Relevant bibliographies by topics / Hand manipulation

Academic literature on the topic 'Hand manipulation'

Author: Grafiati
Published: 9 March 2023

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Journal articles on the topic "Hand manipulation"

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Bircher, Walter G., Andrew S. Morgan, and Aaron M. Dollar. "Complex manipulation with a simple robotic hand through contact breaking and caging." Science Robotics 6, no. 54 (May 12, 2021): eabd2666. http://dx.doi.org/10.1126/scirobotics.abd2666.

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Humans use all surfaces of the hand for contact-rich manipulation. Robot hands, in contrast, typically use only the fingertips, which can limit dexterity. In this work, we leveraged a potential energy–based whole-hand manipulation model, which does not depend on contact wrench modeling like traditional approaches, to design a robotic manipulator. Inspired by robotic caging grasps and the high levels of dexterity observed in human manipulation, a metric was developed and used in conjunction with the manipulation model to design a two-fingered dexterous hand, the Model W. This was accomplished by simulating all planar finger topologies composed of open kinematic chains of up to three serial revolute and prismatic joints, forming symmetric two-fingered hands, and evaluating their performance according to the metric. We present the best design, an unconventional robot hand capable of performing continuous object reorientation, as well as repeatedly alternating between power and pinch grasps—two contact-rich skills that have often eluded robotic hands—and we experimentally characterize the hand’s manipulation capability. This hand realizes manipulation motions reminiscent of thumb–index finger manipulative movement in humans, and its topology provides the foundation for a general-purpose dexterous robot hand.
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Tanikawa, Tamio, Masashi Kawai, Noriho Koyachi, Tatsuo Arai, Takayuki Ide, Shinji Kaneko, Ryo Ohta, and Takeshi Hirose. "Force Control System for Autonomous Micro Manipulation." Journal of Robotics and Mechatronics 14, no. 3 (June 20, 2002): 212–20. http://dx.doi.org/10.20965/jrm.2002.p0212.

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A dexterous micro manipulation system was developed for applications such as assembling micro machines, manipulating cells, and micro surgery. We have proposed a concept of a two-fingered micro hand, designed and built a prototype. We succeeded in performing basic micro manipulations with a teleoperation, including the grasp, release, and rotation of a microscopic object. The micro hand is controlled with a position control only. An operator has to guess a micro grasping force on the object from a microscope image. The accurate micro manipulation depends on a skill of the operator yet. For an easy manipulation and an automatic manipulation, it is necessary to measure the micro forces between the finger and the object. A micro force sensor has developed for a force control in micro manipulation on a corroboration research of AIST and Olympus Optical Co., Ltd. Its resolution is 0.5 nN in theoretically. In this paper, we will mention the micro force sensor and to perform an automatic micro manipulation with installing the sensor and a force control system. Basic experiment shows excellent micro capability.
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Lopez, Patricio Rivera, Ji-Heon Oh, Jin Gyun Jeong, Hwanseok Jung, Jin Hyuk Lee, Ismael Espinoza Jaramillo, Channabasava Chola, Won Hee Lee, and Tae-Seong Kim. "Dexterous Object Manipulation with an Anthropomorphic Robot Hand via Natural Hand Pose Transformer and Deep Reinforcement Learning." Applied Sciences 13, no. 1 (December 28, 2022): 379. http://dx.doi.org/10.3390/app13010379.

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Dexterous object manipulation using anthropomorphic robot hands is of great interest for natural object manipulations across the areas of healthcare, smart homes, and smart factories. Deep reinforcement learning (DRL) is a particularly promising approach to solving dexterous manipulation tasks with five-fingered robot hands. Yet, controlling an anthropomorphic robot hand via DRL in order to obtain natural, human-like object manipulation with high dexterity remains a challenging task in the current robotic field. Previous studies have utilized some predefined human hand poses to control the robot hand’s movements for successful object-grasping. However, the hand poses derived from these grasping taxonomies are limited to a partial range of adaptability that could be performed by the robot hand. In this work, we propose a combinatory approach of a deep transformer network which produces a wider range of natural hand poses to configure the robot hand’s movements, and an adaptive DRL to control the movements of an anthropomorphic robot hand according to these natural hand poses. The transformer network learns and infers the natural robot hand poses according to the object affordance. Then, DRL trains a policy using the transformer output to grasp and relocate the object to the designated target location. Our proposed transformer-based DRL (T-DRL) has been tested using various objects, such as an apple, a banana, a light bulb, a camera, a hammer, and a bottle. Additionally, its performance is compared with a baseline DRL model via natural policy gradient (NPG). The results demonstrate that our T-DRL achieved an average manipulation success rate of 90.1% for object manipulation and outperformed NPG by 24.8%.
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Hazard, Christopher, Nancy Pollard, and Stelian Coros. "Automated Design of Robotic Hands for In-Hand Manipulation Tasks." International Journal of Humanoid Robotics 17, no. 01 (January 8, 2020): 1950029. http://dx.doi.org/10.1142/s0219843619500294.

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Grasp planning and motion synthesis for dexterous manipulation tasks are traditionally done given a pre-existing kinematic model for the robotic hand. In this paper, we introduce a framework for automatically designing hand topologies best suited for manipulation tasks given high-level objectives as input. Our pipeline is capable of building custom hand designs around specific manipulation tasks based on high-level user input. Our framework comprises of a sequence of trajectory optimizations chained together to translate a sequence of objective poses into an optimized hand mechanism along with a physically feasible motion plan involving both the constructed hand and the object. We demonstrate the feasibility of this approach by synthesizing a series of hand designs optimized to perform specified in-hand manipulation tasks of varying difficulty. We extend our original pipeline 32 to accommodate the construction of hands suitable for multiple distinct manipulation tasks as well as provide an in depth discussion of the effects of each non-trivial optimization term.
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Odhner, Lael U., Raymond R. Ma, and Aaron M. Dollar. "Exploring Dexterous Manipulation Workspaces with the iHY Hand." Journal of the Robotics Society of Japan 32, no. 4 (2014): 318–22. http://dx.doi.org/10.7210/jrsj.32.318.

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Cruciani, Silvia, Balakumar Sundaralingam, Kaiyu Hang, Vikash Kumar, Tucker Hermans, and Danica Kragic. "Benchmarking In-Hand Manipulation." IEEE Robotics and Automation Letters 5, no. 2 (April 2020): 588–95. http://dx.doi.org/10.1109/lra.2020.2964160.

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Liu, Ming-Jin, Cai-Hua Xiong, and Di Hu. "Assessing the manipulative potentials of monkeys, apes and humans from hand proportions: implications for hand evolution." Proceedings of the Royal Society B: Biological Sciences 283, no. 1843 (November 30, 2016): 20161923. http://dx.doi.org/10.1098/rspb.2016.1923.

