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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 choiceJusqu’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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Al-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.
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Nguyen, Kien Cuong. "Control of an anthropomorphic arm-hand robot for grasping and dexterous manipulation." Paris 6, 2013. http://www.theses.fr/2013PA066703.
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Cette thèse traite du contrôle d’un système bras-main anthropomorphique robotisé en se concentrant sur deux aspects : le contrôle en force en bout de doigts et la coordination entre bras et main. Le contrôle en force d’un doigt reste difficile à cause de sa petite taille, sa faible bande passante, ses encodeurs peu précis et un jeu important dans la transmission mécanique. Ces difficultés empêchent les approches classiques d’avoir de bonnes performances sur ce système. Une nouvelle approche de contrôle de l’effort en bout de doigts en ajustant le couple maximum des contrôleurs en position des articulations a montré de meilleures performances sur ce système. Non limitée au contrôle en effort pur, cette approche peut aussi être généralisée au contrôle hybride position/force et au contrôle indirect d’effort. Souvent négligé dans la littérature, la position et le mouvement du bras joue, en fait, un rôle important dans les tâches de manipulation fine. L’utilisation de celui-ci pour tourner un objet saisi dans la main sous l’effet inertiel et gravitationnel est un exemple typique. Le bras contribue aussi aux gestes naturels de saisie lors de l’approche. Dans cette thèse, le mouvement d'un objet saisi sous l'effet de pesanteur a été analysé et une stratégie de saisie a été élaborée. En plus, des contraintes mécaniques (effet ténodèse en particulier) contribuant aux gestes naturels de saisies ont été déchiffrées. Ces gestes naturels ont été reproduits sur un système bras-main anthropomorphique robotisé dans des situations de saisie avec redondanceThis 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
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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.
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Object manipulation is a complex task for robots. It often implies a compromise between the degrees-of-freedom of hand and its fingers have (dexterity) and its cost and complexity in terms of control. One strategy to increase the dexterity of robotic hands with low dexterity is called extrinsic manipulation and its principle is to exploit additional accelerations on the object caused by the effect of external forces. We propose a force control based method for performing extrinsic in-hand object manipulation, with force-torque feedback. For this purpose, we use a prehensile pushing action, which consists of pushing the object against an external surface, under quasistatic assumptions. By using a control strategy, we also achieve robustness to parameter uncertainty (such as friction) and perturbations, that are not completely captured by mathematical models of the system. The force control strategy is performed in two different ways: the contact force generated by the interaction between the object and the external surface is controlled using an admittance controller, while an additional control of gripping force applied by the gripper on the object is done through a PI controller. A Kalman filter is used for the estimation of the state of the object, based on force-torque measurements of a sensor at the wrist of the robot. We validate our approach by conducting experiments on a PR2 robot, available at the Robotics, Perception, and Learning lab at KTH Royal Institute of Technology.Att 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.
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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.
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In this thesis, the synthesis of a grasping and manipulation controller of the Barrett hand, which is an archetypal example of a multi-fingered robotic hand, is investigated in some detail. This synthesis involves not only the dynamic modelling of the robotic hand but also the control of the joint and workspace dynamics as well as the interaction of the hand with object it is grasping and the environment it is operating in. Grasping and manipulation of an object by a robotic hand is always challenging due to the uncertainties, associated with non-linearities of the robot dynamics, unknown location and stiffness parameters of the objects which are not structured in any sense and unknown contact mechanics during the interaction of the hand’s fingers and the object. To address these challenges, the fundamental task is to establish the mathematical model of the robot hand, model the body dynamics of the object and establish the contact mechanics between the hand and the object. A Lagrangian based mathematical model of the Barrett hand is developed for controller implementation. A physical SimMechanics based model of the Barrett hand is also developed in MATLAB/Simulink environment. A computed torque controller and an adaptive sliding model controller are designed for the hand and their performance is assessed both in the joint space and in the workspace. Stability analysis of the controllers are carried out before developing the control laws. The higher order sliding model controllers are developed for the position control assuming that the uncertainties are in place. Also, this controllers enhance the performance by reducing chattering of the control torques applied to the robot hand. A contact model is developed for the Barrett hand as its fingers grasp the object in the operating environment. The contact forces during the simulation of the interaction of the fingers with the object were monitored, for objects with different stiffness values. Position and force based impedance controllers are developed to optimise the contact force. To deal with the unknown stiffness of the environment, adaptation is implemented by identifying the impedance. An evolutionary algorithm is also used to estimate the desired impedance parameters of the dynamics of the coupled robot and compliant object. A Newton-Euler based model is developed for the rigid object body. A grasp map and a hand Jacobian are defined for the Barrett hand grasping an object. A fixed contact model with friction is considered for the grasping and the manipulation control. The compliant dynamics of Barrett hand and object is developed and the control problem is defined in terms of the contact force. An adaptive control framework is developed and implemented for different grasps and manipulation trajectories of the Barrett hand. The adaptive controller is developed in two stages: first, the unknown robot and object dynamics are estimated and second, the contact force is computed from the estimated dynamics. The stability of the controllers is ensured by applying Lyapunov’s direct method.
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Ziesmer, 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.
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Roda, 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.
