  ... 
doi:10.1007/s00371-007-0176-x fatcat:swsnt25rejhd7haukbaikv5yby

A Fabric-Based Approach for Wearable Haptics

Matteo Bianchi
2016 Electronics  
In recent years, wearable haptic systems (WHS) have gained increasing attention as a novel and exciting paradigm for human-robot interaction (HRI).  ...  Human-robot co-working is also another promising scenario for WHS, where the cooperative manipulation of robots, together with a human partner, is envisioned.  ...  EU funded project "WEARHAP: WEARable HAPtics for humans and robots" (no. 601165), and by the ERC advanced grant "SoftHands: A Theory of Soft Synergies for a New Generation of Artificial Hands" (no. 291166  ... 
doi:10.3390/electronics5030044 fatcat:ftwyc6xeyvfkpd4wm34kxohklu

Exoskeletal devices for hand assistance and rehabilitation: a comprehensive analysis of state-of-the-art technologies

Bernardo Noronha, Dino Accoto
2021 IEEE Transactions on Medical Robotics and Bionics  
Robots are effective tools for aiding in the restoration of hand function through rehabilitation programs or by providing in-task assistance.  ...  In this review, a set of 97 publications representing 72 active exoskeletal devices for hand assistance and rehabilitation is analysed.  ...  The keywords were the following: "hand AND (assistance OR assistive OR rehabilitation OR rehabilitative) AND (robot OR robotic OR glove OR exoskeleton)."  ... 
doi:10.1109/tmrb.2021.3064412 fatcat:y3hkjrrjhzee5kshei6rhpmwna

Hand Pose Selection in a Bimanual Fine-Manipulation Task

Kunpeng Yao, Dagmar Sternad, Aude Billard
2021 Journal of Neurophysiology  
Humans dexterously adjust hand poses and modulate the forces exerted by fingers in response to task demands.  ...  Importantly, hand poses decoupled the control of task-demanded force and torque across hands through virtual fingers that grouped multiple fingers into functional units.  ...  ACKNOWLEDGMENTS The human data collection was conducted in collaboration with the participants from ETVJ (École Technique de la Vall ee de Joux) and EPFL (École Polytechnique F ed erale de Lausanne).  ... 
doi:10.1152/jn.00635.2020 pmid:34107225 pmcid:PMC8325606 fatcat:6gf24zyj6vagrdje6fqmghpeyi

A posture sequence learning system for an anthropomorphic robotic hand

Antonio Chella, Haris Džindo, Ignazio Infantino, Irene Macaluso
2004 Robotics and Autonomous Systems  
Work in that area tackles the development of robust algorithms for motor control, motor learning, gesture recognition and visuo-motor integration.  ...  Studies of imitation in biological systems stressed a number of key issues that are, also, of concerns to Robotics.  ...  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

State of the Art of Audio- and Video-Based Solutions for AAL

Slavisa ALeksic, Michael Atanasov, Jean Calleja Agius, Kenneth Camilleri, Anto Čartolovni, Pau Climent-Pérez, Sara Colantonio, Stefania Cristina, Vladimir Despotovic, Hazım Kemal Ekenel, Ekrem Erakin, Francisco Florez-Revuelta (+27 others)
2022 Zenodo  
The recent COVID-19 pandemic has stressed this situation even further, thus highlighting the need for taking action.  ...  Moreover, they are conceived to be intelligent, to be able to learn and adapt to the requirements and requests of the assisted people, and to synchronise with their specific needs.  ...  In addition, crocs-type shoes with attached ribbon that can be grasped by the robot are used.  ... 
doi:10.5281/zenodo.6390708 fatcat:6qfwqd2v2rhe5iuu5zgz77ay4i

Neuro-Fuzzy Grasp Control for a Teleoperated Five Finger Anthropomorphic Robotic Hand

Maxwell Joseph Welyhorsky, University, My
This level of dexterity for human-like manipulation must come from both the hardware, and the control.  ...  This thesis presents experimental and theoretical contributions of a novel neuro-fuzzy control method for dextrous human grasping based on grasp synergies using a Human Computer Interface glove and upgraded  ...  The human hand has 27 DOF [14] : four in each finger, three for extension and flexion, and one for abduction and adduction. The [13] thumb has 5 DOF and is more complicated than the fingers.  ... 
doi:10.20381/ruor-26783 fatcat:olwpcxr7jbgtjl5k2tt5qq26bi

Teleoperated Grasping Using an Upgraded Haptic-Enabled Human-Like Robotic Hand and a CyberTouch Glove [article]