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The hand structure possesses a greater potential for performing manipulative skills than is typically observed, whether in humans or non-human anthropoids. However, a precise assessment of the potential manipulative skills of hands has been challenging, which hampers our understanding of the evolution of manipulative abilities in anthropoid hands. Here, we establish a functional model to quantitatively infer the manipulative potentials of anthropoid hands based on hand proportions. Our results reveal a large disparity of manipulative potentials among anthropoid hands. From the aspect of hand proportions, the human hand has the best manipulative potential among anthropoids. However, the species with a manipulative potential closer to that of humans are not our nearest relatives, chimpanzees, but rather, are certain monkey species. In combination with the phylogenetically informed morphometric analyses, our results suggest that the morphological changes of non-human anthropoid hands did not coevolve with the brain to facilitate the manipulative ability during the evolutionary process, although the manipulative ability is a survival skill. The changes in non-human anthropoid hands may have more likely evolved under selective pressure for locomotion than manipulation.
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Hang, Kaiyu, Walter G. Bircher, Andrew S. Morgan, and Aaron M. Dollar. "Hand–object configuration estimation using particle filters for dexterous in-hand manipulation." International Journal of Robotics Research 39, no. 14 (October 17, 2019): 1760–74. http://dx.doi.org/10.1177/0278364919883343.

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We consider the problem of in-hand dexterous manipulation with a focus on unknown or uncertain hand–object parameters, such as hand configuration, object pose within hand, and contact positions. In particular, in this work we formulate a generic framework for hand–object configuration estimation using underactuated hands as an example. Owing to the passive reconfigurability and the lack of encoders in the hand’s joints, it is challenging to estimate, plan, and actively control underactuated manipulation. By modeling the grasp constraints, we present a particle filter-based framework to estimate the hand configuration. Specifically, given an arbitrary grasp, we start by sampling a set of hand configuration hypotheses and then randomly manipulate the object within the hand. While observing the object’s movements as evidence using an external camera, which is not necessarily calibrated with the hand frame, our estimator calculates the likelihood of each hypothesis to iteratively estimate the hand configuration. Once converged, the estimator is used to track the hand configuration in real time for future manipulations. Thereafter, we develop an algorithm to precisely plan and control the underactuated manipulation to move the grasped object to desired poses. In contrast to most other dexterous manipulation approaches, our framework does not require any tactile sensing or joint encoders, and can directly operate on any novel objects, without requiring a model of the object a priori. We implemented our framework on both the Yale Model O hand and the Yale T42 hand. The results show that the estimation is accurate for different objects, and that the framework can be easily adapted across different underactuated hand models. In the end, we evaluated our planning and control algorithm with handwriting tasks, and demonstrated the effectiveness of the proposed framework.
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Ito, Koji. "Hand Manipulation and Impedance Adjustment." Journal of Robotics and Mechatronics 7, no. 2 (April 20, 1995): 161–68. http://dx.doi.org/10.20965/jrm.1995.p0161.

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Andrychowicz, OpenAI: Marcin, Bowen Baker, Maciek Chociej, Rafal Józefowicz, Bob McGrew, Jakub Pachocki, Arthur Petron, et al. "Learning dexterous in-hand manipulation." International Journal of Robotics Research 39, no. 1 (November 18, 2019): 3–20. http://dx.doi.org/10.1177/0278364919887447.

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We use reinforcement learning (RL) to learn dexterous in-hand manipulation policies that can perform vision-based object reorientation on a physical Shadow Dexterous Hand. The training is performed in a simulated environment in which we randomize many of the physical properties of the system such as friction coefficients and an object’s appearance. Our policies transfer to the physical robot despite being trained entirely in simulation. Our method does not rely on any human demonstrations, but many behaviors found in human manipulation emerge naturally, including finger gaiting, multi-finger coordination, and the controlled use of gravity. Our results were obtained using the same distributed RL system that was used to train OpenAI Five. We also include a video of our results: https://youtu.be/jwSbzNHGflM .
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Dissertations / Theses on the topic "Hand manipulation"

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Prime, Jacqueline M. "Hand manipulation skills in gibbons /." Available to subscribers only, 2006. http://proquest.umi.com/pqdweb?did=1136081491&sid=11&Fmt=2&clientId=1509&RQT=309&VName=PQD.

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Kontoudis, Georgios Pantelis. "Adaptive, Anthropomorphic Robot Hands for Grasping and In-Hand Manipulation." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/87404.

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This thesis presents the design, modeling, and development of adaptive robot hands that are capable of performing dexterous, in-hand manipulation. The robot hand comprises of anthropomorphic robotic fingers, which employ an adaptive actuation mechanism. The mechanism achieves both flexion/extension and adduction/abduction, on the finger's metacarpophalangeal joint, by using two actuators. Moment arm pulleys are employed to drive the tendon laterally, such that an amplification on the abduction motion occurs, while also maintaining the flexion motion. Particular emphasis has been given to the modeling and the analysis of the actuation mechanism. Also, a model for spatial motion is provided that relates the actuation modes with the finger motion and the tendon force with the finger characteristics. For the hand design, the use of differential mechanisms simplifies the actuation scheme, as we utilize only two actuators for four fingers, achieving affordable dexterity. A design optimization framework assess the results of hand anthropometry studies to derive key parameters for the bio-inspired actuation design. The model assumptions are evaluated with the finite element method. The proposed finger has been fabricated with the Hybrid Deposition Manufacturing technique and the actuation mechanism's efficiency has been validated with experiments that include the computation of the finger workspace, the assessment of the force exertion capabilities, the demonstration of the feasible motions, and the grasping and manipulation capabilities. Also, the hand design is fabricated with off-the-shelf materials and rapid prototyping techniques while its efficiency has been validated using an extensive set of experimental paradigms that involved the execution of grasping and in-hand manipulation tasks with everyday objects.
Master of Science
This thesis presents the design, modeling, and development of adaptive robot hands that are capable of performing selective interdigitation, robust grasping, and dexterous, in-hand manipulation. The robotic fingers employ an adaptive actuation mechanism. The design is minimal and the hand is capable of performing selective interdigitation, robust grasping, and dexterous, in-hand manipulation. Particular emphasis has been given to the modeling and the analysis of the actuation mechanism. For the hand design, the use of differential mechanisms simplifies the actuation scheme, as we utilize only two actuators for four fingers, achieving affordable dexterity. A design optimization framework assess the results of hand anthropometry studies to derive key parameters for the actuation design. The robotic fingers and the anthropomorphic hand were fabricated using off-the-self materials and additive manufacturing techniques. Several experiments were performed to validate the efficacy of the robot hand.
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Bullock, Ian Merrill. "Understanding Human Hand Functionality| Classification, Whole-Hand Usage, and Precision Manipulation." Thesis, Yale University, 2017. http://pqdtopen.proquest.com/#viewpdf?dispub=10584937.