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This thesis presents contributions to the characterisation of hand kinematics during product
manipulation in activities of daily living (ADLs). The main contributions have been: (í) providing
quantifiable data of several technical aspects regarding the use of instrumented gloves for motion
capture of hand kinematics during ADLs: their effect on manual skills, fitting problems, etc., (ii)
providing an outline of the kinematic requirements of feeding and cooking tasks for a healthy
population, identifying task groups requiring extreme postures or velocities in specific joints, as
well as providing extensive data and making it available to the research community in a public
repository, and (iíí] presenting an overview of the effects of the design characteristics of assistive
devices (ADs) on hand kinematics, as a basis for the selection of the most suitable AD depending
on the patient's impairments.L'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
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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.
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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.
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Bardo, Ameline. "Manipulation abilities among hominids : a multidisciplinary study with behavior, morphology and modelling." Thesis, Sorbonne Paris Cité, 2016. http://www.theses.fr/2016USPCB079/document.
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Au sein du règne animal, les humains sont considérés comme possédant des capacités manuelles uniques. Cependant, nous ne savons toujours pas quelles sont les réelles capacités manuelles des primates, ni comment elles ont évolué. Les humains sont-ils réellement uniques ? Cette thèse vise à étudier les capacités de manipulation chez des Hominidés en lien avec l’anatomie et la fonction de leur main, en utilisant une approche interdisciplinaire combinant différentes approches : comportementale, morphologique, fonctionnelle et biomécanique. Pour quantifier les stratégies comportementales et les capacités de manipulation chez des Hominidés, j’ai mené une étude éthologique sur différents grands singes captifs et sur les humains au cours d’une même tâche complexe d'utilisation d'outils. J’ai utilisé des approches comparatives de morphométrie géométrique 3D sur le complexe trapézio-métacarpien combiné avec un modèle musculo-squelettique pour mieux interpréter les résultats comportementaux et pour tester le lien entre la morphométrie de la main et les contraintes biomécaniques durant l’utilisation d’outils chez les Hominidés. Les résultats de cette thèse montrent que les grands singes manifestent des capacités dynamiques de manipulation, mais que chaque espèce a ses propres spécificités. Plus de capacités dynamiques complexes, comme les mouvements intra-manuels, sont observés pour les bonobos et les gorilles que pour les orangs-outans. Les différents modes de vie des espèces peuvent expliquer cette variabilité. En outre, au cours de la tâche complexe d’utilisation d’outils, les humains montrent une meilleure performance que les grands singes et montrent des spécificités. Cette nouvelle approche intégrative montre clairement aussi que les différentes capacités de manipulation des Hominidés ne peuvent pas seulement être une conséquence des différentes morphologies de l’articulation trapézio-métacarpienne, mais aussi des différentes contraintes mécaniques liées à la morphométrie globale de la main. Ces résultats mettent en évidence la difficulté de déduire les capacités manuelles d’espèces fossiles à partir de certaines informations provenant de la forme de l'os, sans tenir compte de la morphométrie globale de la main et de son lien possible avec les contraintes biomécaniques. Cette thèse fournit de nouvelles informations sur les capacités manuelles des Hominidés, sur les différentes contraintes entourant ces capacités, et de nouvelles informations afin de mieux comprendre l'évolution des capacités manuelles chez les primatesHumans 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
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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.
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Le travail présenté s'intéresse à la problématique générale de la mise en oeuvre de mains robotiques à haut niveau de dextérité. Dans ce contexte, nous nous intéressons à la synthèse de prise d'objets en prenant en compte les contraintes propres à la tâche de manipulation visée. La manière dont l'objet est saisi a une importance capitale sur le bon déroulement d'une tâche.Le développement d'algorithmes capables de générer automatiquement des prises optimales implique avant tout la nécessité de définir la notion de prise optimale au regard de la tâche cible. Pour répondre à ce problème, la communauté scientifique propose dans la littérature de nombreux critères de qualité et continue à en développer de nouveaux. Dans cette thèse, nous présentons une extension des travaux proposés avec une étude approfondie de ces critères dans le cadre de la manipulation dextre. Ces critères sont évalués avec une main robotique entièrement actionnée à quatre doigts et seize articulations.Nous quantifions l'efficacité de ces critères dans le cadre de la réalisation de tâches de manipulation fine avec trois types d'objets spécifiques. Deux groupes de critères sont étudiés : d'une part des critères s'appuyant uniquement sur la position des points de contact, et, d'autre part, des critères prenant en compte la cinématique du préhenseur. Cette étude nous a permis de sélectionner un ensemble de critères pertinents pour résoudre le problème de synthèse de prise que nous avons mis en oeuvre dans un processus basé sur une approche évolutionnaire. Cette approche a été validée dans l'environnement de simulation OpenRAVE, puis expérimentalement avec la nouvelle main RoBioSSThe 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
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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.
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The following study focuses on the design and validation of an underactuated robotic gripper built for the Tactical Hazardous Operations Robot (THOR). THOR is a humanoid robot designed for use in the DARPA Robotics Challenge (DRC) and the Shipboard Autonomous Fire Fighting Robot (SAFFiR) project, both of which pertain to completing tasks associated with disaster response.
The gripper was designed to accomplish a list of specific tasks outlined by the DRC and SAFFiR project. Underactuation was utilized in the design of the gripper to keep its complexity low while acquiring the level of dexterity needed to complete the required tasks. The final gripper contains two actuators, two underactuated fingers and a fixed finger resulting in four total degrees of freedom (DOF). The gripper weighs 0.68 kg and is capable of producing up to 38 N and 62 N on its proximal and distal phalanges, respectively.
The gripper was put through a series of tests to validate its performance pertaining to the specific list of tasks it was designed to complete. The results of these tests show the gripper is in fact capable of completing all the necessary actions but does so within some limitations.Master of Science
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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.
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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.
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Cheng, 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.
