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.
Full textKontoudis, Georgios Pantelis. "Adaptive, Anthropomorphic Robot Hands for Grasping and In-Hand Manipulation." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/87404.
Full textMaster 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.
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.
Full textA 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.
Prieur, Urbain. "High-level planning of dexterous in-hand manipulation using a robotic hand." Paris 6, 2013. http://www.theses.fr/2013PA066788.
Full textJusqu’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
Matsuoka, Yoky 1971. "Embodiment and manipulation learning process or humanoid hand." Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/11416.
Full textNagai, Kiyoshi. "Studies on Grasping and Manipulation by Robotic Multifingered Hands and Arm-Hand Systems." Kyoto University, 1995. http://hdl.handle.net/2433/160756.
Full textKyoto 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
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.
Full textKrishnan, 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.
Full textFreitas, 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.
Full textTheorin, 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.
Full textAl-Gallaf, Ebrahim Abdulla. "Task space robot hand manipulation and optimal distribution of fingertip force functions." Thesis, University of Reading, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.387046.
Full textNguyen, Kien Cuong. "Control of an anthropomorphic arm-hand robot for grasping and dexterous manipulation." Paris 6, 2013. http://www.theses.fr/2013PA066703.
Full textThis thesis deals with the control of an anthropomorphic arm-hand robot by focusing on two aspects: the control of the fingertip force and the coordination between the arm and the hand. The force control of a robotic finger remains difficult despite the advances in current state-of-art. This is due to the small size of the finger, its low communication bandwidth, the lack of precision of the position sensors and the significant backlash in the actuation systems. A new approach controlling the fingertip force by adjusting the joint torque saturation parameter shows better results. Not limited to pure force control, this control method is proved to also have good performance when applying to indirect and hybrid position/force control. Usually ignored in literature while considering dexterous manipulation, the position and movement of the arm play a very important role. Many in-hand manipulation tasks cannot be realized without a proper movement of the arm. One typical example is the rotation of the manipulated object relative to the palm without moving the fingers thanks to inertial and gravitational effects. Besides, arm movement is also an important factor contributing to the appearance of the grasping gestures. In this thesis, the movement of the grasped object under gravitational effect was analyzed and a grasping strategy was elaborated. In addition to this, some mechanical constraints (tenodesis effect in particular) contributing to the human natural gestures were deciphered and such natural gestures were reproduced on an anthropomorphic arm-hand robot in redundant grasping situations
Iglesias, José. "A force control based strategy for extrinsic in-hand object manipulation through prehensile-pushing primitives." Thesis, KTH, Robotik, perception och lärande, RPL, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-220136.
Full textAtt greppa och manipulera objekt är en komplex uppgift för robotar. Det innebär ofta en kompromiss mellan hand och fingrars frihetsgrader (fingerfärdighet) mot reglersystemets kostnad och komplexitet. Extrinsic manipulation är en strategi för att öka fingerfärdigheten hos robothänder, och dess princip är att utnyttja accelerationer på objektet som orsakas av yttre krafter. Vi föreslår en metod baserad på att reglerakraft för hantering av objekt i handen, genom en återkoppling av kraftmomentet. För detta ändamål använder vi en prehensile pushing action, där objektet puttas mot en yta, under kvasistiska antaganden. Genom att använda en reglerstrategi får vi en robusthet mot parametrars osäkerhet (som friktion) och störningar, vilka inte beskrivs av systemets model. Kraftkontrollstrategin utförs på två olika sätt: kraften mellan objektet och den yttre ytan styrs med en admittance controller medan en ytterligare styrning av applicerad gripkraft på objektet görs med en PI-reglerare. Ett Kalman filter används för att estimera objektets tillstånd, baserat på mätningar av kraftmoment via en sensor vid robotens handled. Vi utvärderar vårt tillvägagångssätt genom att utföraexperiment på en PR2-robot vid KTHs Robotics, Perception och Learning Lab.