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A better understanding of human hand functionality can help improve robotic and prosthetic hand capability, as well as having benefits for rehabilitation or device design. While the human hand has been studied extensively in various fields, fewer existing works study the human hand within frameworks which can be easily applied to robotic applications, or attempt to quantify complex human hand functionality in real-world environments or with tasks approaching real-world complexity. This dissertation presents a study of human hand functionality from the multiple angles of high level classification methods, whole-hand grasp usage, and precision manipulation, where a small object is repositioned in the fingertips.

Our manipulation classification work presents a motion-centric scheme which can be applied to any human or hand-based robotic manipulation task. Most previous classifications are domain specific and cannot easily be applied to both robotic and human tasks, or can only be applied to a certain subset of manipulation tasks. We present a number of criteria which can be used to describe manipulation tasks and understand differences in the hand functionality used. These criteria are then applied to a number of real world example tasks, including a description of how the classification state can change over time during a dynamic manipulation task.

Next, our study of real-world grasping contributes to an understanding of whole-hand usage. Using head mounted camera video from two housekeepers and two machinists, we analyze the grasps used in their natural work environments. By tagging both grasp state and objects involved, we can measure the prevalence of each grasp and also understand how the grasp is typically used. We then use the grasp-object relationships to select small sets of versatile grasps which can still handle a wide variety of objects, which are promising candidates for implementation in robotic or prosthetic manipulators.

Following the discussion of overall hand shapes, we then present a study of precision manipulation, or how people reposition small objects in the fingertips. Little prior work was found which experimentally measures human capabilities with a full multi-finger precision manipulation task. Our work reports the size and shape for the precision manipulation workspace, and finds that the overall workspace is small, but also has a certain axis along which more object movement is possible. We then show the effect of object size and the number of fingers used on the resulting workspace volume – an ideal object size range is determined, and it is shown that adding additional fingers will reduce workspace volume, likely due to the additional kinematic constraints. Using similar methods to our main precision manipulation investigation, but with a spherical object rolled in the fingertips, we also report the overall fingertip surface usage for two- and three-fingered manipulation, and show a shift in typical fingertip area used between the two and three finger cases.

The experimental precision manipulation data is then used to refine the design of an anthropomorphic precision manipulator. The human precision manipulation workspace is used to select suitable spring ratios for the robotic fingers, and the resulting hand is shown to achieve about half of the average human workspace, despite using only three actuators.

Overall, we investigate multiple aspects of human hand function, as well as constructing a new framework for analyzing human and robotic manipulation. This work contributes to an improved understanding of human grasp usage in real-world environments, as well as human precision manipulation workspace. We provide a demonstration of how some of the studied aspects of human hand function can be applied to anthropomorphic manipulator design, but we anticipate that the results will also be of interest in other fields, such as by helping to design devices matched to hand capabilities and typical usage, or providing inspiration for future methods to rehabilitate hand function.

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Prieur, Urbain. "High-level planning of dexterous in-hand manipulation using a robotic hand." Paris 6, 2013. http://www.theses.fr/2013PA066788.

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This work considers a robot equipped with an anthropomorphic hand and aims at providing it with efficient autonomous in-hand manipulation skills. While fine in-hand action planning algorithms have interesting state-of-the-art solutions, we built a competitive high-level control layer to plan the complete in-hand manipulation activity. Our solution generates a sequence of subgoals from an initial to a final configuration provided by the task, thus decomposing in-hand manipulation into simple transitions that can be easily planned by the low-level algorithms. We use a Markov decision process (MDP) to generate the sequence, taking into account the object influence and the desired final subgoal. We use a simple state representation for the sugoals: canonical grasp types from a taxonomy, enabling fast and on-line computation. The transitions between grasp types are modelled as probabilities of success. The simple formulation of the sequence leaves the complete configurations and transitions to be planned by the low-level layer, which can ask for a different subgoal path if required. The MDP can generate the appropriate behaviour if the in-hand action skills of the robot are known. They can be learnt by self-exploration of the robot if possible. Otherwise, the behaviour can be directly learnt from human demonstration. We boost the learning process using an empirical guess of the transition probabilities and an active learning algorithm. We implemented our solution on a real platform. The planning of in-hand manipulation relies on the grasp sequence generated which probability of success is used as an insight of the task achievability for the initial grasp choice
Jusqu’ici, les solutions apportées à la problématique de manipulation dextre robotique par une main anthropomorphe se concentraient sur la planification bas niveau des différents types de mouvements fins. Aussi, une solution complète de planification, prenant en compte l’étendue de ces différentes actions, reste à développer. Tel est le fondement de ce travail : pour une tache définie, caractérisée par des configurations initiale et finale, une séquence de configurations intermédiaires est générée : la totalité de l’activité complexe se trouve donc décomposée en une succession de transitions simples à planifier par le bas niveau. Afin de générer cette séquence, influencée par l’objet et la configuration finale, on utilise un processus de décision markovien (MDP). Les configurations intermédiaires sont représentées par des types de saisies tirés d’une taxonomie existante, les transitions sont formulées par des probabilités de succès : si ces approximations assurent la rapidité de l’algorithme, elles requièrent du bas niveau la planification des configurations complètes et le détail des transitions. En cas d’impossibilité d’exécution, des séquences alternatives peuvent être proposées. Le MDP doit connaître les capacités du robot à réaliser les transitions, par auto-apprentissage, ou par observation de mouvements humains. Nous utilisons un processus d’apprentissage actif initialisé par une estimation empirique des probabilités de succès des transitions. La solution a été implémentée avec succès sur un robot réel, prenant un rôle central dans la commande de la manipulation fine, jusqu'à propager l’influence de la tâche sur la saisie initiale
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Matsuoka, Yoky 1971. "Embodiment and manipulation learning process or humanoid hand." Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/11416.

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Nagai, Kiyoshi. "Studies on Grasping and Manipulation by Robotic Multifingered Hands and Arm-Hand Systems." Kyoto University, 1995. http://hdl.handle.net/2433/160756.