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Birznieks, 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.
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During dexterous manipulation with the fingertips, forces are applied to objects' surfaces. To achieve grasp stability, these forces must be appropriate given the properties of the objects and the skin of the fingertips, and the nature of the task. It has been demonstrated that tactile sensors in the fingertips provide crucial information about both object properties and mechanical events critical for the control of fingertip forces, while in certain tasks vision may also contribute to predictions of required fingertip actions. This thesis focuses on two specific aspects of the sensory control of manipulation: (i) how individual fingers are controlled for grasp stability when people restrain objects subjected to unpredictable forces tangential to the grasped surfaces, and (ii) how tactile sensors in the fingertips encode direction of fingertip forces and shape of surfaces contacted by the fingertips. When restraining objects with two fingers, subjects adjust the fingertip forces to the local friction at each digit-object interface for grasp stability. This is accomplished primarily by partitioning the tangential force between the digits in a way that reflects the local friction whereas the normal forces at the involved digits are scaled by the average friction and the total load. The neural control mechanisms in this task rely on tactile information pertaining to both the friction at each digit-object interface and the development of tangential load. Moreover, these mechanisms controlled the force application at individual digits while at the same time integrating sensory inputs from all digits involved in the task. Microneurographical recordings in awake humans shows that most SA-I, SA-II and FA-I sensors in the distal phalanx are excited when forces similar to those observed during actual manipulation are applied to the fingertip. Moreover, the direction of the fingertip force influences the impulse rates in most afferents and their responses are broadly tuned to a preferred direction. The preferred direction varies among the afferents and, accordingly, ensembles of afferents can encode the direction of fingertip forces. The local curvature of the object in contact with the fingertip also influenced the impulse rates in most afferents, providing a curvature contrast signals within the afferent populations. Marked interactions were observed in the afferents' responses to object curvature and force direction. Similar findings were obtained for the onset latency in individual afferents. Accordingly, for ensembles of afferents, the order by which individual afferents initially discharge to fingertip events effectively represents parameters of fingertip stimulation. This neural code probably represents the fastest possible code for transmission of parameters of fingertip stimuli to the CNS.
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Powell, Stephen Arthur. "A Review of Anthropomorphic Robotic Hand Technology and Data Glove Based Control." Thesis, Virginia Tech, 2016. http://hdl.handle.net/10919/82536.
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For over 30 years, the development and control of anthropomorphic robotic hands has been a highly popular sub-discipline in robotics research. Because the human hand is an extremely sophisticated system, both in its mechanical and sensory abilities, engineers have been fascinated with replicating these abilities in artificial systems. The applications of robotic hands typically fall under the categories of standalone testbed platforms, mostly to conduct research on manipulation, prosthetics, and robotic end effectors for larger systems. The teleoperation of robotic hands is another application with significant potential, where users can control a manipulator in real time to accomplish diverse tasks. In controlling a device that seeks to emulate the function of the human hand, it is intuitive to choose a human-machine interface (HMI) that will allow for the most intuitive control. Data gloves are the ideal HMI for this need, allowing a robotic hand to accurately mimic the human operator's natural movements. In this paper we present a combined review on the critical design aspects of data gloves and robotic hands. In literature, many of the proposed designs covering both these topical areas, robotic hand and data gloves, are cost prohibitive which limits their implementation for intended tasks. After reviewing the literature, new designs of robotic hand and data glove technology are also presented, introducing low cost solutions that can serve as accessible platforms for researchers, students, and engineers to further the development of teleoperative applications.Master of Science
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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.
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Le travail de thèse exposé dans ce manuscrit s'intéresse à la simulation d'un mouvement de manipulation d'objet, plus particulièrement à la saisie suivie de la rotation d'une sphère selon un axe fixe. Le but ici est, à partir d'une analyse de mouvements réels, d'être capable de proposer un algorithme de simulation reproduisant des mouvements comparables aux données expérimentales, en fournissant en entrée le moins d'informations possibles et en essayant d'introduire de la variabilité dans le mouvement simulé. 12 sujets volontaires ont participé à l'expérimentation. Nous leur avons demandé de saisir et de tourner une sphère de 60mm de diamètre avec des amplitudes allant de 45° à 360°, dans les deux sens. L'analyse de ces données expérimentales, complétée par des simulations de l'effet des limites articulaires sur le mouvement nous ont permis d'étudier plusieurs hypothèses sur le contrôle de mouvement telles que l'hypothèse de confort final (« end-state comfort ») et le principe de travail minimum. Une des conclusions majeures est que l'anticipation posturale au moment de saisie semble être expliquée davantage par le confort en fin de mouvement qu'au moment de saisie. Basé sur ces observations, nous proposons un algorithme de simulation avec pour nouveautés la prise en compte de l'espace de mouvements admissibles par les limites articulaires ainsi que l'introduction de la variabilité au choix de la posture de saisie. Les premiers résultats semblent être en accord en grande partie avec les observations expérimentales donnant une base de travail pour aller vers des outils de simulation se rapprochant de plus en plus vers un comportement "humain"The 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
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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/.
