Quantitative Investigation of Hand Grasp Functionality: Thumb Grasping Behavior Adapting to Different Object Shapes, Sizes, and Relative Positions

This paper is the first in the two-part series quantitatively modelling human grasp functionality and understanding the way human grasp objects. The aim is to investigate the thumb movement behavior influenced by object shapes, sizes, and relative positions. Ten subjects were requested to grasp six objects ( 3 shapes × 2 sizes ) in 27 different relative positions ( 3 X deviation × 3 Y deviation × 3 Z deviation ). Thumb postures were investigated to each specific joint. The relative position ( X , Y , and Z deviation) significantly affects thumb opposition rotation (Rot) and flexion (interphalangeal (IP) and metacarpo-phalangeal (MCP)), while the object property (object shape and size) significantly affects thumb abduction/adduction (ABD) motion. Based on the F value, the Y deviation has the primary effects on thumb motion. When the Y deviation changing from proximal to distal, thumb opposition rotation (Rot) and flexion (IP and MCP joint) angles were increased and decreased, respectively. For principal component analysis (PCA) results, thumb grasp behavior can be accurately reconstructed by first two principal components (PCs) which variance explanation ratio reached 93.8% and described by the inverse and homodromous coordination movement between thumb opposition and IP flexion. This paper provides a more comprehensive understanding of thumb grasp behavior. The postural synergies can reproduce the anthropomorphic motion, reduce the robot hardware, and control dimensionality. All of these provide a more accurate and general basis for the design and control of the bionic thumb and novel wearable assistant robot, thumb function assessment, and rehabilitation.

Single Depth View Based Real-Time Reconstruction of Hand-Object Interactions

Reconstructing hand-object interactions is a challenging task due to strong occlusions and complex motions. This article proposes a real-time system that uses a single depth stream to simultaneously reconstruct hand poses, object shape, and rigid/non-rigid motions. To achieve this, we first train a joint learning network to segment the hand and object in a depth image, and to predict the 3D keypoints of the hand. With most layers shared by the two tasks, computation cost is saved for the real-time performance. A hybrid dataset is constructed here to train the network with real data (to learn real-world distributions) and synthetic data (to cover variations of objects, motions, and viewpoints). Next, the depth of the two targets and the keypoints are used in a uniform optimization to reconstruct the interacting motions. Benefitting from a novel tangential contact constraint, the system not only solves the remaining ambiguities but also keeps the real-time performance. Experiments show that our system handles different hand and object shapes, various interactive motions, and moving cameras.

A Review On: Analysis Of The Properties Of Thermal Insulation Materials

Clothing insulation is one of the important factors of human thermal comfort assessment. Thermal insulation is the reduction of heat transfer (i.e., the transfer of thermal energy between objects of differing temperature) between objects in thermal contact or in range of radioactive influence. Thermal insulation can be achieved with specially engineered methods or processes, as well as with suitable object shapes and materials. Heat flow is an inevitable consequence of contact between objects of different temperature. Thermal insulation provides a region of insulation in which thermal conduction is reduced or thermal radiation is reflected rather than absorbed by the lower-temperature body. The term thermal insulation can refer to materials used to reduce the rate of heat transfer, or the methods and processes used to reduce heat transfer. Heat energy can be transferred by conduction, convection, radiation or when undergoing a phase change. For the purposes of this discussion only the first three mechanisms need to be considered. The flow of heat can be delayed by addressing one or more of these mechanisms and is dependent on the physical properties of the material employed to do this. Predicting the pattern of clothing adjustment to climate change can provide important basis for thermal comfort and energy consumption analysis. To achieve reliable results, it is necessary to provide precise inputs, such as clothing thermal parameters. These values are usually presented in a standing body position and scarcely reported locally for individual body parts. Moreover, as an air gap distribution is both highly affected by a given body position and critical for clothing insulation, this needs to be taken into account.

The contribution of shape features and demographic variables to disembedding abilities

Humans typically perceive visual patterns in a global manner, and are remarkably capable of extracting object shapes based on properties such as proximity, closure, symmetry, and good continuation. Notwithstanding people’s attitude toward perceptual grouping, the research highlighted differences in disembedding performance across individuals, summarized by the field dependence/independence dimension. Previous studies revealed that age and educational attainment explain part of this variability, whereas the role of sex is still highly debated. Also, which stimulus features primarily influence inter-individual variations in perceptual grouping has to be fully determined.Building upon these premises, we assessed the role of age, level of education and sex on performance at the Leuven-Embedded Figure Test - a proxy of disembedding abilities - in a sample of 391 cisgender individuals. We also investigated whether stimulus symmetry, closure, complexity, and continuation relate to task accuracy as a function of personal characteristics.Overall, target asymmetry and continuation with the embedding context increase task difficulty, whereas target complexity demonstrates a U-shaped relationship with disembedding performance. Further, results unveil sex differences that have not been reported so far in adults and support the association between age, educational attainment, and disembedding abilities. Male individuals also benefit more from target symmetry and closure and are better at recognizing shapes when the embedding context is challenging. Lastly, highly educated adults better recognize asymmetrical and open targets, as well as shapes embedded in complex contexts. Taken together, our findings show how shape features relate to individual characteristics in explaining field independence.

On Compton scattering as a source of background in coherent diffraction imaging experiments

Compton scattering is generally neglected in diffraction experiments because the incoherent radiation it generates does not give rise to interference effects and therefore is negligible at Bragg peaks. However, as the scattering volume is reduced, the difference between the Rayleigh (coherent) and Compton (incoherent) contributions at Bragg peaks diminishes and the incoherent part may become substantial. The consequences can be significant for coherent diffraction imaging at high scattering angles: the incoherent radiation produces background that smears out the secondary interference fringes, affecting thus the achievable resolution of the technique. Here, a criterion that relates the object shape and the resolution is introduced. The Compton contribution for several object shapes is quantified, and it is shown that the maximum achievable resolution along different directions has a strong dependence on the crystal shape and size.

Multi-Criteria Assessment of Shape Quality in CAD Systems of the Future

Unlike many other works, where authors are usually focused on one or two quality criteria, the current manuscript, which is a generalization of the article [35] published in Russian, offers a multi-criteria approach to the assessment of the shape quality of curves that constitute component parts of the surfaces used for the computer modelling of object shapes in various types of design. Based on the analysis of point particle motion along a curved path, requirements for the quality of functional curves are proposed: a high order of smoothness, a minimum number of curvature extrema, minimization of the maximum value of curvature and its variation rate, minimization of the potential energy of the curve, and aesthetic analysis from the standpoint of the laws of technical aesthetics. The authors do not set themselves the task of giving a simple and precise mathematical definition of such curves. On the contrary, this category can include various curves that meet certain quality criteria, the refinement and addition of which is possible in the near future. Engineering practice shows that quality criteria can change over time, which does not diminish the need to develop multi-criteria methods for assessing the quality of geometric shapes. Technical issues faced during edge rounding in 3D models that affect the quality of industrial design product shape have been reviewed as an example of the imperfection of existing CAD systems.