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本文データは平成22年度国立国会図書館の学位論文(博士)のデジタル化実施により作成された画像ファイルを基にpdf変換したものである
Kyoto University (京都大学)
0048
新制・論文博士
博士(工学)
乙第8782号
論工博第2944号
新制||工||980(附属図書館)
UT51-95-B247
(主査)教授 吉川 恒夫, 教授 井上 紘一, 教授 島 進
学位規則第4条第2項該当
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Xu, Jijie. "Towards better grasping and manipulation by multifingered robotic hand /." View abstract or full-text, 2007. http://library.ust.hk/cgi/db/thesis.pl?ECED%202007%20XU.

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Krishnan, Vennila. "Force coordination during object manipulation in individuals with multiple sclerosis." Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file, 131 p, 2009. http://proquest.umi.com/pqdweb?did=1818417311&sid=6&Fmt=2&clientId=8331&RQT=309&VName=PQD.

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Freitas, Paulo Barbosa de. "Force coordination in object manipulation effects of load force direction and grasping technique /." Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file, 185 p, 2009. http://proquest.umi.com/pqdweb?did=1833642551&sid=3&Fmt=2&clientId=8331&RQT=309&VName=PQD.

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Theorin, Anna. "To select one hand while using both neural mechanisms supporting flexible hand dominance in bimanual object manipulation /." Doctoral thesis, Umeå : Department of Integrative Medical Biology, Umeå university, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-29805.

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Books on the topic "Hand manipulation"

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1959-, Oths Kathryn S., and Hinojosa Servando Z. 1904-, eds. Healing by hand: Manual medicine and bonesetting in global perspective. Walnut Creek, Calif: AltaMira Press, 2004.

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The naughty Victorian hand book: The rediscovered art of erotic hand manipulation. New York: Workman Pub., 1989.

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Pfanne, Martin. In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-06967-3.

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Mason, Matthew T. Robot hands andthe mechanics of manipulation. Cambridge, Mass: MIT Press, 1985.

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Inoue, Takahiro. Mechanics and control of soft-fingered manipulation. London: Springer, 2009.

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1963-, Hirai Shinʼichi, ed. Mechanics and control of soft-fingered manipulation. London: Springer, 2009.

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Inoue, Takahiro. Mechanics and control of soft-fingered manipulation. London: Springer, 2009.

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Inoue, Takahiro. Mechanics and control of soft-fingered manipulation. London: Springer, 2009.

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Corporation, Meridian, and United States. National Aeronautics and Space Administration., eds. Force reflecting hand controller for manipulator teleoperation. Alexandria, VA: Meridian Corporation, 1991.

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Kenneth, Salisbury J., ed. Robot hands and the mechanics of manipulation. Cambridge, Mass: MIT Press, 1985.

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Book chapters on the topic "Hand manipulation"

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Terstiege, Meike. "Manipulation im Marketing. Die Hand im Visier." In Mensch – Marke – Manipulation, 133–72. München: Haufe, 2022. http://dx.doi.org/10.57088/978-3-648-15833-3_5.

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Hirota, Koichi, Yusuke Ujitoko, Kazuya Kiriyama, and Kazuyoshi Tagawa. "Object Manipulation by Deformable Hand." In Lecture Notes in Electrical Engineering, 145–48. Tokyo: Springer Japan, 2015. http://dx.doi.org/10.1007/978-4-431-55690-9_27.

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Prime, Jacqueline M., and Susan M. Ford. "Hand Manipulation Skills in Hylobatids." In Developments in Primatology: Progress and Prospects, 269–89. New York, NY: Springer New York, 2016. http://dx.doi.org/10.1007/978-1-4939-5614-2_12.

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Maeda, Yusuke, and Tomohiro Asamura. "Sensorless In-Hand Caging Manipulation." In Intelligent Autonomous Systems 14, 255–67. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-48036-7_19.

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Odhner, Lael U., Raymond R. Ma, and Aaron M. Dollar. "Experiments in Underactuated In-Hand Manipulation." In Experimental Robotics, 27–40. Heidelberg: Springer International Publishing, 2013. http://dx.doi.org/10.1007/978-3-319-00065-7_3.

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Saut, Jean-Philippe, Anis Sahbani, Jean-Pierre Gazeau, S. Zeghloul, and Philippe Bidaud. "Dexterous Manipulation Planning for an Anthropomorphic Hand." In Romansy 19 – Robot Design, Dynamics and Control, 241–48. Vienna: Springer Vienna, 2013. http://dx.doi.org/10.1007/978-3-7091-1379-0_30.

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Fujioka, Shunsuke, Takao Uchiyama, Kazuyoshi Tagawa, Koichi Hirota, Takusya Nojima, Katsuhito Akahane, and Makoto Sato. "Object Manipulation by Hand with Force Feedback." In Lecture Notes in Electrical Engineering, 261–66. Singapore: Springer Singapore, 2017. http://dx.doi.org/10.1007/978-981-10-4157-0_45.

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Dou, Xiang, Xinying Xu, and Huaping Liu. "In-hand Manipulation for Active Object Recognition." In Intelligent Robotics and Applications, 427–38. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-27526-6_37.

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Yin, Zongtian, Hanwei Chen, Xingchen Yang, Yifan Liu, Ning Zhang, Jianjun Meng, and Honghai Liu. "Wearable Ultrasound Interface for Prosthetic Hand Manipulation." In Intelligent Robotics and Applications, 3–12. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-13835-5_1.

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Narayanan, Gokul, Joshua Amrith Raj, Abhinav Gandhi, Aditya A. Gupte, Adam J. Spiers, and Berk Calli. "Within-Hand Manipulation Planning and Control for Variable Friction Hands." In Experimental Robotics, 600–610. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-71151-1_53.

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Conference papers on the topic "Hand manipulation"

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Shi, Jian, J. Zachary Woodruff, and Kevin M. Lynch. "Dynamic in-hand sliding manipulation." In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2015. http://dx.doi.org/10.1109/iros.2015.7353474.

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Ma, Raymond R., Walter G. Bircher, and Aaron M. Dollar. "Toward robust, whole-hand caging manipulation with underactuated hands." In 2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2017. http://dx.doi.org/10.1109/icra.2017.7989158.

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Liarokapis, Minas, and Aaron M. Dollar. "Deriving dexterous, in-hand manipulation primitives for adaptive robot hands." In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2017. http://dx.doi.org/10.1109/iros.2017.8206014.

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He, Junhu, and Jianwei Zhang. "Push resistance in in-hand manipulation." In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014). IEEE, 2014. http://dx.doi.org/10.1109/iros.2014.6942901.

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Chavan Dafle, Nikhil, Rachel Holladay, and Alberto Rodriguez. "In-Hand Manipulation via Motion Cones." In Robotics: Science and Systems 2018. Robotics: Science and Systems Foundation, 2018. http://dx.doi.org/10.15607/rss.2018.xiv.058.