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The following thesis project aims to study and realize a wearable manipulation system composed by an AR10 robotic hand, controlled via myoelectric signals and tactile sensors for prosthetic studies. The project starts with the kinematic study of the hand via MATLAB and Simulink, in order to obtain a complete insight on the robotic grasping device. Thereafter, a wearable support has been designed and printed to fix the robotic hand around the user forearm. Surface electromyography is acquired using a gForce gesture armband. A Simulink system has been developed to acquire and filter the signals, then the myoelectric data are elaborated to derive the command for the robotic hand. Tactile sensors are added by means of custom 3D-printed support on the fingertips in order to get a force feedback to allow the user to perform the grasp of different objects. Finally, in order to test the whole solution, a subject wearing the whole manipulation system carried out a series of tasks to evaluate the system’s usability during dynamic grasps of different objects. The results of the tests report the accuracy of the manipulation system. The main goal of the project is to test a wearable manipulation system made to be worn by intact subjects, in order to study prosthetic grasping scenarios that can provide results useful for future developments involving amputees.
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Corrales, 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.
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This thesis presents several new techniques for developing safe and flexible human-robot interaction tasks where human operators cooperate with robotic manipulators. The contributions of this thesis are divided in two fields: the development of safety strategies which modify the normal behavior of the robotic manipulator when the human operator is near the robot and the development of dexterous manipulation tasks for in-hand manipulation of objects with a multi-fingered robotic hand installed at the end-effector of a robotic manipulator.Valencian 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.
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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.
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VIGANO', 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.
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This PhD project was funded by EDEN2020 (Enhanced Delivery Ecosystem for Neurosurgery in 2020). Brain disease represent a cost about 800 billion euros per year in Europe and outcome of treatment is demonstrated to critically depend on the knowledge of functional anatomy and its preservation. By combining pre-operative MRI and diffusion-MRI imaging, intra-operative ultrasounds, robotic assisted catheter steering, brain diffusion modelling and a robotics assisted neurosurgical robot (the Neuromate), EDEN2020 aims at realizing an integrated technology platform for minimally invasive neurosurgery which will provide a significative step change in treatment of brain disease. To date, neurosurgical instruments for diagnostic and therapy (drugs infusion) are inserted via rigid cannulas. This represents a primary technological limitation of treatment with direct consequences in patient’s post-operative outcome, since the insertion of rigid cannulas cannot be planned along procedure-optimised trajectories which take into account tissue microstructures and respect the bundles’ topographical anatomo-functional organisation. To bridge this gap, main aim of EDEN2020 is to engineer a steerable catheter for chronic neuro-oncological disease than can be robotically guided and kept in situ for extended period, which insertion can be tailored on clinical conditions and individual anatomy.
The correct trajectory and final positioning of a catheter must be planned and guided through the brain structures by the knowledge of the anatomo-functional organization of the neural circuits subserving the essential motor and cognitive functions to avoid lesions resulting in permanent deficits impacting on the quality of life of patients. In addition, since the diffusivity is enhanced when it follows the white matter pathways belongings to the network in which an individual tumour has grown, as showed by data generated by EDEN consortium, these circuits became the target of the drug. In EDEN animal trials (ovine model), the circuit targeted for delivery was the corticospinal tract, due to the anatomical restriction imposed by the sheep brain. In humans, this descending system, which is essential for everyday life activities allowing the skilled use of the hand (i.e. the ability to manipulate objects and tools), has a much higher level of complexity and its functional organisation has not yet been described in detail as in other animal models. The complexity of the neural organization underlying motor control of hand gestures in humans results in a dramatic degree of freedom, but at the same time in a poor ability to recover after lesions. When this connectivity is infiltrated by a tumour and thus became the possible target of drug delivery devices (EDEN), its complexity must be taken into consideration to avoid the onset of deficits.
The great majority of brain tumours occurs in the frontal lobe and, particularly Low Grade Gliomas (LGGs), develop close or within the cortical but mostly subcortical structures involved in motor control. Therefore, to track safely the entrance and the trajectory of catheters, a reference atlas of the neural circuitry controlling hand movement is mandatory to identify which cortical and subcortical areas must not be lesioned to avoid permanent inability.
Based on this premises, this PhD project investigated, with a multidisciplinary approach, the frontal networks subserving hand function to provide a frame for understanding the connectivity involved in hand skilled movements, which became a possible target for drug delivery in tumours developing in primary motor and/or pre-motor regions.
The skilled use of the hand is allowed by the high level of human sensorimotor control implemented by the corticospinal system, particularly developed in primates, connecting distant and functionally different areas via subcortical bundles and finally acting on the spinal cord with a huge bundle of descending fibres. This complex network computes the sensory information related to the goal of the action to shape the appropriate motor command for motoneurons, the final common path to muscles. Non-human primate studies have demonstrated that the main motor output of the corticospinal tract is the primary motor cortex (M1), which act on the spinal motoneurons, in producing voluntary hand and finger movements. The monkey M1 has recently been demonstrated to represent an anatomo-functional non-unitary sector, subdivided in a caudal region dense with cortico-motoneuronal cells and a rostral sector with few monosynaptic connections to alpha-motoneurons and/or with slower projections to the spinal cord. To control and execute skilled hand movements, M1 is highly interconnected with other frontal and parietal cortical pre-motor regions, with subcortical structures such as the basal ganglia and with the cerebellum. A precise description of the human circuitry allowing for realization of dextrous hand movement is still missing in the human, as the electrophysiological and anatomical experimental approaches developed in animal models cannot be performed (i.e. intracortical microstimulation, neuronal tracing, lesion studies etc.). The unique setting of brain tumour resection with the brain mapping technique gives a great opportunity to use clinical data to evaluate neural networks in humans. In this setting, during surgical resection, Direct Electrical Stimulation (DES) is applied onto the exposed cortical and subcortical areas in order to identify the eloquent sites, i.e. where DES elicits motor responses, thus individuating the structures directly acting on the motor descending pathways, or induces transient impairment of the execution of a task, due to its interference with the physiological activity of the stimulated area. This approach allows for the extension of the resection of the tumour beyond its boundaries, increasing the patients’ survival while preserving their functional integrity. As has emerged by recent publications of our group, among the different stimulation paradigms available for intraoperative monitoring, the high frequency stimulation (‘the pulse technique’), which elicits motor evoked potentials (MEPs), is the most reliable paradigm for mapping the descending fibres originating form primary and non-primary motor areas, also in lesions infiltrating M1, while long and short-range fronto-parietal premotor pathways are well identified when low frequency stimulation (‘the Penfield technique’) is applied while the patient is performing a dedicated object manipulation task, clearly interfering with its performance. With a multidisciplinary approach, by combining electrophysiological data with virtual anatomical dissections by means of high angular resolution diffusion imaging (HARDI) tractography we correlated the functional properties of the stimulated sites with specific anatomical structures.