Hasan, Md Rakibul. "Modelling and interactional control of a multi-fingered robotic hand for grasping and manipulation." Thesis, Queen Mary, University of London, 2014. http://qmro.qmul.ac.uk/xmlui/handle/123456789/8941.
Full textZiesmer, Jacob Ames. "Reconfigurable End Effector Allowing For In-Hand Manipulation Without Finger Gaiting Or Regrasping." [Milwaukee, Wis.] : e-Publications@Marquette, 2009. http://epublications.marquette.edu/theses_open/2.
Full textRoda, Sales Alba. "Contributions to hand kinematics characterisation during product manipulation in activities of daily living." Doctoral thesis, Universitat Jaume I, 2021. http://hdl.handle.net/10803/672248.
Full textL'objectiu d'aquesta tesi és contribuir a la caracterització de la cinemàtica de la mà durant la manipulació de productes en activitats de la vida diaria (AVDs). Les principals contribucions d'aquesta tesi han sigut: (i) proporcionar dades quantificables sobre diversos aspectes tècnics de l'ús de guants instrumentals com a sistema de captura de moviment en AVDs: el seu efecte en la destresa manual, problemes d'ajust a la mà, etc ., (ii) presentar en línies generals els requisits cinemàtics de les tasques d'alimentació cuina per a la mà sana, i identificant grups de tasques que requereixen postures o velocitats extremes en articulacions específiques, així com proporcionar una base de dades extensa i posar-la a disposició de la comunitat científica en un repositori públic, i (íii) presentar una visió general de l' efecte de les característiques dels dispositius d'assistència (DAs) en la cinemàtica de la mà, proporcionant una base per a la selecció del DA més apropiat en funció dels impediments del pacient.
Programa de Doctorat en Tecnologies Industrials i Materials
He, Junhu Verfasser], and Jianwei [Akademischer Betreuer] [Zhang. "Robotic In-hand Manipulation with Push and Support Method / Junhu He ; Betreuer: Jianwei Zhang." Hamburg : Staats- und Universitätsbibliothek Hamburg, 2017. http://d-nb.info/1140586807/34.
Full textHe, Junhu [Verfasser], and Jianwei [Akademischer Betreuer] Zhang. "Robotic In-hand Manipulation with Push and Support Method / Junhu He ; Betreuer: Jianwei Zhang." Hamburg : Staats- und Universitätsbibliothek Hamburg, 2017. http://d-nb.info/1140586807/34.
Full textBardo, Ameline. "Manipulation abilities among hominids : a multidisciplinary study with behavior, morphology and modelling." Thesis, Sorbonne Paris Cité, 2016. http://www.theses.fr/2016USPCB079/document.
Full textHumans are considered to have unique manual abilities in the animal kingdom. However, we still do not know what the real manual abilities of primates are, nor how they evolved. Are humans really unique? This dissertation aims to investigate the manipulative abilities in Hominids related to their hand anatomy and function, using an interdisciplinary framework combining behavioral, morphological, functional, and biomechanical approaches. To quantify the behavioral strategies and manipulative abilities in Hominids, I have conducted an ethological study on different captive great apes and on humans during the same complex tool use task. I used 3D geometric morphometrics and comparative approaches on the trapeziometacarpal complex combined with a musculo-skeletal model to better interpret the behavioral results and to test the link between hand morphometric and biomechanical constraints during tool use in Hominids. The results of this PhD show that great apes demonstrate dynamic manipulative abilities but that each species has its own specificities. More complex dynamic abilities, such as in-hand movements, are observed for bonobos and gorillas than for orangutans. The different lifestyles of the species may explain this variability. Moreover, during the complex tool use task, humans perform better than great apes and show specificities. The new integrative approach also clearly shows that the different manipulative abilities of Hominids cannot only be a consequence of the different morphologies of the trapeziometacarpal joint but also of the different mechanical constraints related to the overall hand morphometric. These results highlight the difficulty to infer manual abilities in fossils from some bone shape information, without taking into account the overall morphometric of the hand and its possible link with biomechanical constraints. This PhD thesis provides new information on the manual abilities of Hominids, on the different constraints surrounding these abilities, and new information to better understand the evolution of manual abilities in primates
Mnyusiwalla, Hussein. "Qualité de prise dans le contexte de la planification de mouvements de préhension et de manipulation dextre en robotique." Thesis, Poitiers, 2016. http://www.theses.fr/2016POIT2271/document.
