Reconstructing Humans’ Hand Motion: Preliminary Results and Applications in the Design of Mechanical Fingers for Anthropomorphic Tasks

2013 ◽  
Author(s):  
Shramana Ghosh ◽  
Hyosang Moon ◽  
Nina P. Robson
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Optical Tracking ◽  
Human Hand ◽  
Hand Motion ◽  
Preliminary Results ◽  
Motion Data ◽  
Higher Derivative ◽  
Acceleration Data ◽  
Finger Motion

This paper reports the development of a low-cost sensor-based glove device using commercially available components that can be used to obtain position, velocity and acceleration data for individual fingers of the hand. Optical tracking of the human hand and finger motion is a challenging task due to the large number of degrees of freedom (DOFs) packed in a relatively small space. We propose methods to simplify the hand motion capture by utilizing accelerometers and adopting a reduced marker protocol. The preliminary results show that the use of relative position, velocity and acceleration homogeneous transformations enable us in getting improved finger motion data with respect to those obtained from a Vicon system. This data is directly related to contact and curvature constraints between the fingers and the grasped object. Once obtained from the glove, the higher derivative specifications are used in formulating the synthesis task for the design of robotic fingers.

Design of Spatial Non-Anthropomorphic Articulated Systems Based on Arm Joint Constraint Kinematic Data for Human Interactive Robotics Applications

2015 ◽  
Author(s):  
Hyosang Moon ◽  
Nina P. Robson
Keyword(s):  
Degrees Of Freedom ◽  
Wrist Joint ◽  
Design Parameters ◽  
Human Hand ◽  
Link Length ◽  
Hand Motion ◽  
Motion Constraints ◽  
Hand Kinematics ◽  
Minimum Jerk ◽  
Articulated Systems

The design of human interactive robotic systems requires additional considerations compared to conventional robotic designs to take into account human factors. In this paper, a recently developed linkage kinematic synthesis incorporating higher order motion constraints is utilized to the synthesis of a five degree of freedom serial TS linkage for human interactive applications. The T represents a universal two degrees-of-freedom shoulder, while the S defines a spherical three degrees-of-freedom wrist joint. The desired hand kinematics and its time derivatives can be obtained by a motion capture system as well as from the hand-object/environment contact geometries at two task locations. In order to determine the design parameters (i.e., locations of the base/shoulder and moving/wrist pivots, as well as the link length connecting these joints), position, velocity and acceleration constraint equations of the TS linkage are solved in the vicinity of the initial and the final reaching locations. The entire robotic joint trajectories are formulated via minimum jerk theory to closely approximate human natural hand profile with an elbow joint constraint. In this manner, the TS linkage system can be designed to guarantee to reproduce the natural human hand kinematics with the minimum amount of information about the desired hand kinematic specifications. The applicability of the proposed technique was verified by designing a TS linkage system from a captured human data, and then comparing the generated end-effector trajectory with the human hand motion trajectory, which show promising results.

Clustering Finger Motion Data From Virtual Reality-Based Training to Analyze Patients With Mild Cognitive Impairment

2018 ◽  
pp. 1343-1358
Author(s):  
Niken Prasasti Martono ◽  
Takehiko Yamaguchi ◽  
Takuya Maeta ◽  
Hibiki Fujino ◽  
Yuki Kubota ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Cognitive Impairment ◽  
Mild Cognitive Impairment ◽  
Clustering Algorithm ◽  
Clinical Settings ◽  
Motion Data ◽  
Acceleration Data ◽  
Finger Motion ◽  
Learning Software ◽  
Healthy Participants

Research in virtual reality (VR) has resulted in the development of many applications in clinical settings in the areas of learning and therapy in psychology and neuropsychology because this technology can be flexible to the needs of the clinical application. VR technology has many implementations for cognitive training and as a screening tool for patients with mild cognitive impairment (MCI). The technology has been used in the screening, diagnosis, treatment and support of patients with MCI. This study found that the information recorded in VR-based learning software can be useful in analyzing individuals with MCI in order to characterize groups of participants. The authors implemented a time series clustering algorithm acting on finger motion data from nine healthy participants as a pilot study, then comprehensively reviewed the clustering result by comparing it with performance-based measures. The results indicate that the clusters formed by using the acceleration data is reasonably analogous to the performance measures (i.e., with respect to the type and number of errors that occurred).