In this PhD project, we focused on: the anatomo-functional properties of the human hand representation in M1 (study 1); the oncological and functional efficiency of high-frequency mapping in tumours harbouring within M1 (study 2); the frontal premotor pathways involved in controlling fine hand movements (study 3).
Study 1, conducted on 17 patients who underwent an awake procedure, reported a possible subdivision, based on anatomo-functional analysis, of the human hand-knob in two sectors (a posterior one, close to the central sulcus, and an anterior one, close to the precentral sulcus) with different cortical excitability, different hand-muscle electromyographic (EMG) pattern when stimulations were delivered during the object manipulation task and, finally, with different local cortico-cortical connectivity. Overall data suggests that the two sectors may exert different roles in motor control.
Study 2 consisted of a retrospective analysis of 102 patients who underwent an asleep procedure for the removal of tumours harbouring with M1 and its descending fibres. The neurophysiological protocols adopted for the intraoperative brain mapping were correlated with the clinical condition, the tumour imaging features, the extent of the resection and the post-operative functional outcome. First, results indicated that M1 tumour removal is feasible and safe and the high frequency stimulation was revealed as the most efficient and versatile paradigm in guiding resection of M1, affording 85.3% complete resection and only 2% permanent morbidity. The study confirmed the possible subdivision of M1 in a rostral less excitable region and a caudal more excitable region reported in Study1 with its clinical impact: the rostral sector can be indeed considered a safe point of entry for surgery and thus for catheters.
Study 3 aimed at characterizing the effect of DES on the electrical activity (EMG) of hand movers during a dedicated object-manipulation task during subcortical stimulation of the frontal white matter anterior to M1 (precentral gyrus) and the anatomical evaluation of the stimulated sites by means of diffusion tractography, in 36 patients who underwent an awake surgery. Results indicated that stimulations of dorsal premotor connections with the spinal cord, dorsal striatum, local U-shaped connections and the superior longitudinal fasciculus I and II resulted in abrupt arrest of the hand, while more ventral stimulation, mainly targeting the third branch of the superior longitudinal fasciculus (SLF III) resulted in clumsy hand movements. Resection cavities analysis showed that transient post-operative upper-limb motor deficit occurred only disconnecting the supplementary motor area corticofugal fibres and the frontal U-shaped connections. Overall data suggests that DES on dorsal premotor white matter could interfere with areas involved in the very final stages of the motor program, while DES on ventral premotor white matter could halt the sensorimotor transformations necessary for correct hand shaping.
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Chandra, Rohit. "Application of Dual Quaternion for Bimanual Robotic Tasks." Thesis, Université Clermont Auvergne (2017-2020), 2019. http://www.theses.fr/2019CLFAC042.
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L'approche classique pour le contrôle coopératif dans l’espace de travail d’un manipulateur bi-bras a été revisitée. En particulier, une nouvelle approche pour la formulation symétrique de la coordination bi-bras à l'aide du concept "virtual sticks" a été proposée à l'aide d'un torseur cinématique en utilisant des quaternions duaux. Le contrôle couplé dans l'espace de travail coopératif qui est proposé, i.e. le contrôle simultané, en position et en orientation, des points de consigne de l'espace de travail relatif et absolu a été comparé à un contrôleur proportionnel découplé traitant séparément les erreurs de position et d'orientation. Le contrôleur couplé a démontré un meilleur suivi de la pose et de l'orientation en termes de précision et de stabilité comparé au contrôleur découplé pour les tâches exigeant un fonctionnement plus rapide dans l'espace de travail relatif des manipulateurs bi-bras.L'approche de modélisation et de contrôle de l'espace de travail d’une tâche coopérative, en exploitant les torseurs cinématiques et des quaternions duaux, a été étendue à la modélisation de la coopération des doigts d'une main robotique anthropomorphique. De plus, le couplage des articulations des doigts sous-actionnés de la main robotique a été représenté à l’aide de la "jacobienne couplée" du doigt. La "jacobienne couplée" du doigt robotique a été utilisée pour le contrôle cinématique inverse, tout en lui permettant une intégration facile avec un bras robotique.L'idée d'un traitement couplé des variables en position et en orientation a été capitalisée en utilisant la conception d'une trajectoire de second ordre utilisant des quaternions duaux. Le contrôleur de trajectoire ainsi conçu est capable de suivre les points de consigne en pose en vitesse et en accélération, de l'effecteur en utilisant le modèle dynamique inverse du robot. Le contrôleur couplé en taux d’accélération résolue ("resolved rate acceleration") s'est avéré capable d'un contrôle de trajectoire plus précis, particulièrement en termes d'erreurs liées à l'orientation, que le contrôleur découplé classique qui traitait séparément les points de consigne en position et en orientation et ignorait l'effet de la rotation sur le mouvement de translation. De plus, cela a également permis de réduire les oscillations de la commande du couple des articulations lorsque le contrôleur a été implémenté pour le contrôle de l'un des bras du robot bi-bras Baxter.Enfin, un cadre complet pour la coordination des systèmes robotiques bi-bras a été proposé avec l'ajout d'un planificateur de tâches coopératives. La simplicité du torseur cinématique a également été exploitée pour la génération de trajectoires généralisées du second ordre pour des tâches nécessitant un mouvement simplifié, comme la translation, la rotation et la torsion autour d'un axe hélicoïdale arbitraire donné dans un repère connu. La méthode de génération de trajectoires a été étendue pour représenter les contraintes liées aux tâches impliquant un contact entre les objets en utilisant le concept de mécanisme virtuelThe 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
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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.
