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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： O. Christ J. Wojtusch P. Beckerle K. Wolff J. Vogt O. von Stryk S. Rinderknecht Department of Human Science Work and Engineering Psychology Research Group Technische Universit?t Darmstadt 64283 Darmstadt Germany Department of Computer Science Simulation Systems Optimization and Robotics Group Technische Universit?t Darmstadt 64289 Darmstadt Germany Department of Mechanical Engineering Institute for Mechatronic Systems in Mechanical Engineering Technische Universit?t Darmstadt 64287 Darmstadt Germany

ISBN: (纸本)9781424441198

After an amputation, processes of change in the body image as well as a change in body scheme have direct influences on the quality of living in every patient. Within this paper, a paradigm of experimental induced body illusion (the Rubber Hand Illusion, RHI) is integrated in a prosthetic hardware simulator concept. This concept combines biodynamical and visual feedback to enhance the quality of rehabilitation and to integrate patients' needs into the development of prostheses aiming on user-centered solutions. Therefore, user-centered design parameters are deducted. Furthermore, the basic concept of the visual simulation is presented and a possibility for its implementation is given. Finally, issues and conclusions for future work are described.

关键词： amputation processes conclusions

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Accurate Evaluation of a Distance Function for Optimization-based Motion Planning

Accurate Evaluation of a Distance Function for Optimization-...

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IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： Youngeun Lee Sébastien Lengagne Abderrahmane Kheddar Young J. Kim Department of Computer Science and Engineering at Ewha Womans University in Seoul Korea Karlsruhe Institute of Technology Institute for Anthropomatics Humanoids and Intelligence Systems Lab Adenauerring 2 76131 Karlsruhe Germany CNRS-AIST Joint Robotics Laboratory (JRL) UMI3218/CRT Tsukuba Japan and also with the CNRS-UM2 LIRMM Interactive Digital Human group Montpellier France.

ISBN: (纸本)9781467317375

We propose three novel methods to evaluate a distance function for robotic motion planning based on semi-infinite programming (SIP) framework;these methods include golden section search (GSS), conservative advancement (CA) and a hybrid of GSS and CA. The distance function can have a positive and a negative value, each of which corresponds to the Euclidean distance and penetration depth, respectively. In our approach, each robot's link is approximated and bounded by a capsule shape, and the distance between some selected link pairs is continuously evaluated along the joint's trajectory, provided by the SIP solver, and the global minimum distance is found. This distance is fed into the SIP solver, which subsequently suggests a new trajectory. This process is iterated until no negative distance is found anywhere in the links of the robot. We have implemented the three distance evaluation methods, and experimentally validated that the proposed methods effectively and accurately find the global minimum distances to generate a self-collision-free motion for the HRP-2 humanoid robot. Moreover, we demonstrate that the hybrid method outperforms other two methods in terms of computational speed and reliability.

关键词： Motion Planning GSS SIP motion planning distance function Aerospace ground services PRNP gene STATE IMPLEMENTATION PLANS TSACC gene Global Minimum Robot Euclidean distance

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Diagonalization of Arm Kinematics by the Use of Bi-Articular Muscles

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SICE Journal of Control, Measurement, and System Integration 2011年第2期4卷 114-119页

作者： Takashi Mitsuda Sadao Kawamura Mitsunori Uemura Masahiro Sekimoto Department of Human and Computer Intelligence Ritsumeikan University Department of Robotics Ritsumeikan University Graduate School of Science and Engineering for Research University of Toyama

Mapping from visual information to motor commands is an important issue in the study of voluntary arm movement. The joint kinematics of a human-like planar arm, which is generally described as a nonlinear function in a Cartesian coordinate system, can be approximately linearized in a head-centered polar coordinate system. This study shows that the mapping from the muscle lengths to the hand position in a head-centered polar coordinate system can also be approximately linearized. In addition, this study proposes a diagonalization of the kinematics that involves adjusting the moment arms of the muscles; in this diagonalization, the muscle lengths of two bi-articular muscles are proportional to the distance and direction from the head.