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Calli, Berk, Krishnan Srinivasan, Andrew Morgan, and Aaron M. Dollar. "Learning Modes of Within-Hand Manipulation." In 2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018. http://dx.doi.org/10.1109/icra.2018.8461187.

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Miyazaki, Ayano, Hiroko Ota, Kumiko Iwazaki, Mayu Urata, Mamoru Endo, and Takami Yasuda. "Hand Tracking-based VR Ikebana Manipulation." In 2021 IEEE 10th Global Conference on Consumer Electronics (GCCE). IEEE, 2021. http://dx.doi.org/10.1109/gcce53005.2021.9621994.

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Sarabandi, Soheil, Qiujie Lu, Genliang Chen, and Nicolas Rojas. "In-Hand Manipulation with Soft Fingertips." In 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft). IEEE, 2022. http://dx.doi.org/10.1109/robosoft54090.2022.9762182.

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Waxman, Naftali, Sarit Kraus, and Noam Hazon. "Manipulation of k-Coalitional Games on Social Networks." In Thirtieth International Joint Conference on Artificial Intelligence {IJCAI-21}. California: International Joint Conferences on Artificial Intelligence Organization, 2021. http://dx.doi.org/10.24963/ijcai.2021/63.

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In many coalition formation games the utility of the agents depends on a social network. In such scenarios there might be a manipulative agent that would like to manipulate his connections in the social network in order to increase his utility. We study a model of coalition formation in which a central organizer, who needs to form k coalitions, obtains information about the social network from the agents. The central organizer has her own objective: she might want to maximize the utilitarian social welfare, maximize the egalitarian social welfare, or only guarantee that every agent will have at least one connection within her coalition. In this paper we study the susceptibility for manipulation of these objectives, given the abilities and information that the manipulator has. Specifically, we show that if the manipulator has very limited information, namely he is only familiar with his immediate neighbours in the network, then a manipulation is almost always impossible. Moreover, if the manipulator is only able to add connections to the social network, then a manipulation is still impossible for some objectives, even if the manipulator has full information on the structure of the network. On the other hand, if the manipulator is able to hide some of his connections, then all objectives are susceptible to manipulation, even if the manipulator has limited information, i.e., when he is familiar with his immediate neighbours and with their neighbours.
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Haustein, Joshua A., Silvia Cruciani, Rizwan Asif, Kaiyu Hang, and Danica Kragic. "Placing Objects with prior In-Hand Manipulation using Dexterous Manipulation Graphs." In 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids). IEEE, 2019. http://dx.doi.org/10.1109/humanoids43949.2019.9035033.

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Reports on the topic "Hand manipulation"

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Badler, Norman I. Hand Tool Manipulation and Self-Presence in VR. Fort Belvoir, VA: Defense Technical Information Center, May 1999. http://dx.doi.org/10.21236/ada362871.

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Allen, Peter. Intelligent Sensor-Based Manipulation with Robotic Hands. Fort Belvoir, VA: Defense Technical Information Center, December 1998. http://dx.doi.org/10.21236/ada357655.

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Kostenko, E. V., L. V. Petrova, I. V. Pogonchenkova, and A. S. Polischuk. Technical task «Cognitive-motor training of fine hand function and subject-manipulative activity with double and triple tasks in a virtual environment». OFERNIO, July 2022. http://dx.doi.org/10.12731/ofernio.2022.25034.

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Dahl, Geoffrey E., Sameer Mabjeesh, Thomas B. McFadden, and Avi Shamay. Environmental manipulation during the dry period of ruminants: strategies to enhance subsequent lactation. United States Department of Agriculture, February 2006. http://dx.doi.org/10.32747/2006.7586544.bard.

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The project resulted from earlier observations that environmental factors, especially photoperiod and temperature, had profound effects on milk yield in dairy cattle during lactation. More recently we had determined that photoperiod manipulation during the dry period altered milk yield in the next lactation, and this was associated with shifts in circulating concentrations of prolactin; specifically exposure to short days during the dry period decreases prolactin but increases milk yield. Because prolactin is also affected by temperature, with heat stress causing an increase in prolactin similar to that of long day exposure, we focused our efforts on determining prolactin signaling provides a common pathway for generation of environmental effects on mammary growth, development and subsequent function during the dry period of dairy ruminants. Over the project period we made significant progress toward testing our hypotheses that (I): In cows, there is a discrete duration of time during the dry period in which exposure to short days will result in optimal enhancement of mammary development and milk yield in the following lactation, and that this effect is mediated through demonstrable changes in mammary gland development, prolactin signaling, and mammary gene expression; and (II): Modulation of photoperiod and temperature during the dry period will affect milk yield in goats in the subsequent lactation via shifts in nutrient and endocrine partitioning, and mammary gene expression, during the dry period and into lactation. Cows exposed to short days for only the final 21 days of the dry period did not produce more milk that those on long day or natural photoperiod when dry. However, cows on short days for the entire 60 days dry did produce more milk than the other 3 groups. This indicates that there is a duration effect of short day exposure on subsequent milk yield. Results of the second study in cows indicate that mammary growth increases differentially during the dry period under long vs. short days, and that short days drive more extensive growth which is associated with altered prolactin signaling via decreases in an suppressors of cytokine signaling that represent an inhibitory pathway to mammary growth. Evidence from the studies in Israel confirms that goats respond to short days during the dry period in a similar manner to cows. In addition, heat stress effects on during the dry period can be limited by exposure to short days. Here again, shifts in prolactin signaling, along with changes in IGF-I secretion, are associated with the observed changes in mammary function in goats. These results have a number of biological and practical implications. For dairy producers, it is clear that we can recommend that cows and goats should be on reduced light exposure during the dry period, and further, cows and goats should be cooled to avoid heat stress during that time. Environmental influences on mammary growth are apparent during the dry period, and those effects have persistent impact in the subsequent lactation. Prolactin signaling is a consistent mechanism whereby extended light exposure and heat stress may depress mammary growth and development during the dry period. Thus, the prolactin signaling system offers an opportunity for further manipulation to improve production efficiency in dairy ruminants.
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Steffens, John C., and Eithan Harel. Polyphenol Oxidases- Expression, Assembly and Function. United States Department of Agriculture, January 1995. http://dx.doi.org/10.32747/1995.7571358.bard.

