scholarly journals Humans can visually judge grasp quality and refine their judgments through visual and haptic feedback

2020 ◽  
Author(s):  
Guido Maiello ◽  
Marcel Schepko ◽  
Lina K. Klein ◽  
Vivian C. Paulun ◽  
Roland W. Fleming
Keyword(s):  
Motor Imagery ◽  
Degrees Of Freedom ◽  
Haptic Feedback ◽  
Physical Object ◽  
The Other ◽  
Object Properties ◽  
Novel Objects ◽  
Sensorimotor Feedback ◽  
Weighted Combination ◽  
Grasp Quality

AbstractHow humans visually select where to grasp objects is determined by the physical object properties (e.g., size, shape, weight), the degrees of freedom of the arm and hand, as well as the task to be performed. We recently demonstrated that human grasps are near-optimal with respect to a weighted combination of different cost functions that make grasps uncomfortable, unstable or impossible e.g., due to unnatural grasp apertures or large torques. Here, we ask whether humans can consciously access these rules. We test if humans can explicitly judge grasp quality derived from rules regarding grasp size, orientation, torque, and visibility. More specifically, we test if grasp quality can be inferred (i) by using motor imagery alone, (ii) from watching grasps executed by others, and (iii) through performing grasps, i.e. receiving visual, proprioceptive and haptic feedback. Stimuli were novel objects made of 10 cubes of brass and wood (side length 2.5 cm) in various configurations. On each object, one near-optimal and one sub-optimal grasp were selected based on one cost function (e.g. torque), while the other constraints (grasp size, orientation, and visibility) were kept approximately constant or counterbalanced. Participants were visually cued to the location of the selected grasps on each object and verbally reported which of the two grasps was best. Across three experiments, participants could either (i) passively view the static objects, (ii) passively view videos of other participants grasping the objects, or (iii) actively grasp the objects themselves. Our results show that participants could already judge grasp optimality from simply viewing the objects, but were significantly better in the video and grasping session. These findings suggest that humans can determine grasp quality even without performing the grasp—perhaps through motor imagery—and can further refine their understanding of how to correctly grasp an object through sensorimotor feedback but also by passively viewing others grasp objects.

scholarly journals Humans Can Visually Judge Grasp Quality and Refine Their Judgments Through Visual and Haptic Feedback

2021 ◽  
Vol 14 ◽  
Author(s):  
Guido Maiello ◽  
Marcel Schepko ◽  
Lina K. Klein ◽  
Vivian C. Paulun ◽  
Roland W. Fleming
Keyword(s):  
Motor Imagery ◽  
Visual Cues ◽  
Degrees Of Freedom ◽  
Haptic Feedback ◽  
Physical Object ◽  
Object Properties ◽  
Novel Objects ◽  
Sensorimotor Feedback ◽  
Weighted Combination ◽  
Grasp Quality

How humans visually select where to grasp objects is determined by the physical object properties (e.g., size, shape, weight), the degrees of freedom of the arm and hand, as well as the task to be performed. We recently demonstrated that human grasps are near-optimal with respect to a weighted combination of different cost functions that make grasps uncomfortable, unstable, or impossible, e.g., due to unnatural grasp apertures or large torques. Here, we ask whether humans can consciously access these rules. We test if humans can explicitly judge grasp quality derived from rules regarding grasp size, orientation, torque, and visibility. More specifically, we test if grasp quality can be inferred (i) by using visual cues and motor imagery alone, (ii) from watching grasps executed by others, and (iii) through performing grasps, i.e., receiving visual, proprioceptive and haptic feedback. Stimuli were novel objects made of 10 cubes of brass and wood (side length 2.5 cm) in various configurations. On each object, one near-optimal and one sub-optimal grasp were selected based on one cost function (e.g., torque), while the other constraints (grasp size, orientation, and visibility) were kept approximately constant or counterbalanced. Participants were visually cued to the location of the selected grasps on each object and verbally reported which of the two grasps was best. Across three experiments, participants were required to either (i) passively view the static objects and imagine executing the two competing grasps, (ii) passively view videos of other participants grasping the objects, or (iii) actively grasp the objects themselves. Our results show that, for a majority of tested objects, participants could already judge grasp optimality from simply viewing the objects and imagining to grasp them, but were significantly better in the video and grasping session. These findings suggest that humans can determine grasp quality even without performing the grasp—perhaps through motor imagery—and can further refine their understanding of how to correctly grasp an object through sensorimotor feedback but also by passively viewing others grasp objects.