关键词： hand-eye mapping muscle moment arms bi-articular muscle linear approximation

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human hand: Kinematics, statics and dynamics

Human hand: Kinematics, statics and dynamics

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41st International Conference on Environmental Systems 2011, ICES 2011

作者： Chen, Fai Chen Favetto, Alain Mousavi, Mehdi Ambrosio, Elisa P. Appendino, Silvia Battezzato, Alessandro Manfredi, Diego Pescarmona, Francesco Bona, Basilio Italian Institute of Technology Center for Space Human Robotics Corso Trento 21 10129 Torino Italy Department of Mechanics Politecnico di Torino Corso Duca degli Abruzzi 24 10129 Torino Italy Department of Control and Computer Engineering Politecnico di Torino Corso Duca degli Abruzzi 24 10129 Torino Italy Center for Space Human Robotics Corso Trento 21 10129 Torino Italy

ISBN: (纸本)9781600869488

The human hand is an extremely complex system due to its large number of degrees of freedom (DoF) within a significantly reduced space. Moreover, it is required for most of the tasks performed by humans. That is why it is necessary to understand deeply all the characteristics of the human hand in order to develop devices interacting with it: to support it, to substitute injured parts, to help the recovery from injuries, or to enhance the performances while preserving its natural level of dexterity. The aim of this paper is to provide a complete and exhaustive summary of the kinematic, static and dynamic characteristics of the human hand as a preliminary step towards the development of hand devices such as prosthetic/robotic hands and exoskeletons. Both fields provide promising opportunities in research and space applications;the former through humanoid robotic helpers (e.g., Eurobot, Robonaut), the latter through the rising necessity to help the astronauts during Extravehicular Activity (EVA). In literature, several papers can be found analyzing kinematics, workspace, constraints and forces of the human hand2,4. However this information is scattered among several papers, regarding in particular the exerted forces and the dependencies of joint forces and velocities from the angular values of the same joint or the adjacent one. Direct and inverse kinematics are presented for all the fingers and the data related to maximum forces, velocities, acceleration for each joint of each finger has been collected and is presented in this work. © 2011 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Space applications

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Spacesuits and EVA gloves evolution and future trends of extravehicular activity gloves

Spacesuits and EVA gloves evolution and future trends of ext...

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41st International Conference on Environmental Systems 2011, ICES 2011

作者： Mousavi, M. Mehdi S. Ambrosio, Elisa Paola Appendino, Silvia Chen, Fai Chen Favetto, Alain Manfredi, Diego Pescarmona, Francesco Somà, Aurelio Italian Institute of Technology Center for Space Human Robotics Corso Trento 21 10129 Torino Italy Department of Mechanics Politecnico di Torino Corso Duca degli Abruzzi 24 10129 Torino Italy Center for Space Human Robotics Corso Trento 21 10129 Torino Italy Department of Control and Computer Engineering Politecnico di Torino Corso Duca degli Abruzzi 24 10129 Torino Italy

ISBN: (纸本)9781600869488

The total time of Extravehicular Activity (EVA) performed by astronauts has increased significantly during the past few years. On the other hand, the bulk and stiffness of the suit itself and in particular of the gloves generate some difficulties for the astronauts to perform their tasks in space. Therefore, it is necessary to improve the EVA glove technology for future needs. Since a lack of categorized information for those who want to improve EVA gloves is evident, in this work a survey on related literature has been carried out and fundamental data has been categorized. The paper starts with an overview on the historical and chronological progress of EVA suits and EVA gloves followed by a review of the previously demonstrated EVA gloves including American and Russian ones. The remaining part of the paper is dedicated to the characteristics of current EVA gloves and to present and future trends in research for further improvements. © 2011 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Manned space flight

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Erratum to: Top-Down Silicon Nanowire-Based Thermoelectric Generator: Design and Characterization

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Journal of Electronic Materials 2012年第6期41卷 1858-1858页

作者： Li, Y. Buddharaju, K. Singh, N. Lee, S.J. Institute of Microelectronics A*STAR (Agency for Science Technology and Research) Singapore Singapore Department of Electrical and Computer Engineering NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore Singapore Sungkyunkwan University (SKKU) SKKU Advanced Institute of Nanotechnology (SAINT) Center for Human Interface Nano Technology (HINT) and School of Information and Communication Engineering Suwon Korea

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Welcome from the technical program chairs

