scholarly journals Pouring from Deformable Containers Based on Tactile Information Using a Dual-Arm Robot

2019 ◽  
Vol 1 (2) ◽  
pp. 123-143
Author(s):  
Yuto Tsuchiya
Keyword(s):  
Success Rate ◽  
Motion Capture ◽  
The Other ◽  
Motion Capture System ◽  
Breakfast Cereal ◽  
Tactile Information ◽  
Coffee Beans ◽  
Arm Motion ◽  
Dual Arm Robot ◽  
Dual Arm

In this paper, we consider household robots that pour various contents from deformable containers. Such pouring is often seen in cooking and refilling. To achieve this kind of pouring, we reduce the deformation of the container during pouring and thus carefully design the grasping strategy: the palm of one hand supports the deformable container from the bottom and the other hand pulls up the container from the top. We apply the proposed system to pouring four different kinds of contents: breakfast cereal, coffee beans, flour, and rice. The experiment verifies that the proposed system successfully pours the four contents. To evaluate the system quantitatively, we measure 1) the deformation of the container using a motion capture system and 2) the success rate of pouring. We verify that the dual-arm pouring reduced the deformation by 66% compared to a single-arm motion and that the success rate is greater than 90%.

IoT-Enabled Dual-Arm Motion Capture and Mapping for Telerobotics in Home Care

2020 ◽  
Vol 24 (6) ◽  
pp. 1541-1549 ◽  
Author(s):  
Huiying Zhou ◽  
Geng Yang ◽  
Honghao Lv ◽  
Xiaoyan Huang ◽  
Huayong Yang ◽  
...  
Keyword(s):  
Home Care ◽  
Motion Capture ◽  
Arm Motion ◽  
Dual Arm

scholarly journals Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot

2022 ◽  
Author(s):  
Vicent Girbés-Juan ◽  
Vinicius Schettino ◽  
Luis Gracia ◽  
J. Ernesto Solanes ◽  
Yiannis Demiris ◽  
...  
Keyword(s):  
Motion Capture ◽  
Haptic Feedback ◽  
Inertial Motion ◽  
Safety Issues ◽  
Robot Accuracy ◽  
Human Adaptability ◽  
Overall Performance ◽  
Dual Arm Robot ◽  
Sense Of Touch ◽  
Dual Arm

AbstractHigh dexterity is required in tasks in which there is contact between objects, such as surface conditioning (wiping, polishing, scuffing, sanding, etc.), specially when the location of the objects involved is unknown or highly inaccurate because they are moving, like a car body in automotive industry lines. These applications require the human adaptability and the robot accuracy. However, sharing the same workspace is not possible in most cases due to safety issues. Hence, a multi-modal teleoperation system combining haptics and an inertial motion capture system is introduced in this work. The human operator gets the sense of touch thanks to haptic feedback, whereas using the motion capture device allows more naturalistic movements. Visual feedback assistance is also introduced to enhance immersion. A Baxter dual-arm robot is used to offer more flexibility and manoeuvrability, allowing to perform two independent operations simultaneously. Several tests have been carried out to assess the proposed system. As it is shown by the experimental results, the task duration is reduced and the overall performance improves thanks to the proposed teleoperation method.

scholarly journals Motion and Muscle Activity of Synchronized Rolling-Type Double-Leg Circles on a Pommel Horse

Proceedings ◽  
2020 ◽  
Vol 49 (1) ◽  
pp. 31
Author(s):  
Motoyuki Nawa ◽  
Ayaka Yamada ◽  
Kazuie Nishiwaki ◽  
Kyoji Yamawaki ◽  
Yosuke Ikegami ◽  
...  
Keyword(s):  
Motion Capture ◽  
Muscle Activity ◽  
Longitudinal Axis ◽  
Skill Level ◽  
The Body ◽  
The Other ◽  
Rolling Motion ◽  
Motion Capture System ◽  
Dynamic Movement ◽  
Body Rolling

Experimental analyses of motions of a double-leg circle were conducted for a smooth and dynamic movement. A motion capture system provided the data for two different gymnasts; one is well trained and the other has an average skill level. Lissajous analysis was done for a tip-toe circling motion and a rolling motion around a longitudinal axis of a body. The results show that synchronization between the tip-toe circling and the body-rolling around the body’s longitudinal axis is crucial. Muscle activity was also analyzed from electromyogram data when the gymnasts performed double-leg circles, and the muscle activity characteristics of synchronized rolling-type circles were uncovered.