Full textThe work presented in this thesis concerns object grasping with dexterous robotic hands. In this work, we are going to focus on the grasp synthesis problem by taking into account the in-hand manipulation task. The initial grasp has a capital role for the successful completion of a given task.In order to develop algorithms which are able to generate automatically correct grasps for a manipulation task, we need to define suitable grasp quality metrics to assess the validity of a grasp. Throughout the years, a large variety of quality measures have been proposed in the literature and researchers keep on developing new ones. However those quality measures are generally developed for simple grippers and for grasping tasks. In this thesis, we will extend the study of selected interesting grasp quality measures for in-hand manipulation tasks. These quality measures will be evaluated on a four finger robotic hand with sixteen fully actuated degrees of freedom.We will assess the chosen quality measures for in-hand manipulation tasks with three different carefully selected type of objects. The quality metrics are classified in two groups, first one focuses exclusively on the location of contact points and the second one considers the kinematics of the robotic hand. The review of these quality measures led us to select the ones meaningful for solving the grasp synthesis problem for in-hand manipulation. The grasping pipeline implemented to generate the correct grasps is based on an evolutionary approach using a mix of the selected quality measures. The proposed approach was tested in the OpenRAVE robotic simulator and also validated experimentally with the new RoBioSS hand
Rouleau, Michael Thomas. "Design and Evaluation of an Underactuated Robotic Gripper for Manipulation Associated with Disaster Response." Thesis, Virginia Tech, 2015. http://hdl.handle.net/10919/54567.
Full textMaster of Science
Fernandes, Veiga Filipe [Verfasser], Jan [Akademischer Betreuer] Peters, and Veronica [Akademischer Betreuer] Santos. "Towards Dexterous In-Hand Manipulation through Tactile Sensing / Filipe Fernandes Veiga ; Jan Peters, Veronica Santos." Darmstadt : Universitäts- und Landesbibliothek Darmstadt, 2018. http://d-nb.info/1197800824/34.
Full textFernandes, Veiga Filipe [Verfasser], Jan Akademischer Betreuer] Peters, and Veronica [Akademischer Betreuer] [Santos. "Towards Dexterous In-Hand Manipulation through Tactile Sensing / Filipe Fernandes Veiga ; Jan Peters, Veronica Santos." Darmstadt : Universitäts- und Landesbibliothek Darmstadt, 2018. http://d-nb.info/1197800824/34.
Full textCheng, Gang [Verfasser], and Jianwei [Akademischer Betreuer] Zhang. "State-Action Gist based In-hand Manipulation Learning from Human Demonstration / Gang Cheng. Betreuer: Jianwei Zhang." Hamburg : Staats- und Universitätsbibliothek Hamburg, 2013. http://d-nb.info/1038789826/34.
Full textBirznieks, Ingvars. "Tactile Sensory Control of Dexterous Manipulation in Humans." Doctoral thesis, Umeå universitet, Fysiologi, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-23.
Full textPowell, Stephen Arthur. "A Review of Anthropomorphic Robotic Hand Technology and Data Glove Based Control." Thesis, Virginia Tech, 2016. http://hdl.handle.net/10919/82536.