Qi Zhu, University, My
An efficient grasping requires not only human-like robotic hands with articulated fingers but also tactile, force, and kinesthetic sensors for the precise control of the forces and motions exerted during  ...  Grasping, the skill to hold objects and tools while doing in-hand manipulation, still is in many cases an unsolvable problem for robotics, but a natural act for humans.  ...  According to the manipulation taxonomy graph from [82] and the grasp taxonomy given in [83] , there is not a special situation when the pinky and the ring finger are moving separately.  ... 
doi:10.20381/ruor-25341 fatcat:7mqrk3he3neidjp5ibrjmeehti

Object Identification and Pose Estimation Using Bio-Inspired Tactile-Enabled Multi-Joint Fingers for In-Hand Manipulation

Vinicius Prado Da Fonseca, University, My, University, My
Object recognition in the early grasp phases in unstructured environments is also a fundamental ability for robots to achieve human-level manipulation skills.  ...  In-hand manipulation is a major challenge that has to be addressed in order for robots to achieve human-like skills and manipulation abilities.  ...  flexion of the little finger.  ... 
doi:10.20381/ruor-24438 fatcat:dny56r5govhrdngf4jm7lpdly4

Understanding and applying human grasping to artificial manipulators

Yuzuko Nakamura
In these studies we found that a single grasp pose can be used for a variety of actions, were able to observe the grasping process in detail, and found that minimizing body rotation plays a large role  ...  We propose applications of some of the main findings of these studies to the goal of improving the success of grasping performed by robotic hands and virtual characters.  ...  However, pose taxonomies need to be extended to describe the flexible aspects of the grasp (for example, to instruct a robot that the index finger can be separated from other fingers and be used to tip  ... 
doi:10.1184/r1/16826674.v1 fatcat:w64iewow7naednw32ss5igxxza

Abstracts European Congress of NeuroRehabilitation 2019

EFNR The European Federation of NeuroRehabilitation Societies, Muresanu, D.
2019 Neurologie und Rehabilitation  
The World Federation for NeuroRehabilitation (WFNR) is a partner organization of the European Federation of NeuroRehabilitation Societies and strongly supports the European-wide approach of the EFNR in  ...  Subsequent to each stimulation, all patients received robot-assisted therapy for another 45 minutes.  ...  finger and thumb.  ... 
doi:10.14624/nr1912001 fatcat:gzw5qlbn5rgfvg26ff5lal5l5q

Design and development of robust hands for humanoid robots [article]

for any other degree or qualification in this, or any other University.  ...  Declaration I hereby declare that except where specific reference is made to the work of others, the contents of this dissertation are original and have not been submitted in whole or in part for consideration  ...  Robots such Evil Maria from Metropolis [2] , Rosie from the Jetsons 1.2 and the robots R2D2 and C3PO from the Star Wars [3] franchise are some examples to name a few.  ... 
doi:10.15167/vazhapilli-sureshbabu-anand_phd2018-03-02 fatcat:vhfumqqdtfb4lk4suxybqyq77a

Strengthening human-robot symbiosis through multimodal sensing

Daniel Freer, Benny Lo
4) autonomous five-fingered grasping.  ...  This relationship is explored through several technologies: 1) a telerobotic simulator for training; 2) a wearable robotic sensing system for the arm; 3) motor imagery control of an assistive robot; and  ...  Attempt the final grasp by closing all fingers while monitoring force-feedback from the fingers, and lift the end effector for 3 seconds to ensure grasp stability.  ... 
doi:10.25560/88276 fatcat:apglqtxnk5h2tkyjx7ijtyctoe

A Continuous Grasp Representation for the Imitation Learning of Grasps on Humanoid Robots

Martin Minh Thong Do
Based on the representation a framework is proposed which enables the robot to observe human grasping, learn grasp representations, and infer executable grasping actions.  ...  Models and methods are presented which enable a humanoid robot to learn reusable, adaptive grasping skills. Mechanisms and principles in human grasp behavior are studied.  ...  flexion.  ... 
doi:10.5445/ir/1000047789 fatcat:3v2ylnibkvfmhirgvdcorumhqq

A Novice Guide towards Human Motion Analysis and Understanding [article]

Ahmed Nabil Mohamed
2015 arXiv   pre-print
Second, we list various types of sensors that may be used for acquiring various data. Third, we review different taxonomies used for classifying motions.  ...  problem and refer to various algorithms and their suitability for different situations.  ...  [85] provide a survey on vision-based architectures for robot learning by imitation. • Assisted Living or Proactive Services: assisting disabled people, elderly people, children as well as normal people  ... 
arXiv:1509.01074v1 fatcat:kpqf277iw5f2bmlmog2ya2awci
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