Robotized Montage Unit which Uses an Anthropomorphic Gripper with Five Fingers: CAD Modelling and Simulation

2014 ◽  
Vol 656 ◽  
pp. 146-153
Author(s):  
Sebastian Jitariu ◽  
Ionel Staretu ◽  
Catalin Moldovan
Keyword(s):  
Degrees Of Freedom ◽  
Simple Structure ◽  
Industrial Robot ◽  
Low Cost ◽  
Human Hand ◽  
Correct Operation ◽  
Virtual Interface ◽  
Functional Simulation ◽  
Cad Modelling ◽  
Real Robot

This paper presents an original integrated solution of montage robotization of assemblies of small and medium complexity. The robotic station (the robotized cell) proposed contains a joint industrial robot equipped with an anthropomorphic gripper with five fingers, two feeders, a montage table and a storage terminal. CAD modelling of the whole system and functional simulation are performed, which certifies the validity of its correct operation. The gripper used is anthropomorphic with five fingers and five degrees of freedom with a relatively simple structure but high functionality. The gripper, adapted by a popular variant is realized as prototype at low cost, through rapid prototyping, and tested. The gripper control is possible through the advanced method of human hand gestures capture with a Motion Leap device and their transmission through a virtual interface to the real gripper. In perspective, it is considered mounting the gripper in an improved variant, on a real robot and testing the operation of the proposed montage scenario.

scholarly journals Human Hand Motion Analysis during Different Eating Activities

2018 ◽  
Vol 2018 ◽  
pp. 1-12 ◽  
Author(s):  
Zakia Hussain ◽  
Norsinnira Zainul Azlan ◽  
Arif Zuhairi bin Yusof
Keyword(s):  
Linear Relationship ◽  
Index Finger ◽  
Pearson Correlation ◽  
Middle Finger ◽  
Contact Forces ◽  
Human Hand ◽  
Pearson Correlation Coefficient ◽  
Test Results ◽  
Hand Motion ◽  
Finger Motion

The focus of this research is to analyse both human hand motion and force, during eating, with respect to differing food characteristics and cutlery (including a fork and a spoon). A glove consisting of bend and force sensors has been used to capture the motion and contact force exerted by fingers during different eating activities. The Pearson correlation coefficient has been used to show that a significant linear relationship exists between the bending motion of the fingers and the forces exerted during eating. Analysis of variance (ANOVA) and independent samples t-tests are performed to establish whether the motion and force exerted by the fingers while eating is influenced by the different food characteristics and cutlery. The middle finger motion showed the least positive correlation with index fingertip and thumb-tip force, irrespective of the food characteristics and cutlery used. The ANOVA and t-test results revealed that bending motion of the index finger and thumb varies with respect to differing food characteristics and the type of cutlery used (fork/spoon), whereas the bending motion of the middle finger remains unaffected. Additionally, the contact forces exerted by the thumb tip and index fingertip remain unaffected with respect to differing food types and cutlery used.

A Stereometric System for Measuring Human Motion

1970 ◽  
Vol 12 (6) ◽  
pp. 523-535 ◽  
Author(s):  
M. A. Ayoub ◽  
M. M. Ayoub ◽  
J. D. Ramsey
Keyword(s):  
Performance Studies ◽  
Human Performance ◽  
Low Cost ◽  
Human Motion ◽  
Human Hand ◽  
Hand Motion ◽  
Cost System ◽  
Laboratory Investigations ◽  
Texas Tech University ◽  
Design Construction

Although several photogrammetric systems are commercially available, their cost limits the application of photogrammetric human factors studies. This paper describes a relatively low cost system developed at Texas Tech University to be used in connection with biomechanics and human performance studies. A detailed description of the basic theoretical and laboratory investigations of the various parameters which influence the design, construction, and use of the system is presented. The adequacy and accuracy of the system were measured by conducting two verification tests under static and dynamic orientations. Typical acceleration and velocity curves for human hand motion, obtained by the system, are presented.

scholarly journals Haptic-feedback smart glove as a creative human-machine interface (HMI) for virtual/augmented reality applications

2020 ◽  
Vol 6 (19) ◽  
pp. eaaz8693 ◽  
Author(s):  
Minglu Zhu ◽  
Zhongda Sun ◽  
Zixuan Zhang ◽  
Qiongfeng Shi ◽  
Tianyiyi He ◽  
...  
Keyword(s):  
Object Recognition ◽  
Degrees Of Freedom ◽  
Haptic Feedback ◽  
Low Cost ◽  
Virtual Space ◽  
Home Healthcare ◽  
Human Hand ◽  
Human Machine Interaction ◽  
Promising Solution ◽  
Machine Interface

Human-machine interfaces (HMIs) experience increasing requirements for intuitive and effective manipulation. Current commercialized solutions of glove-based HMI are limited by either detectable motions or the huge cost on fabrication, energy, and computing power. We propose the haptic-feedback smart glove with triboelectric-based finger bending sensors, palm sliding sensor, and piezoelectric mechanical stimulators. The detection of multidirectional bending and sliding events is demonstrated in virtual space using the self-generated triboelectric signals for various degrees of freedom on human hand. We also perform haptic mechanical stimulation via piezoelectric chips to realize the augmented HMI. The smart glove achieves object recognition using machine learning technique, with an accuracy of 96%. Through the integrated demonstration of multidimensional manipulation, haptic feedback, and AI-based object recognition, our glove reveals its potential as a promising solution for low-cost and advanced human-machine interaction, which can benefit diversified areas, including entertainment, home healthcare, sports training, and medical industry.