Footbridges as an important part of a system: the context as an experience

2021 ◽  
Author(s):  
Toon Maas ◽  
Mohamad Tuffaha ◽  
Laurent Ney
Keyword(s):  
Design Process ◽  
Degrees Of Freedom ◽  
The Other ◽  
Infrastructure Projects ◽  
Good Design ◽  
Cultural Processes ◽  
The Relationship

<p>“A bridge has to be designed”. Every bridge is the exploration of all degrees of a freedom of a project: the context, cultural processes, technology, engineering and industrial skills. A successful bridge aims to dialogue with these degrees of freedom to achieve a delicate equilibrium, one that invites the participation of its users and emotes new perceptions for its viewers. In short, a good design “makes the bridge talk.”</p><p>Too often, the bridge, as an object, is reduced to its functionality. Matters of perceptions and experiences of the users are often not considered in the design process; they are relegated to levels of chance or treated as simple decorative matter. The longevity of infrastructure projects, in general, and bridges, in particular, highlights the deficiencies of such an approach. The framework to design bridges must include historical, cultural, and experiential dimensions. Technology and engineering are of paramount importance but cannot be considered as “an end in themselves but a means to an end”. This paper proposes to discuss three projects by Ney &amp; Partners that illustrate such a comprehensive exploration approach to footbridge design: the Poissy and Albi crossings and the Tintagel footbridge.</p><p>The footbridges of Poissy and Albi dialogue most clearly with their historical contexts, reconfiguring the relationship between old and new in the materiality and typology use. In Tintagel, legend replaces history. Becoming a metaphor for the void it crosses, the Tintagel footbridge illustrates the delicate dialogue of technology and engineering on one side and imagination and experience on the other.</p>

scholarly journals Physics 101: Learning Physical Object Properties from Unlabeled Videos

2016 ◽  
Author(s):  
Jiajun Wu ◽  
Joseph Lim ◽  
Hongyi Zhang ◽  
Joshua Tenenbaum ◽  
William Freeman
Keyword(s):  
Physical Object ◽  
Object Properties

scholarly journals Robust Low-Tubal-Rank Tensor Completion via Convex Optimization

2019 ◽  
Author(s):  
Qiang Jiang ◽  
Michael Ng
Keyword(s):  
Degrees Of Freedom ◽  
L1 Norm ◽  
Third Order ◽  
Order Tensor ◽  
Rank Tensor ◽  
Real World Applications ◽  
Algebraic Framework ◽  
Tensor Nuclear Norm ◽  
Theoretical Results ◽  
Weighted Combination

This paper considers the problem of recovering multidimensional array, in particular third-order tensor, from a random subset of its arbitrarily corrupted entries. Our study is based on a recently proposed algebraic framework in which the tensor-SVD is introduced to capture the low-tubal-rank structure in tensor. We analyze the performance of a convex program, which minimizes a weighted combination of the tensor nuclear norm, a convex surrogate for the tensor tubal rank, and the tensor l1 norm. We prove that under certain incoherence conditions, this program can recover the tensor exactly with overwhelming probability, provided that its tubal rank is not too large and that the corruptions are reasonably sparse. The number of required observations is order optimal (up to a logarithm factor) when comparing with the degrees of freedom of the low-tubal-rank tensor. Numerical experiments verify our theoretical results and real-world applications demonstrate the effectiveness of our algorithm.

Miniaturized Dual-Band Bandpass Filter Using Embedded Dual-Mode Resonator with Controllable Bandwidths

Frequenz ◽  
2016 ◽  
Vol 70 (9-10) ◽  
Author(s):  
Chuanming Zhu ◽  
Jin Xu ◽  
Wei Kang ◽  
Zhenxin Hu ◽  
Wen Wu
Keyword(s):  
Insertion Loss ◽  
Degrees Of Freedom ◽  
Bandpass Filter ◽  
The Other ◽  
Dual Band ◽  
Dual Mode ◽  
Transmission Zeros ◽  
Low Insertion Loss ◽  
Multiple Transmission ◽  
Mode Resonator

AbstractIn this paper, a miniaturized dual-band bandpass filter (DB-BPF) using embedded dual-mode resonator (DMR) with controllable bandwidths is proposed. Two passbands are generated by two sets of resonators operating at two different frequencies. One set of resonators is utilized not only as the resonant elements that yield the lower passband, but also as the feeding structures with source-load coupling to excite the other to produce the upper passband. Sufficient degrees of freedom are achieved to control the center frequencies and bandwidths of two passbands. Moreover, multiple transmission zeros (TZs) are created to improve the passband selectivity of the filter. The design of the filter has been demonstrated by the measurement. The filter features not only miniaturized circuit sizes, low insertion loss, independently controllable central frequencies, but also controllable bandwidths and TZs.

A Robotic Cell for Embedding Prefabricated Components in Extrusion-Based Additive Manufacturing

2020 ◽  
Author(s):  
Yeo Jung Yoon ◽  
Oswin G. Almeida ◽  
Aniruddha V. Shembekar ◽  
Satyandra K. Gupta
Keyword(s):  
Additive Manufacturing ◽  
Degrees Of Freedom ◽  
Robotic Manipulators ◽  
The Other ◽  
Robotic Arm ◽  
Robotic Cell ◽  
Material Extrusion ◽  
Surface Polishing ◽  
Pick And Place ◽  
6 Degrees Of Freedom

Abstract By attaching a material extrusion system to a robotic arm, we can deposit materials onto complex surfaces. Robotic manipulators can also maximize the task utility by performing other tasks such as assembly or surface polishing when they are not in use for the AM process. We present a robotic cell for embedding prefabricated components in extrusion-based AM. The robotic cell consists of two 6 degrees of freedom (DOF) robots, an extrusion system, and a gripper. One robot is used for printing a part, and the other robot takes a support role to pick and place the prefabricated component and embed it into the part being printed. After the component is embedded, AM process resumes, and the material is deposited onto the prefabricated components and previously printed layers. We illustrate the capabilities of the system by fabricating three objects.