Estimation of Care Receiver’s Position Based on Tactile Information for Transfer Assist Using Dual Arm Robot

2014 ◽  
Vol 26 (6) ◽  
pp. 743-749 ◽  
Author(s):  
Yuki Mori ◽  
◽  
Ryojun Ikeura ◽  
Ming Ding ◽  
◽  
...  
Keyword(s):  
Machine Learning ◽  
Nursing Care ◽  
Tactile Sensor ◽  
Position Estimation ◽  
Sensor Data ◽  
Tactile Sensors ◽  
Tactile Information ◽  
Dual Arm Robot ◽  
Dual Arm ◽  
Experience Pain

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260006/07.jpg"" width=""300"" />Position estimation by forearms</div> For a robot that uses two arms to lift and transfer a care receiver from a bed to a wheelchair, we report a method of estimating the positioning of the care receiver. The maneuver for such a task involves a high DOF, and the robot is capable of executing the maneuver much like a human being. The care receiver may experience pain or become unstable when being carried, however, depending on the positioning of contact between the robot’s arms and the care receiver. For this reason, nursing care robots must be able to recognize the positioning of contact with the care receiver and either modify it or alert the operator if it is unsuitable. We use the information obtained by tactile sensors on the robot’s arms when making contact with the care receiver to estimate the latter’s positioning. By dividing a care receiver’s position on a bed into nine zones and applying machine learning to tactile sensor data and positioning, it is possible to estimate positioning highly accurately. </span>

Correlational Methods for Analysis of Dance Movements

2011 ◽  
Vol 29 (supplement) ◽  
pp. 283-304 ◽  
Author(s):  
Timothy R. Brick ◽  
Steven M. Boker
Keyword(s):  
Motion Capture ◽  
Mirror Symmetry ◽  
Cross Correlation ◽  
The Other ◽  
Free Form ◽  
Motion Capture Data ◽  
Complex Interactions ◽  
Dance Movements ◽  
Time Lagged ◽  
Insight Into

Among the qualities that distinguish dance from other types of human behavior and interaction are the creation and breaking of synchrony and symmetry. The combination of symmetry and synchrony can provide complex interactions. For example, two dancers might make very different movements, slowing each time the other sped up: a mirror symmetry of velocity. Examining patterns of synchrony and symmetry can provide insight into both the artistic nature of the dance, and the nature of the perceptions and responses of the dancers. However, such complex symmetries are often difficult to quantify. This paper presents three methods – Generalized Local Linear Approximation, Time-lagged Autocorrelation, and Windowed Cross-correlation – for the exploration of symmetry and synchrony in motion-capture data as is it applied to dance and illustrate these with examples from a study of free-form dance. Combined, these techniques provide powerful tools for the examination of the structure of symmetry and synchrony in dance.

Gender differences in the Achilles tendon load during the fencing lunge

2014 ◽  
Vol 6 (3) ◽  
Author(s):  
Jonathan Kenneth Sinclair ◽  
Lindsay Bottoms
Keyword(s):  
Gender Differences ◽  
Achilles Tendon ◽  
Motion Capture ◽  
Tendon Injury ◽  
Force Platform ◽  
Motion Capture System ◽  
3D Motion ◽  
Loading Rates ◽  
Tendon Pathology ◽  
3D Motion Capture

AbstractRecent epidemiological analyses in fencing have shown that injuries and pain linked specifically to fencing training/competition were evident in 92.8% of fencers. Specifically the prevalence of Achilles tendon pathology has increased substantially in recent years, and males have been identified as being at greater risk of Achilles tendon injury compared to their female counterparts. This study aimed to examine gender differences in Achilles tendon loading during the fencing lunge.Achilles tendon load was obtained from eight male and eight female club level epee fencers using a 3D motion capture system and force platform information as they completed simulated lunges. Independent t-tests were performed on the data to determine whether differences existed.The results show that males were associated with significantly greater Achilles tendon loading rates in comparison to females.This suggests that male fencers may be at greater risk from Achilles tendon pathology as a function of fencing training/ competition.

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