Clustering Finger Motion Data from Virtual Reality-Based Training to Analyze Patients with Mild Cognitive Impairment

2016 ◽  
Vol 8 (4) ◽  
pp. 29-42 ◽  
Author(s):  
Niken Prasasti Martono ◽  
Takehiko Yamaguchi ◽  
Takuya Maeta ◽  
Hibiki Fujino ◽  
Yuki Kubota ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Cognitive Impairment ◽  
Mild Cognitive Impairment ◽  
Clustering Algorithm ◽  
Clinical Settings ◽  
Motion Data ◽  
Acceleration Data ◽  
Finger Motion ◽  
Learning Software ◽  
Healthy Participants

Research in virtual reality (VR) has resulted in the development of many applications in clinical settings in the areas of learning and therapy in psychology and neuropsychology because this technology can be flexible to the needs of the clinical application. VR technology has many implementations for cognitive training and as a screening tool for patients with mild cognitive impairment (MCI). The technology has been used in the screening, diagnosis, treatment and support of patients with MCI. This study found that the information recorded in VR-based learning software can be useful in analyzing individuals with MCI in order to characterize groups of participants. The authors implemented a time series clustering algorithm acting on finger motion data from nine healthy participants as a pilot study, then comprehensively reviewed the clustering result by comparing it with performance-based measures. The results indicate that the clusters formed by using the acceleration data is reasonably analogous to the performance measures (i.e., with respect to the type and number of errors that occurred).

scholarly journals AAU-BOT1: A Platform for Studying Dynamic, Life-Like Walking

2009 ◽  
Vol 6 (3-4) ◽  
pp. 285-299 ◽  
Author(s):  
Mads Sølver Svendsen ◽  
Jan Helbo ◽  
Michael Rygaard Hansen ◽  
Dejan B. Popovic ◽  
Jakob Stoustrup ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Low Cost ◽  
Design Parameters ◽  
Practical Implementation ◽  
Joint Torques ◽  
Motion Data ◽  
Department Of Health ◽  
Development Costs ◽  
The Cost

This paper describes the development of the humanoid robot AAU-BOT1. The purpose of the robot is to investigate human-like walking and in this connection, test prosthetic limbs. AAU-BOT1 has been designed with modularity in mind making it possible to replace, e.g. the lower leg to test transfemoral or transtibial prosthesis or orthosis. Recorded motion data from a male test person, along with approximated inertial and mass properties, were used to determine necessary joint torques in human walking which was used as design parameters for the robot. The robot has 19 degrees of freedom (DoF), 17 actuated and 2 unactuated acting as passive toe joints. The project was granted 60,000 Euro, and to keep development costs below this, the development and instrumentation was carried out by three groups of master students from the Department of Mechanical Engineering (ME) and the Department of Electronic Systems at Aalborg University and supported by the Department of Health Sciences and Technology (HST). To further reduce the cost, the robot uses off-the-shelf hardware which also reduced the time from idea to practical implementation. The result is a low-cost humanoid robot fully assembled and equipped with sensors ready to take its first steps.

scholarly journals Aerodynamics of inclined cylindrical bodies free-flying in a hypersonic flowfield

2021 ◽  
Vol 62 (9) ◽  
Author(s):  
Patrick M. Seltner ◽  
Sebastian Willems ◽  
Ali Gülhan ◽  
Eric C. Stern ◽  
Joseph M. Brock ◽  
...  
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Numerical Data ◽  
Static Stability ◽  
Free Flight ◽  
Aerodynamic Coefficients ◽  
Flow Topology ◽  
Motion Data ◽  
Continuous Rotation ◽  
German Aerospace

Abstract The influence of the flight attitude on aerodynamic coefficients and static stability of cylindrical bodies in hypersonic flows is of interest in understanding the re/entry of space debris, meteoroid fragments, launch-vehicle stages and other rotating objects. Experiments were therefore carried out in the hypersonic wind tunnel H2K at the German Aerospace Center (DLR) in Cologne. A free-flight technique was employed in H2K, which enables a continuous rotation of the cylinder without any sting interferences in a broad angular range from 0$$^{\circ }$$ ∘ to 90$$^{\circ }$$ ∘ . A high-speed stereo-tracking technique measured the model motion during free-flight and high-speed schlieren provided documentation of the flow topology. Aerodynamic coefficients were determined in careful post-processing, based on the measured 6-degrees-of-freedom (6DoF) motion data. Numerical simulations by NASA’s flow solvers Cart3D and US3D were performed for comparison purposes. As a result, the experimental and numerical data show a good agreement. The inclination of the cylinder strongly effects both the flowfield and aerodynamic loads. Experiments and simulations with concave cylinders showed marked difference in aerodynamic behavior due to the presence of a shock–shock interaction (SSI) near the middle of the model. Graphic abstract

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