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Nous nous intéressons à la conception des mains mécaniques anthropomorphes destinées à manipuler des objets dans un environnement humain. Via l'analyse du mouvement de sujets humains lors d'une tâche de manipulation de référence, nous proposons une méthode pour évaluer la capacité des mains robotiques à manipuler les objets. Nous montrons comment les rapports de couplage angulaires entre les articulations et les limites articulaires, influent sur l'aptitude à manipuler dynamiquement des objets. Nous montrons également l'impact du poignet sur les tâches de manipulation rapides. Nous proposons une stratégie pour calculer les forces de manipulation en bout de doigts et dimensionner les moteurs d'un tel préhenseur. La méthode proposée est dépendante de la tâche visée et s'adapte à tout type de mouvement dès lors qu'il peut être capturé et analysé. Dans une deuxième partie, consacrée aux robots manipulateurs, nous élaborons des algorithmes de commande optimale. En considérant l'énergie cinétique du robot comme une métrique, le modèle dynamique est formulé sous forme tensorielle dans le cadre de la géométrie Riemannienne. La discrétisation temporelle est basée sur les Éléments Finis d'Hermite. Nous intégrons les équations de Lagrange du mouvement par une méthode de perturbation. Des exemples de simulation illustrent la superconvergence de la technique d'Hermite. Le critère de contrôle est choisi indépendant des paramètres de configuration. Les équations de la commande associées aux équations du mouvement se révèlent covariantes. La méthode de commande optimale proposée consiste à minimiser la fonction objective correspondant au critère invariant sélectionnéWe 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
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Coates, Daniel Justin. "Manipulation and Hard Compatibilism." Digital Archive @ GSU, 2007. http://digitalarchive.gsu.edu/philosophy_theses/28.
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In this paper I consider a recent objection to compatibilism—the manipulation argument. This argument relies on two plausible principles: a manipulation principle that holds that manipulation precludes free will and moral responsibility, and a ‘no difference principle’ that holds that manipulation is relevantly similar to determinism. To respond to this argument, the compatibilist must reject either the manipulation principle or the ‘no difference principle.’ I argue that rejecting the manipulation principle offers the compatibilist the most compelling response to the manipulation argument. Incompatibilists claim that this strategy is implausible because it requires that some victims of manipulation are free and responsible. I aim to show that this consequence is not as implausible as it might initially appear.
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Colaianni, 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.
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Srikesavan, 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.
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Background: A computer game based Telerehabilitation platform has been developed to provide a seamless system for hand exercise and assessment in home settings for people with arthritis. The exercise program involves task-oriented training of real life object manipulation tasks performed with computer gaming. The platform will also be integrated with a telemonitoring, computer game based hand function assessment application.
Objectives: 1) To determine test-retest reliability and convergent validity of the assessment application protocol in people with rheumatoid arthritis or hand osteoarthritis, 2) To conduct a pilot randomized controlled trial for assessing the feasibility, and therapeutic effects of the task-oriented training compared to conventional hand exercises, and 3) To qualitatively evaluate participants’ experiences on their respective exercise programs.
Methods: Performance during three different object manipulation tasks was evaluated by the assessment application protocol on 40 people with arthritis. The performance measures were correlated with other common hand function measures. A six-week pilot randomized trial was conducted on 16 individuals with arthritis. The Arthritis Hand Function Test (AHFT), the Disabilities of Arm, Shoulder and Hand (DASH) questionnaire, exercise compliance and task performance during three object manipulation tasks were the clinical outcomes. Focus group interviews were conducted on seven participants who had before received their home exercise programs.
Results: The protocol demonstrated moderate to high test-retest reliability (ICCs between 0.5-0.84) of performance measures. Spearman correlation coefficients (rho) between task performance measures and other measures of hand function were low to moderate (0.4 < rho < 0.5 to 0.7). The pilot trial was not successful in terms of participant recruitment but demonstrated feasibility of study procedures, resources, and management. Except for two dexterity sub-scales of the AHFT, there were no significant differences in other clinical measures. Exercise compliance was >85% in both groups. The qualitative study provided initial evidence on the appropriateness, acceptance, perceived benefits, and a few practical difficulties in performing each exercise program.
Conclusions: The hand function assessment application warrants validation in a variety of object manipulation tasks and in different patient populations. In order to proceed to a full-fledged trial, additional recruitment strategies, and revisions in the inclusion criteria must be considered.February 2015
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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.
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Neufuss, 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/.