Full textMaster of Science
Lardy, Julien. "Analyse et simulation cinématique du mouvement du bras lors de la manipulation d'un objet pour la simulation ergonomique à l’aide d’un mannequin numérique." Thesis, Lyon 1, 2013. http://www.theses.fr/2013LYO10018/document.
Full textThe thesis work presented in this manuscript focuses on the simulation of an handling motion, more specifically on the grasp followed by the rotation of a sphere along a fixed single axis. The aim here is, from the analysis of actual motions, to be able to propose an simulation algorithm reproducing motions comparable to experimental data, with the less input as possible and trying to introduce some variability into the simulated motion. 12 volunteers participated to the experiment. Subjects were asked to grasp and turn a sphere of 60mm of diameter. Amplitudes of rotations were ranged from 45° to 360°, in both directions. Experimental data analysis, completed with some simulations of the effect of joint limits on motion, allowed us to investigate several motion control hypothesis as the end-state comfort hypothesis or the minimum work principle. One of the main conclusions is that postural anticipation when grasping seems to be more explained by the comfort at the end of the motion than when grasping. Based on these observations, we proposed a simulation algorithm being original by the way of how it takes into account possible motions allowed by joint limits and by the introduction of variability into the simulated grasp posture. The first results seem to follow most part of the experimental observations giving a strong basis to go towards simulation tools that will come closer to a “human” behavior
Perozzi, Marco. "A myo-controlled wearable manipulation system with tactile sensing for prosthetics studies." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2022. http://amslaurea.unibo.it/25054/.
Full textCorrales, Ramón Juan Antonio. "Safe human-robot interaction based on multi-sensor fusion and dexterous manipulation planning." Doctoral thesis, Universidad de Alicante, 2011. http://hdl.handle.net/10045/22770.
Full textValencian Government by the research project "Infraestructura 05/053". Spanish Ministry of Education and Science by the pre-doctoral grant AP2005-1458 and the research projects DPI2005-06222 and DPI2008-02647, which constitute the research framework of this thesis.
Ozguner, Orhan. "VISUALLY GUIDED ROBOT CONTROL FOR AUTONOMOUS LOW-LEVEL SURGICAL MANIPULATION TASKS." Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1568138320331765.
Full textVIGANO', LUCA. "DIRECT ELECTRICAL STIMULATION OF PRIMARY MOTOR AND FRONTAL PREMOTOR REGIONS: MAPPING AND PRESERVING NETWORKS FOR HAND MOTOR CONTROL DURING BRAIN TUMOUR RESECTION." Doctoral thesis, Università degli Studi di Milano, 2020. http://hdl.handle.net/2434/707523.
Full textChandra, Rohit. "Application of Dual Quaternion for Bimanual Robotic Tasks." Thesis, Université Clermont Auvergne (2017-2020), 2019. http://www.theses.fr/2019CLFAC042.
Full textThe classical approach for dual-arm cooperative task space control was revisited and the symmetric formulation of dual arm coordination using virtual sticks was implemented using screw-based kinematics with dual quaternion representation. The proposed coupled control of cooperative task space, i.e. simultaneous control of both position and orientation setpoints of relative and absolute task space was compared against the performance of a proportional decoupled controller treating position and orientation error separately. The coupled controller demonstrated better tracking of pose and orientation in terms of accuracy and stability compared to the decoupled controller for tasks requiring faster operation in the relative task space of dual-arm manipulators.The cooperative task space modelling and control approach using screw-based kinematics and dual quaternions were extended for the cooperation modelling of the fingers of an anthropomorphic robotic hand. Additionally, the coupling of joints in the underactuated fingers of the robotic hand was represented with a coupled finger Jacobian. The coupled Jacobian of the robotic finger was used for inverse kinematic control, while allowing easy integration with a robotic arm.The idea of coupled treatment of position and orientation variables was capitalized further with the design of a second-order trajectory tracker using dual quaternions. The trajectory controller hence designed was capable of tracking pose, velocity and acceleration setpoints for the end-effector using inverse dynamic model of the robot. The coupled resolved rate acceleration controller was found to be capable of tighter trajectory control, specially for error terms related to orientation, compared to the conventional decoupled controller that treated the position and orientation setpoints separately and ignored the inherent effect of rotation on translational motion. Additionally, it also led to lower oscillations in the joint torque command when implemented for the control of one of the arms of Baxter dual-arm robot.Finally, a complete framework for the coordination of bi-arm robotic systems was proposed with the addition of a cooperative task planner. The simplicity of screw theory was exploited additionally for parametrized generation of generalized second order trajectories for tasks requiring simplified motion, like translation, rotation and screw motion around an arbitrary 6D screw-axis given in a known reference frame. The trajectory generation method was extended to represent the constraints related to tasks involving contact between objects using the concept of virtual mechanism
Rojas, Quintero Juan Antonio. "Contribution à la manipulation dextre dynamique pour les aspects conceptuels et de commande en ligne optimale." Thesis, Poitiers, 2013. http://www.theses.fr/2013POIT2284/document.