A neuropsychological approach to motor control and imagery

2004 ◽  
Vol 27 (3) ◽  
pp. 419-419
Author(s):  
Barbara Tomasino ◽  
Corrado Corradi-Dell'Acqua ◽  
Alessia Tessari ◽  
Caterina Spiezio ◽  
Raffaella Ida Rumiati
Keyword(s):  
Motor Control ◽  
Motor Imagery ◽  
The Other

In his article Grush proposes a potentially useful framework for explaining motor control, imagery, and perception. In our commentary we will address two issues that the model does not seem to deal with appropriately: one concerns motor control, and the other, the visual and motor imagery domains. We will consider these two aspects in turn.

A Family of 3-DOF Translational Parallel Manipulators1

2003 ◽  
Vol 125 (2) ◽  
pp. 302-307 ◽  
Author(s):  
Marco Carricato ◽  
Vincenzo Parenti-Castelli
Keyword(s):  
Degrees Of Freedom ◽  
Translational Motion ◽  
Parallel Manipulators ◽  
Geometric Interpretation ◽  
The Other ◽  
Six Degrees Of Freedom ◽  
Revolute Joints ◽  
Rotational Degrees Of Freedom

This article addresses parallel manipulators with fewer than six degrees of freedom, whose use may prove valuable in those applications in which a higher mobility is uncalled for. In particular, a family of 3-dof manipulators containing only revolute joints or at the most revolute and prismatic ones is studied. Design and assembly conditions sufficient to provide the travelling platform with a pure translational motion are determined and two sub-families that fulfill the imposed constraint are found: one is already known in the literature, while the other is original. The new architecture does not exhibit rotation singularities, i.e., configurations in which the platform gains rotational degrees of freedom. A geometric interpretation of the translation singularities is provided.

Total Flexibility in Forming Technology by Servo Presses

2014 ◽  
Vol 907 ◽  
pp. 99-112 ◽  
Author(s):  
Jörg Avemann ◽  
Stefan Calmano ◽  
Sebastian Schmitt ◽  
Peter Groche
Keyword(s):  
Mass Production ◽  
Degrees Of Freedom ◽  
Sheet Thickness ◽  
The Other ◽  
Adaptive Control System ◽  
High Productivity ◽  
Forming Technology ◽  
Bending Process ◽  
Product And Process ◽  
Free Bending

In forming technology, uncertainty can arouse from fluctuations in demand scenarios on one hand and in properties of semi-finished parts on the other. These technologies are usually characterized by a high productivity in mass production. However, high development efforts and investment costs for processes and machines lead to a rigid product and process spectrum. One approach to encounter these uncertainties is the introduction of flexibility into forming technologies by enlarging the number of degrees of freedom without drastically reducing productivity. The 3D Servo Press fulfils the mentioned requirements by exceeding free ram motion of conventional servo presses by two rotational ram DoFs. The adaptive control system coordinates the machine motion and controls product properties by model-based algorithms. Possibilities of this approach are demonstrated in a free bending process of a heat dissipater, resulting in uniform product quality despite variations in material, sheet thickness and desired geometry.

Inverse Static Analysis of a Planar System With Spiral Springs

2000 ◽  
Author(s):  
Marco Carricato ◽  
Joseph Duffy ◽  
Vincenzo Parenti-Castelli
Keyword(s):  
Static Analysis ◽  
External Load ◽  
Degrees Of Freedom ◽  
The Other ◽  
Linear Functions ◽  
State Variables ◽  
Planar System ◽  
Equilibrium Configurations ◽  
Solving Equations ◽  
The One

Abstract In this article the inverse static analysis of a two degrees of freedom planar mechanism equipped with spiral springs is presented. Such analysis aims to detect the entire set of equilibrium configurations of the mechanism once the external load is assigned. While on the one hand the presence of flexural pivots represents a novelty, on the other it extremely complicates the problem, since it brings the two state variables in the solving equations to appear as arguments of both trigonometric and linear functions. The proposed procedure eliminates one variable and leads to write two equations in one unknown only. The union of the root sets of such equations constitutes the global set of solutions of the problem. Particular attention has been reserved to the analysis of the “reliability” of the final equations: it has been sought the existence of critical situations, in which the solving equations hide solutions or yield false ones. A numerical example is provided. Also, in Appendix it is shown a particular design of the mechanism that offers computational advantages.

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