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The skill with which primates use their hands to explore and interact with the environment sets them apart from most other mammals. The non-human primate hand serves an important functional role during not only terrestrial and arboreal locomotion, but also enhanced grasping and manipulative behaviours. Understanding how living primates use their hands for these various functions is fundamental for understanding the order Primates and the evolution of humans within this order. While bipedalism and the extraordinary manipulative abilities of our human hand for manufacturing stone tools are considered to be unique, their origins remain controversial. Understanding this evolutionary shift in human hand use from locomotion to manipulation requires comparative studies of hand use in our closest living relatives, the African apes (chimpanzees, bonobos and gorillas). To date, however, little research has been done on African ape daily hand use, including both locomotor and manipulative behaviours, especially in natural environments. This dissertation will address this gap by conducting detailed studies of hand use and posture during two complex manipulative behaviours (i.e., plant-processing, nut-cracking) and arboreal locomotion (i.e., vertical climbing) in the natural environment of African apes. I conducted the first comprehensive analysis of bonobo palm oil nut-cracking in a natural environment at the Lola ya Bonobo sanctuary, Democratic Republic of the Congo. All eighteen bonobos showed exclusive laterality for using the hammerstone and there was a significant group-level right-hand bias. The study revealed 15 hand grips for holding differently-sized and -weighted hammerstones, 10 of which had not been previously described in the literature. The findings also demonstrated that bonobos select the most effective hammerstones when nut-cracking and that bonobos, despite rarely using tools in the wild, can be efficient nut-crackers with a skill level that is similar to palm oil nut-cracking chimpanzees of Bossou, Guinea. I further provided the first insights into the manual skills of Bwindi mountain gorillas by examining hand-use strategies, hand grips, and hand-preference (i.e., laterality) during the processing of three different plants. Two of these plants are woody-stemmed plants for which the food is more challenging to access in comparison to leaves, lacking physical defenses that are relatively simple to process. Bwindi gorillas used the greatest number of hand actions to process the most complex plant food (i.e., peel-processing) similar to complex thistle feeding by Virunga mountain gorillas. The manipulative actions were ordered in several key stages organised hierarchically. The demands of manipulating natural foods elicited 19 different hand grips and variable thumb postures, of which three grips were new and 16 grips have either been previously reported or show clear similarities to grips used by other wild and captive African apes and humans. A higher degree of lateralisation was elicited for the most complex behaviour of peel-processing but the strength of laterality was only moderate, suggesting that peel-processing is not as complex as thistle leaf-processing by Virunga gorillas. Finally, I examined for the first time hand use, forelimb posture and gait chacteristics during vertical climbing in wild, habituated mountain gorillas (Gorilla beringei) of the Bwindi Impenetrable National Park, Uganda, and semi-free-ranging chimpanzees (Pan troglodytes) of the Chimfunshi Wildlife Orphanage Trust, Zambia, both within a natural environment. This research revealed that both apes used power grips and a diagonal power grip, involving three different thumb postures. Gorillas showed greater ulnar deviation of the wrist during climbing than chimpanzees, and the thumb played an important supportive role when vertically descending compliant substrates in gorillas. Comparisons of temporal gait parameters showed that large-bodied gorillas exhibited significant longer cycle duration, lower stride frequency and generally a higher duty factor than chimpanzees. This quantitative analysis revealed that mountain gorillas adapt their climbing strategy to accommodate their large body mass in a similar manner found in captive western lowland gorillas, and that chimpanzees showed less variation in their climbing strategy than has been documented in captive bonobos. In summary, this study demonstrates the importance of forceful hand grips and the variable use of the thumb relative to substrate size in both ape species, and particularly in large-bodied mountain gorillas as they face more biomechanical challenges during vertical climbing than smaller-bodied chimpanzees. Together, this dissertation provides new insights into the functional link between hand morphology and behaviour in African apes in their natural environments that may ultimately generate more informed reconstructions of fossil hominin locomotor and manipulative behaviours. Furthermore, this research shows that the suite of "unique human grips" or "unique human manipulative abilities" that have typically defined humans is getting much smaller the more we learn about African apes, particularly in their complex natural environment where the hand has to adjust to varying foods and arboreal substrates, and where individuals have ample opportunity to learn and develop high manipulative skills.
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Shanmugam, 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.
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Slavkoff, 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.
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Slavkoff, 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.
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This thesis research addresses the problem of human representation in virtual environments (VE). Previous work done on Virtual Reality (ESOPE-RV) lacks an interface to produce dynamic, real-time interactive simulated human representation.The 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.)
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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.
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Reinert, 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.
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Roa, Garzón Máximo Alejandro. "Grasp planning methodology for 3D arbitrary shaped objects." Doctoral thesis, Universitat Politècnica de Catalunya, 2009. http://hdl.handle.net/10803/31804.
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La prensión y manipulación de objetos se ha convertido en un área de gran interés en robótica, especialmente debido al desarrollo de dispositivos de prensión diestra como las manos antropomórficas, que incrementan la flexibilidad y verstilidad de los brazos robóticos, permitiendo así la prensión y manipulación de una gran variedad de objetos con un solo efector final. Esta tesis aborda varios problemas de planificación asociados a la prensión y manipulación de objetos discretos arbitrarios, esto es, objetos de forma arbitraria descritos mediante nubes de puntos o mallas poligonales.