Full textWe focus on the design of anthropomorphous mechanical hands destined to manipulate objects in a human environment. Via the motion analysis of a reference manipulation task performed by human subjects, we propose a method to evaluate a robotic hand manipulation capacities. We demonstrate how the angular coupling between the fingers joints and the angular limits affect the hands potential to manipulate objects. We also show the influence of the wrist motions on the manipulation task. We propose a strategy to calculate the fingertip manipulation forces and dimension the fingers motors. In a second part devoted to articulated robots, we elaborate optimal control algorithms. Regarding the kinetic energy of the robot as a metric, the dynamic model is formulated tensorially in the framework of Riemannian geometry. The time discretization is based on the Hermite Finite Elements.A time integration algorithm is designed by implementing a perturbation method of the Lagrange's motion equations. Simulation examples illustrate the superconvergence of the Hermite's technique. The control criterion is selected to be coordinate free. The control equations associated with the motion equations reveal to be covariant. The suggested control method consists in minimizing the objective function corresponding to the selected invariant criterion
Coates, Daniel Justin. "Manipulation and Hard Compatibilism." Digital Archive @ GSU, 2007. http://digitalarchive.gsu.edu/philosophy_theses/28.
Full textColaianni, Vincent Francis. "Intuition and Manipulation: A Hard-Line Response to the Manipulation Argument." Thesis, The University of Arizona, 2014. http://hdl.handle.net/10150/319961.
Full textSrikesavan, Cynthia. "Task-oriented training with computer gaming in people with rheumatoid arthritis or hand osteoarthritis: A quasi-mixed methods pilot study." BioMedCentral-Trials Journal, 2013. http://hdl.handle.net/1993/30079.
Full textFebruary 2015
Liu, Guanfeng. "Synthesis of dextrous manipulation by multifingered robotic hands /." View Abstract or Full-Text, 2003. http://library.ust.hk/cgi/db/thesis.pl?ELEC%202003%20LIU.
Full textNeufuss, Johanna. "Hand use and posture during manipulative behaviours and arboreal locomotion in African apes." Thesis, University of Kent, 2017. https://kar.kent.ac.uk/65752/.
Full textShanmugam, Sivaramkumar. "Hard functionof the elderly during key turning activity and remote control manipulation." Thesis, University of Strathclyde, 2010. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.510751.
Full textSlavkoff, Evgeny. "Articulating human hands and manipulating objects in virtual environments." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ37284.pdf.
Full textSlavkoff, Evgeny. "Articulating human hands and manipulating objects in virtual environments." Thesis, McGill University, 1996. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=37521.
Full textThe goal of this research was to create the McGill Virtual Operator as a stand alone, independent software application interfacing the Human Operator with various synthetic worlds. For the lower body, including the feet we use pedals to perform the navigation in VE giving a locomotive motion which is simple and acceptable. However, the upper body motion and especially the human hand articulation is much more complex because humans interact with the environment largely with their hands. The approach taken in this thesis is to develop an interactive interface which achieves dynamic real-time hand manipulation while not encumbering the user.