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Polyphenol oxidases (PPOs) participate in the preparation of many plant products on the one hand and cause considerable losses during processing of plant products on the other hand. However, the physiological functions of plant PPO were still a subject of controversy at the onset of the project. Preliminary observations that suggested involvement of PPOs in resistance to herbivores and pathogens held great promise for application in agriculture but required elucidation of PPO's function if modulation of PPO expression is to be considered for improving plant protection or storage and processing of plant products. Suggestions on a possible role of PPO in various aspects of chloroplast metabolism were also relevant in this context. The characterization of plant PPO genes opened a way for achieving these goals. We reasoned that "understanding PPO targeting and routing, designing ways to manipulate its expression and assessing the effects of such modifications will enable determination of the true properties of the enzyme and open the way for controlling its activity". The objective of the project was to "obtain an insight into the function and biological significance of PPOs" by examining possible function(s) of PPO in photosynthesis and plant-pest interactions using transgenic tomato plants; extending our understanding of PPO routing and assembly and the mechanism of its thylakoid translocation; preparing recombinant PPOs for use in import studies, determination of the genuine properties of PPOs and understanding its assembly and determining the effect of PPO's absence on chloroplast performance. Results obtained during work on the project made it necessary to abandon some minor objectives and devote the effort to more promising topics. Such changes are mentioned in the 'Body of the report' which is arranged according to the objectives of the original proposal. The complex expression pattern of tomato PPO gene family was determined. Individual members of the family are differentially expressed in various parts of the plant and subjected to developmentally regulated turnover. Some members are differentially regulated also by pathogens, wounding and chemical wound signals. Wounding systemically induces PPO activity and level in potato. Only tissues that are developmentally competent to express PPO are capable of responding to the systemic wounding signal by increased accumulation of PPO mRNA. Down regulation of PPO genes causes hyper susceptibility to leaf pathogens in tomato while over expression regulation of PPO expression in tomato plants is their apparent increased tolerance to drought. Both the enhanced disease resistance conferred by PPO over expression and the increased stress tolerance due to down regulation can be used in the engineering of improved crop plants. Photosynthesis rate and variable fluorescence measurements in wild type, and PPO-null and over expressing transgenic tomato lines suggest that PPO does not enable plants to cope better with stressful high light intensities or reactive oxygen species. Rather high levels of the enzyme aggravate the damage caused under such conditions. Our work suggests that PPO's primary role is in defending plants against pathogens and herbivores. Jasmonate and ethylene, and apparently also salicylate, signals involved in responses to wounding and defense against herbivores and pathogens, enhance markedly and specifically the competence of chloroplasts to import and process pPPO. The interaction of the precursor with thylakoid membranes is primarily affected. The routing of PPO shows other unusual properties: stromal processing occurs in two sites, resulting in intermediates that are translocated across thylakoids by two different mechanisms - a DpH- and a Sec-dependent one. It is suggested that the dual pattern of processing and routing constitutes a'fail safe' mechanism, reflecting the need for a rapid and flexible response to defense challenges. Many of the observations described above should be taken into consideration when manipulation of PPO expression is contemplated for use in crop improvement.
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Weiss, David, and Neil Olszewski. Manipulation of GA Levels and GA Signal Transduction in Anthers to Generate Male Sterility. United States Department of Agriculture, 2000. http://dx.doi.org/10.32747/2000.7580678.bard.

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The original objectives of the research were: i. To study the role of GA in anther development, ii. To manipulate GA and/or GA signal transduction levels in the anthers in order to generate male sterility. iii. To characterize the GA signal transduction repressor, SPY. Previous studies have suggested that gibberellins (GAs) are required for normal anther development. In this work, we studied the role of GA in the regulation of anther development in petunia. When plants were treated with the GA-biosynthesis inhibitor paclobutrazol, anther development was arrested. Microscopic analysis of these anthers revealed that paclobutrazol inhibits post-meiotic developmental processes. The treated anthers contained pollen grains but the connective tissue and tapetum cells were degenerated. The expression of the GA-induced gene, GIP, can be used in petunia as a molecular marker to: study GA responses. Analyses of GIP expression during anther development revealed that the gene is induced only after microsporogenesis. This observation further suggests a role for GA in the regulation of post-meiotic processes during petunia anther development. Spy acts as a negative regulator of gibberellin (GA) action in Arabidopsis. We cloned the petunia Spy homologue, PhSPY, and showed that it can complement the spy-3 mutation in Arabidopsis. Overexpression of Spy in transgenic petunia plants affected various GA-regulated processes, including seed germination, shoot elongation, flower initiation, flower development and the expression of a GA- induced gene, GIP. In addition, anther development was inhibited in the transgenic plants following microsporogenesis. The N-terminus of Spy contains tetratricopeptide repeats (TPR). TPR motifs participate in protein-protein interactions, suggesting that Spy is part of a multiprotein complex. To test this hypothesis, we over-expressed the SPY's TPR region without the catalytic domain in transgenic petunia and generated a dominant- negative Spy mutant. The transgenic seeds were able to germinate on paclobutrazol, suggesting an enhanced GA signal. Overexpression of PhSPY in wild type Arabidopsis did not affect plant stature, morphology or flowering time. Consistent with Spy being an O-GlcNAc transferase (OGT), Spy expressed in insect cells was shown to O-GlcNAc modify itself. Consistent with O-GlcNAc modification playing a role in GA signaling, spy mutants had a reduction in the GlcNAc modification of several proteins. After treatment of the GA deficient, gal mutant, with GA3 the GlcNAc modification of proteins of the same size as those affected in spy mutants exhibited a reduction in GlcNAcylation. GA-induced GlcNAcase may be responsible for this de-GlcNAcylation because, treatment of gal with GA rapidly induced an increase in GlcNAcase activity. Several Arabidopsis proteins that interact with the TPR domain of Spy were identified using yeast two-hybrids screens. One of these proteins was GIGANTEA (GI). Consistent with GI and Spy functioning as a complex in the plant the spy-4 was epistatic to gi. These experiments also demonstrated that, in addition to its role in GA signaling, Spy functions in the light signaling pathways controlling hypocotyl elongation and photoperiodic induction of flowering. A second Arabidopsis OGT, SECRET AGENT (SCA), was discovered. Like SPY, SCA O-GlcNAc modifies itself. Although sca mutants do not exhibit dramatic phenotypes, spy/sca double mutants exhibit male and female gamete and embryo lethality, indicating that Spy and SCA have overlapping functions. These results suggest that O-GlcNAc modification is an essential modification in plants that has a role in multiple signaling pathways.
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Elizur, Abigail, Amir Sagi, Gideon Hulata, Clive Jones, and Wayne Knibb. Improving Crustacean Aquaculture Production Efficiencies through Development of Monosex Populations Using Endocrine and Molecular Manipulations. United States Department of Agriculture, June 2010. http://dx.doi.org/10.32747/2010.7613890.bard.