La obtención de una prensión con clausura de fuerza (force-closure) y de una prensión localmente óptima se realiza mediante procedimientos de búsqueda orientada basados en razonamientos geométricos en el espacio de prensiones. La medida de calidad de prensión utilizada es la mayor fuerza generalizada de perturbación que la prensión puede resistir, independientemente de la dirección de la perturbación. Sin embargo, las manos mecánicas y dispositivos de prensión reales difícilmente pueden asegurar que los dedos toquen el objeto justamente en los puntos de contacto calculados. Las regiones de contacto independiente (ICRs) se definen de forma tal que un dedo colocado en cada ICR asegura una prensión con clausura de fuerza; estas regiones otorgan robustez frente a errores en el posicionamiento de los dedos. Esta tesis presenta un algoritmo para obtener las ICRs con cualquier número de contactos con o sin fricción sobre la superficie de cualquier objeto tridimensional, asegurando también una calidad mínima controlada. La aproximación planteada genera las ICRs creciéndolas alrededor de los puntos de contacto de una prensión inicial apropiada, por ejemplo una prensión localmente óptima. Este método se extiende también para el cálculo de ICRs cuando varios contactos están fijados de antemano.
El concepto de regiones de no prensión (NGRs) se introduce en este trabajo. Las NGRs se definen de forma tal que un dedo colocado en cada NGR siempre produce una prensión sin clausura de fuerza, independientemente de la posición exacta de cada dedo. Las ICRs y NGRs se utilizan para explorar de forma eficiente el espacio de prensiones. Este espacio es construido mediante un método de muestreo que provee muestras de prensiones con o sin clausura de fuerza, que luego se utilizan para calcular ICRs o NGRs respectivamente, y que luego sirven para etiquetar las configuraciones del espacio de prensiones. Se presenta también una secuencia de muestreo determinístico que permite una exploración incremental y uniforme del espacio de prensiones. La generación del espacio de prensiones se utiliza posteriormente para resolver el problema de reprensión (regrasping), esto es, la obtención de trayectorias de las puntas de los dedos sobre la superficie del objeto para cambiar de una prensión inicial a una final sin perder la condición de la clausura de fuerza.
La tesis incluye ejemplos de aplicación para ilustrar el desempeño y la relevancia de los algoritmos planteados.Object 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.
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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.
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NIGRI, 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.
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CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICOVisão 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.
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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.
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A necessidade de executar manipulações espaciais (como
seleção, deslocamento, rotação, e escalamento) de objetos
virtuais 3D é comum a muitos tipos de aplicações do
software, inclusive aplicações de computer-aided design
(CAD), computer-aided modeling (CAM) e aplicações de
visualização científica e de engenharia. Neste trabalho é
apresentado um protótipo de aplicação para manipulação de
objetos virtuais 3D utilizando movimentos livres de mãos e
sem o uso de marcadores, podendo-se fazer gestos com uma ou
duas mãos. O usuário move as mãos no volume de trabalho
situado imediatamente acima da mesa, e o sistema integra
ambas as mãos (seus centróides) no ambiente virtual que
corresponde a este volume de trabalho. As mãos são
detectadas e seus gestos reconhecidos usando o método
de detecção de Viola-Jones. Tal reconhecimento de gestos é
assim usado para ligar e desligar modalidades da
manipulação. O rastreamento 3D de até duas mãos é então
obtido por uma combinação de rastreamento 2D chamado flocks-
of-KLT-features e reconstrução 3D baseada em triangulação
estéreo.The 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.
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Zaidi, Lazher. "Modélisations et stratégie de prise pour la manipulation d'objets déformables." Thesis, Clermont-Ferrand 2, 2016. http://www.theses.fr/2016CLF22681/document.
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La manipulation dextre est un sujet important dans la recherche en robotique et dans lequel peu de travaux ont abordé la manipulation d'objets déformables. De nouvelles applications en chirurgie, en industrie agroalimentaire ou encore dans les services à la personne nécessitent la maîtrise de la saisie et la manipulation d'objets déformables. Cette thèse s’intéresse à la manipulation d’objets déformables par des préhenseurs mécaniques anthropomorphiques tels que des mains articulées à plusieurs doigts. Cette tâche requière une grande expertise en modélisation mécanique et en commande : modélisation des interactions, perception tactile et par vision, contrôle des mouvements des doigts en position et en force pour assurer la stabilité de la saisie. Les travaux présentés dans cette thèse se focalisent sur la modélisation de la saisie d'objets déformables. Pour cela, nous avons utilisé une discrétisation par des systèmes masses-ressorts non-linéaires pour modéliser des corps déformables en grands déplacements et déformations tout en ayant un coût calculatoire faible. Afin de prédire les forces d’interactions entre main robotique et objet déformable, nous avons proposé une approche originale basée sur un modèle rhéologique visco-élasto-plastique pour évaluer les forces tangentielles de contact et décrire la transition entre les modes d’adhérence et de glissement. Les forces de contact sont évaluées aux points nodaux en fonction des mouvements relatifs entre les bouts des doigts et les facettes du maillage de la surface de l’objet manipulé. Une autre contribution de cette thèse consiste à utiliser de cette modélisation dans la planification des tâches de manipulation d’objets déformables 3D. Cette planification consiste à déterminer la configuration optimale de la main pour la saisie de l’objet ainsi que les trajectoires à suivre et les efforts à appliquer par les doigts pour contrôler la déformation de l’objet tout en assurant la stabilité de l’opération. La validation expérimentale de ces travaux a été réalisée sur deux plateformes robotiques : une main Barrett embarquée sur un bras manipulateur Adept S1700D et une main Shadow embarquée sur un bras manipulateur Kuka LWR4+Dexterous 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
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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.
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Sajid, 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.
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付記する学位プログラム名: デザイン学大学院連携プログラムKyoto 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