The interface is based on two inexpensive data gloves and commercially available six degree of freedom sonar sensor technology and various routines and kinematics algorithms. The result of this work is the creation of a human body interface focused on hand manipulation as a McGill Virtual Operator which can be incorporated for use in any large-scale interactive VE. Ultrasonic sensors are strapped onto each arm of the user, to read their position and orientation. The motion of the fingers is recorded by the data gloves and the information is transmitted to software, which in turn replicates the same motion of the computer human hands in real-time. Experiments were carried out using a collection of fourteen tools designed for the WITS training environment. The performance results of these interactive extensions to the VR environment was evaluated and found to be satisfactory. (Abstract shortened by UMI.)
Paschek, Gabriele [Verfasser]. "Do hands do all your thinking? – An experimental study of 'Manipulation Specificity' / Gabriele Paschek." Bielefeld : Universitätsbibliothek Bielefeld, 2014. http://d-nb.info/1069620440/34.
Full textReinert, Bernhard [Verfasser], and Hans-Peter [Akademischer Betreuer] Seidel. "Interactive, example-driven synthesis and manipulation of visual media / Bernhard Reinert ; Betreuer: Hans-Peter Seidel." Saarbrücken : Saarländische Universitäts- und Landesbibliothek, 2017. http://d-nb.info/1124840907/34.
Full textRoa, Garzón Máximo Alejandro. "Grasp planning methodology for 3D arbitrary shaped objects." Doctoral thesis, Universitat Politècnica de Catalunya, 2009. http://hdl.handle.net/10803/31804.
Full textObject grasping and manipulation has become an area of great interest in robotics, specially due to the development of dexterous grasping devices like anthropomorphic hands that increase the flexibility and versatility of the robot arms, allowing the grasping and manipulation of a large variety of objects with a single end effector. This thesis tackles several planning problems associated with grasping and manipulation of arbitrary discrete objects, i.e. objects described with a cloud of points or a polygonal mesh. The computation of a force closure grasp and a locally optimal grasp is tackled using oriented search procedures based on geometric reasoning in the wrench space. The grasp quality measure considered is the largest perturbation wrench that the grasp can resist independently of the perturbation direction. However, real mechanical hands and grasping devices can hardly assure that the fingers will precisely touch the object at the computed contact points. Independent contact regions (ICRs) such that a finger contact in each ICR ensures a force closure grasp, provide robustness in front of finger positioning errors. This thesis presents an approach to compute ICRs with any number of frictionless or frictional contacts on the surface of any 3D object, assuring a controlled minimum grasp quality. The approach generates the ICRs by growing them around the contact points of a given appropriated starting grasp, like for instance a locally optimal grasp. The approach is also extended to compute the ICRs when several contacts are fixed beforehand. The notion of Non-Graspable Regions (NGRs) is introduced in this work, such that a finger contact in each NGR always produces a non-force closure grasp independently of the exact position of each finger. The ICRs and NGRs are used to efficiently explore the grasp space. The grasp space is constructed using a sampling method that provides samples of force closure or non force closure grasps used to compute ICRs or NGRs, respectively, which are used to label the configurations of the grasp space. An efficient deterministic sampling sequence is provided to allow a good incremental and uniform exploration of the grasp space. The generation of the grasp space is then applied to solve the regrasping problem, i.e. to obtain trajectories of the fingertips on the object surface in order to change from an initial to a final grasp without losing the force closure condition. Application examples are included to illustrate the relevance and performance of the proposed approaches.
Jain, Arjun [Verfasser], and Hans-Peter [Akademischer Betreuer] Seidel. "Data-driven methods for interactive visual content creation and manipulation / Arjun Jain. Betreuer: Hans-Peter Seidel." Saarbrücken : Saarländische Universitäts- und Landesbibliothek, 2014. http://d-nb.info/1055941339/34.