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Background Most of Australian prawn aquaculture production is based on P. monodon. However, the Australian industry is under intense competition from lower priced overseas imports. The availability of all-female monosex populations, by virtue of their large size and associated premium prize, will offer competitive advantage to the industry which desperately needs to counteract competitors within this market. As for the redclaw production in Israel, although it is at its infancy, the growers realized that the production of males is extremely advantageous and that such management strategy will change the economic assumptions and performances of this aquaculture to attract many more growers. Original objectives (as in original proposal) Investigating the sex inheritance mechanism in the tiger prawn. Identification of genes expressed uniquely in the androgenic gland (AG) of prawns and crayfish. The above genes and/or their products will be used to localize the AG in the prawn and manipulate the AG activity in both species. Production of monosex populations through AG manipulation. In the prawn, production of all-female populations and in the crayfish, all-male populations. Achievements In the crayfish, the AG cDNA library was further screened and a third AG specific transcript, designated Cq-AG3, had been identified. Simultaneously the two AG specific genes, which were previously identified, were further characterized. Tissue specificity of one of those genes, termed Cq-AG2, was demonstrated by northern blot hybridization and RNA in-situ hybridization. Bioinformatics prediction, which suggested a 42 amino acid long signal anchor at the N-terminus of the deduced Cq-AG2, was confirmed by immunolocalization of a recombinant protein. Cq-IAG's functionality was demonstrated by dsRNA in-vivo injections to intersex crayfish. Cq-IAGsilencing induced dramatic sex-related alterations, including male feature feminization, reduced sperm production, extensive testicular apoptosis, induction of the vitellogeningene expression and accumulation of yolk proteins in the ovaries. In the prawn, the AG was identified and a cDNA library was created. The putative P. monodonAG hormone encoding gene (Pm-IAG) was identified, isolated and characterized for time of expression and histological localization. Implantation of the AG into prawn post larvae (PL) and juveniles resulted in phenotypic transformation which included the appearance of appendix masculina and enlarged petasma. The transformation however did not result in sex change or the creation of neo males thus the population genetics stage to be executed with Prof. Hulata did not materialized. Repeated AG implantation is currently being trialed. Major conclusions and Implications, both scientific and agricultural Cq-IAG's involvement in male sexual differentiation had been demonstrated and it is strongly suggested that this gene encodes an AG hormone in this crayfish. A thorough screening of the AG cDNA library shows Cq-IAG is the prominent transcript within the library. However, the identification of two additional transcripts hints that Cq-IAG is not the only gene mediating the AG effects. The successful gene silencing of Cq-IAG, if performed at earlier developmental stages, might accomplish full and functional sex reversal which will enable the production of all-male crayfish populations. Pm-IAG is likely to play a similar role in prawns. It is possible that repeated administration of the AG into prawn will lead to the desired full sex reversal, so that WZ neo males, crossed with WZ females can result in WW females, which will form the basis for monosex all-female population.
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Bennett, Alan B., Arthur A. Schaffer, Ilan Levin, Marina Petreikov, and Adi Doron-Faigenboim. Manipulating fruit chloroplasts as a strategy to improve fruit quality. United States Department of Agriculture, January 2013. http://dx.doi.org/10.32747/2013.7598148.bard.

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The Original Objectives were modified and two were eliminated to reflect the experimental results: Objective 1 - Identify additional genetic variability in SlGLK2 and IPin wild, traditional and heirloom tomato varieties Objective 2 - Determine carbon balance and horticultural characteristics of isogenic lines expressing functional and non-functional alleles of GLKsand IP Background: The goal of the research was to understand the unique aspects of chloroplasts and photosynthesis in green fruit and the consequences of increasing the chloroplast capacity of green fruit for ripe fruit sugars, yield, flavor and nutrient qualities. By focusing on the regulation of chloroplast formation and development solely in fruit, our integrated knowledge of photosynthetic structures/organs could be broadened and the results of the work could impact the design of manipulations to optimize quality outputs for the agricultural fruit with enhanced sugars, nutrients and flavors. The project was based on the hypothesis that photosynthetic and non-photosynthetic plastid metabolism in green tomato fruit is controlled at a basal level by light for minimal energy requirements but fruit-specific genes regulate further development of robust chloroplasts in this organ. Our BARD project goals were to characterize and quantitate the photosynthesis and chloroplast derived products impacted by expression of a tomato Golden 2- like 2 transcription factor (US activities) in a diverse set of 31 heirloom tomato lines and examine the role of another potential regulator, the product of the Intense Pigment gene (IP activities). Using tomato Golden 2-like 2 and Intense Pigment, which was an undefined locus that leads to enhanced chloroplast development in green fruit, we sought to determine the benefits and costs of extensive chloroplast development in fruit prior to ripening. Major conclusions, solutions, achievements: Single nucleotide polymorphisms in the promoter, coding and intronicSlGLK2 sequences of 20 heirloom tomato lines were identified and three SlGLK2 promoter lineages were identified; two lineages also had striped fruit variants. Lines with striped fruit but no shoulders were not identified. Green fruit chlorophyll and ripe fruit soluble sugar levels were measured in 31 heirloom varieties and fruit size correlates with ripe fruit sugars but dark shoulders does not. A combination of fine mapping, recombinant generation, RNAseq expression and SNP calling all indicated that the proposed localization of a single locus IP on chr 10 was incorrect. Rather, the IP line harbored 11 separate introgressions from the S. chmielewskiparent, scattered throughout the genome. These introgressions harbored ~3% of the wild species genome and no recombinant consistently recovered the IP parental phenotype. The 11 introgressions were dissected into small combinations in segregating recombinant populations. Based on these analyses two QTL for Brix content were identified, accounting for the effect of increased Brix in the IP line. Scientific and agricultural implications: SlGLK2 sequence variation in heirloom tomato varieties has been identified and can be used to breed for differences in SlGLK2 expression and possibly in the green striped fruit phenotype. Two QTL for Brix content have been identified in the S. chmielewskiparental line and these can be used for increasing soluble solids contents in breeding programs.
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Horwitz, Benjamin A., and Barbara Gillian Turgeon. Fungal Iron Acquisition, Oxidative Stress and Virulence in the Cochliobolus-maize Interaction. United States Department of Agriculture, March 2012. http://dx.doi.org/10.32747/2012.7709885.bard.