Welcome from the technical program chairs

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IEEE International Conference on Pervasive Computing and Communications (PerCom)

作者： Jadwiga Indulska Claudio Bettini Roy Campbell Cecilia Mascolo Centro E. Piaggio and the Department of Information Engineering University of Pisa Pisa Italy Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA “Soft Robotics for Human Cooperation and Rehabilitation” Lab Istituto Italiano di Tecnologia Genoa Italy

A warm welcome to the Ninth Annual IEEE International Conference on Pervasive Computing and Communications (PerCom 2011). We are very excited to introduce you to the technical program of our conference that this year includes 27 papers representing high-quality research conducted over the broad spectrum of topics related to pervasive computing.

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Whole body large wall display interfaces

Whole body large wall display interfaces

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28th Annual CHI Conference on human Factors in Computing Systems, CHI 2010

作者： Shoemaker, Garth Tsukitani, Takayuki Kitamura, Yoshifumi Booth, Kellogg S. Department of Computer Science University of British Columbia Canada Human Interface Engineering Lab. Osaka University Japan

ISBN: (纸本)9781605589312

This video demonstrates an application that uses a body-centric approach to support interaction with very large wall displays. The design is centered on a virtual body model that represents the users in the context of the workspace, relative to one another as well as to the display(s). This concept of body-centric interaction serves both as a design philosophy and an implementation approach and is both general and powerful. Our approach is general because if the model is detailed enough, a broad range of interaction techniques can be implemented. It is powerful because it opens up an entire class of new interaction techniques: those that depend on properties of a users' body, such as arm or hand pointing direction, head direction, or body location or orientation. The video highlights some of the body-centric interaction techniques that we believe are of value based on how people use their bodies in the everyday world. © 2010 Copyright is held by the author/owner(s).

关键词： human engineering

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Body-centric interaction techniques for very large wall displays 10

Body-centric interaction techniques for very large wall disp...

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Proceedings of the 6th Nordic Conference on human-computer Interaction: Extending Boundaries

ISBN: (纸本)9781605589343

We examine the design space of interaction techniques for very large wall displays by drawing from existing theory and practice for reality-based interfaces and whole-body interfaces. We also apply insights drawn from research in psychology about the human cognitive mechanisms that support sensorimotor operations in different coordinate spaces, as well as research in sociology examining how people manage coordination and privacy concerns in these spaces. Using guidelines obtained from these analyses, we designed and implemented a novel suite of body-centric interaction techniques. These were integrated into a map browsing and editing application for a very large (5m×3m) wall display. The application was then used to gather user feedback to guide the further development of the interaction techniques. © 2010 ACM.

关键词： gesture-based interaction proxemics multimodal embodied interaction reality-based interaction post-WIMP interfaces

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Senior-friendly technologies: Interaction design for senior users

Senior-friendly technologies: Interaction design for senior ...

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28th Annual CHI Conference on human Factors in Computing Systems, CHI 2010

作者： Duh, Henry Been-Lirn Do, Ellen Yi-Luen Billinghurst, Mark Quek, Francis Chen, Vivian Hsueh-Hua National University of Singapore Department of Electrical and Computer Engineering 4 Engineering Drive 3 Singapore 117576 Singapore Georgia Institute of Technology College of Architecture School of Interactive Computing 245 Fourth Street Atlanta GA 30332-0155 United States University of Canterbury Human Interface Laboratory Old Maths Building New Zealand Virginnia Tech. Department of Computer Science Center for Human Computer Interaction Blacksburg VA 24061 United States Nanyang Technological University Wee Kim Wee School of Communication and Information 31 Nanyang Link Singapore 637718 Singapore

ISBN: (纸本)9781605589312

The elderly represent a valid group of users who can potentially benefit greatly from engaging with technology, such as healthcare systems or playing digital games. Yet, less attention has been given to the significance of senior citizens as technology users, as compared to the common younger population. In an effort to fill in the gap, this workshop aims to investigate the design of technology for senior citizens. To provide for more focused, thus more productive discussion, we will use elderly mobile phone games as a case in point here. The overarching objective is to understand what can help to make for better and more meaningful use of interactive applications and technology by the elderly, for instance, games on the mobile phone. © 2010 Copyright is held by the author/owner(s).

关键词： Cellular telephones

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