Full textNIGRI, ILANA. "COMPARISON BETWEEN LOOK-AND-MOVE AND VISUAL SERVO CONTROL USING SIFT TRANSFORMS IN EYE-IN-HAND MANIPULATOR SYSTEMS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2009. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=15390@1.
Full textVisão Computacional pode ser utilizada para calibrar e auto-localizar robôs. Existem diversas aplicações de auto-localização e controle aplicadas a manipuladores industriais e robôs móveis. Em particular, o controle visual pode ser útil em intervenções submarinas, nas quais um manipulador robótico é acoplado a um ROV (Veículo de Operação Remota) para execução de tarefas em grandes profundidades, como o manuseio de válvulas de equipamentos como manifolds. Este trabalho tem como objetivo desenvolver e implementar técnicas de controle visual para auto-localização e posicionamento de manipuladores robóticos. Assume-se que o manipulador possui uma câmera presa em sua extremidade (configuração eye-in-hand). Duas técnicas de controle visual são estudadas: look-and-move e servo-visual, que diferem entre si pela realimentação do controle. A primeira utiliza sensores de posição, a partir de uma única imagem capturada no início da movimentação. A segunda utiliza diversas imagens capturadas durante o processo. A principal contribuição deste trabalho está no uso da transformada SIFT, robusta a rotações, translações, mudança de escala e iluminação, para obter e correlacionar pontos-chave entre as imagens de referência e capturadas em tempo real. A metodologia é validada experimentalmente através de um manipulador robótico baseado na estrutura mecânica de uma mesa x-y-0. Um sistema eletrônico é utilizado como interface entre o robô e o software de controle, onde estão implementadas todas as técnicas propostas. Testes iniciais são realizados com imagens de objetos circulares, sem o uso de transformações como o SIFT. Em seguida, são feitos testes com a imagem de um painel real de um manifold, utilizando transformadas SIFT para determinar a localização do manipulador em relação ao painel e controlá-lo até uma pose desejada. Os resultados mostram que o desempenho do controle servo-visual depende muito do tempo de processamento de cada imagem, ao contrário do look-and-move. No entanto, o controle servo-visual apresenta erros finais de posicionamento muito menores. O método SIFT é apropriado para uso em ambos os controles, desde que a resolução das imagens seja alta o suficiente para evitar correlações falsas.
Computer vision can be used to calibrate and self-localize robots. There are many applications in self-localization and control applied to industrial manipulators and mobile robots. In particular, visual control can be useful in submarine interventions, where a robotic manipulator is mounted on a Remote Operated Vehicle (ROV) to execute tasks at high depths, such as handling manifold valves. This work has the objective to develop and implement visual control techniques to self-localize and position robotic manipulators. It is assumed that a monocular camera is attached to the robot end-effector (eye-in-hand configuration). Two visual control techniques are studied: look-and-move and visual servo control. Their main difference is related to the adopted feedback sensors. The first technique uses position sensors with the aid of a single image captured at the beginning of the robot movement. The second technique relies on several images captured in real time during the robot movement. The main contribution of this work is the use of the SIFT transform, robust to rotation, translation, changes in scale and illumination, to obtain and correlate key-points between reference images and images captured in real time. The methodology is experimentally validated using a manipulator based on the mechanical structure of an x-y-0 coordinate table. An electronic system was developed to control the robot through a software in a computer, where were implemented all the techniques proposed. Preliminary tests are performed on simple circular-shaped objects, without the need for SIFT transforms. Next, tests are performed with a photo of an actual manifold panel typically used in submarine interventions, using SIFT transform to find the localization of the manipulator with respect to the panel. The results show that the performance of the visual servo control depends on the image processing time, unlike the look-and-move. However, the visual-servo control presents smaller positioning errors. The SIFT method is appropriate for both controls, since image resolution be high enough to avoid false matching.