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Our project focused on genes for high affinity iron acquisition in Cochliobolus heterostrophus, a necrotrophic pathogen of maize, and their intertwined relationship to oxidative stress status and virulence of the fungus on the host. An intriguing question was why mutants lacking the nonribosomal peptide synthetase (NRPS) gene (NPS6) responsible for synthesis of the extracellular siderophore, coprogen, are sensitive to oxidative stress. Our overall objective was to understand the mechanistic connection between iron stress and oxidative stress as related to virulence of a plant pathogen to its host. The first objective was to examine the interface where small molecule peptide and reactive oxygen species (ROS) mechanisms overlap. The second objective was to determine if the molecular explanation for common function is common signal transduction pathways. These pathways, built around sensor kinases, response regulators, and transcription factors may link sequestering of iron, production of antioxidants, resistance to oxidative stress, and virulence. We tested these hypotheses by genetic manipulation of the pathogen, virulence assays on the host plant, and by following the expression of key fungal genes. An addition to the original program, made in the first year, was to develop, for fungi, a genetically encoded indicator of redox state based on the commercially available Gfp-based probe pHyper, designed for animal cell biology. We implemented several tools including a genetically encoded indicator of redox state, a procedure to grow iron-depleted plants, and constructed a number of new mutants in regulatory genes. Lack of the major Fe acquisition pathways results in an almost completely avirulent phenotype, showing how critical Fe acquisition is for the pathogen to cause disease. Mutants in conserved signaling pathways have normal ability to regulate NPS6 in response to Fe levels, as do mutants in Lae1 and Vel1, two master regulators of gene expression. Vel1 mutants are sensitive to oxidative stress, and the reason may be underexpression of a catalase gene. In nps6 mutants, CAT3 is also underexpressed, perhaps explaining the sensitivity to oxidative stress. We constructed a deletion mutant for the Fe sensor-regulator SreA and found that it is required for down regulation of NPS6 under Fe-replete conditions. Lack of SreA, though, did not make the fungus over-sensitive to ROS, though the mutant had a slow growth rate. This suggests that overproduction of siderophore under Fe-replete conditions is not very damaging. On the other hand, increasing Fe levels protected nps6 mutants from inhibition by ROS, implying that Fe-catalyzed Fenton reactions are not the main factor in its sensitivity to ROS. We have made some progress in understanding why siderophore mutants are sensitive to oxidative stress, and in doing so, defined some novel regulatory relationships. Catalase genes, which are not directly related to siderophore biosynthesis, are underexpressed in nps6 mutants, suggesting that the siderophore product (with or without bound Fe) may act as a signal. Siderophores, therefore, could be a target for intervention in the field, either by supplying an incorrect signal or blocking a signal normally provided during infection. We already know that nps6 mutants cause smaller lesions and have difficulty establishing invasive growth in the host. Lae1 and Vel1 are the first factors shown to regulate both super virulence conferred by T-toxin, and basic pathogenicity, due to unknown factors. The mutants are also altered in oxidative stress responses, key to success in the infection court, asexual and sexual development, essential for fungal dissemination in the field, aerial hyphal growth, and pigment biosynthesis, essential for survival in the field. Mutants in genes encoding NADPH oxidase (Nox) are compromised in development and virulence. Indeed the triple mutant, which should lack all Nox activity, was nearly avirulent. Again, gene expression experiments provided us with initial evidence that superoxide produced by the fungus may be most important as a signal. Blocking oxidant production by the pathogen may be a way to protect the plant host, in interactions with necrotrophs such as C. heterostrophus which seem to thrive in an oxidant environment.
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Granot, David, Scott Holaday, and Randy D. Allen. Enhancing Cotton Fiber Elongation and Cellulose Synthesis by Manipulating Fructokinase Activity. United States Department of Agriculture, 2008. http://dx.doi.org/10.32747/2008.7613878.bard.

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a. Objectives (a) Identification and characterization of the cotton fiber FRKs; (b) Generating transgenic cotton plants overproducing either substrate inhibited tomato FRK or tomato FRK without substrate inhibition; (c) Generating transgenic cotton plants with RNAi suppression of fiber expressed FRKs; (d) Generating Arabidopsis plants that over express FRK1, FRK2, or both genes, as additional means to assess the contribution of FRK to cellulose synthesis and biomass production. b. Background to the topic: Cellulose synthesis and fiber elongation are dependent on sugar metabolism. Previous results suggested that FRKs (fructokinase enzymes that specifically phosphorylate fructose) are major players in sugar metabolism and cellulose synthesis. We therefore hypothesized that increasing fructose phosphorylation may enhance fiber elongation and cellulose synthesis in cotton plants. Accordinlgy, the objectives of this research were: c. Major conclusions and achievements: Two cotton FRKs expressed in fibers, GhFRK2 and GhFRK3, were cloned and characterized. We found that GhFRK2 enzyme is located in the cytosol and GhFRK3 is located within plastids. Both enzymes enable growth on fructose (but not on glucose) of hexose kinase deficient yeast strain, confirming the fructokinase activity of the cloned genes. RNAi constructs with each gene were prepared and sent to the US collaborator to generate cotton plants with RNAi suppression of these genes. To examine the effect of FRKs using Arabidopsis plants we generated transgenic plants expressing either LeFRK1 or LeFRK2 at high level. No visible phenotype has been observed. Yet, plants expressing both genes simultaneously are being created and will be tested. To test our hypothesis that increasing fructose phosphorylation may enhance fiber cellulose synthesis, we generated twenty independent transgenic cotton plant lines overexpressing Lycopersicon (Le) FRK1. Transgene expression was high in leaves and moderate in developing fiber, but enhanced FRK activity in fibers was inconsistent between experiments. Some lines exhibited a 9-11% enhancement of fiber length or strength, but only one line tested had consistent improvement in fiber strength that correlated with elevated FRK activity in the fibers. However, in one experiment, seed cotton mass was improved in all transgenic lines and correlated with enhanced FRK activity in fibers. When greenhouse plants were subjected to severe drought during flowering and boll development, no genotypic differences in fiber quality were noted. Seed cotton mass was improved for two transgenic lines but did not correlate with fiber FRK activity. We conclude that LeFRK1 over-expression in fibers has only a small effect on fiber quality, and any positive effects depend on optimum conditions. The improvement in productivity for greenhouse plants may have been due to better structural development of the water-conducting tissue (xylem) of the stem, since stem diameters were larger for some lines and the activity of FRK in the outer xylem greater than observed for wild-type plants. We are testing this idea and developing other transgenic cotton plants to understand the roles of FRK in fiber and xylem development. We see the potential to develop a cotton plant with improved stem strength and productivity under drought for windy, semi-arid regions where cotton is grown. d. Implications, scientific and agricultural: FRKs are probably bottle neck enzymes for biomass and wood synthesis and their increased expression has the potential to enhance wood and biomass production, not only in cotton plants but also in other feed and energy renewable plants.
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