KOLARIC, SINISA. "TOWARDS DIRECT SPATIAL MANIPULATION OF VIRTUAL 3D OBJECTS USING VISUAL TRACKING AND GESTURE RECOGNITION OF UNMARKED HANDS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2008. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=12443@1.
Full textThe need to perform spatial manipulations (like selection, translation, rotation, and scaling) of virtual 3D objects is common to many types of software applications, including computer-aided design (CAD), computer-aided modeling (CAM) and scientific and engineering visualization applications. In this work, a prototype application for manipulation of 3D virtual objects using free-hand 3D movements of bare (that is, unmarked, uninstrumented) hands, as well as using one-handed and two-handed manipulation gestures, is demonstrated. The user moves his hands in the work volume situated immediately above the desktop, and the system effectively integrates both hands (their centroids) into the virtual environment corresponding to this work volume. The hands are being detected and their posture recognized using the Viola-Jones detection method, and the hand posture recognition thus obtained is then used for switching between manipulation modes. Full 3D tracking of up to two hands is obtained by a combination of 2D flocksof-KLT-features tracking and 3D reconstruction based on stereo riangulation.
Zaidi, Lazher. "Modélisations et stratégie de prise pour la manipulation d'objets déformables." Thesis, Clermont-Ferrand 2, 2016. http://www.theses.fr/2016CLF22681/document.
Full textDexterous manipulation is an important issue in robotics research in which few works have tackled deformable object manipulation. New applications in surgery, food industry or in service robotics require mastering the grasping and manipulation of deformable objects. This thesis focuses on deformable object manipulation by anthropomorphic mechanical graspers such as multi-fingered articulated hands. This task requires a great expertise in mechanical modeling and control: interaction modeling, tactile and vision perception, force / position control of finger movements to ensure stable grasping. The work presented in this thesis focuses on modeling the grasping of deformable objects. To this end, we used a discretization by non-linear mass-spring systems to model deformable bodies in large displacements and deformations while having a low computational cost. To predict the interaction forces between robot hand and deformable object, we proposed an original approach based on a visco-elasto-plastic rheological model to evaluate tangential contact forces and describe the transition between the sticking and slipping modes. The contact forces are evaluated at nodes as function of the relative movements between the fingertips and the surface mesh facets of the manipulated object. Another contribution of this thesis is the use of this model in the planning of 3D deformable object manipulation tasks. This planning consists in determining the optimal configuration of the hand for grasping the objects as well as the paths to track and the efforts to be applied by the fingers to control the deformation of the object while ensuring the stability of the operation. The experimental validation of this work has been carried out on two robotic platforms: a Barrett hand embedded on a Adept S1700D ® manipulator and a Shadow hand embedded on a Kuka LWR4+® manipulator
Macko, Sven [Verfasser], Thomas [Akademischer Betreuer] Michely, and Hans [Akademischer Betreuer] Hofsäss. "Mechanisms and Manipulation of Ion Beam Pattern Formation on Si(001) / Sven Macko. Gutachter: Thomas Michely ; Hans Hofsäss." Köln : Universitäts- und Stadtbibliothek Köln, 2011. http://d-nb.info/1038168414/34.
Full textSajid, Nisar. "Toward Novel Remote-Center-of-Motion Manipulators and Wearable Hand-Grounded Kinesthetic Haptics for Robot-Assisted Surgery." Kyoto University, 2019. http://hdl.handle.net/2433/242497.
Full textKyoto University (京都大学)
0048
新制・課程博士
博士(工学)
甲第21759号
工博第4576号
新制||工||1713(附属図書館)
京都大学大学院工学研究科機械理工学専攻
(主査)教授 松野 文俊, 教授 椹木 哲夫, 教授 小森 雅晴
学位規則第4条第1項該当