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1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990

作者： Kaneko, Makoto Tanie, Kazuo Computer Science and System Engineering Kyushu Institute of Technology Kawazu 680-4 Iizuka-shi Fukuoka820 Japan Cybernetics Division Robotics Department Mechanical Engineering Laboratory Namiki 1-2 Tsukuba-shi Ibaraki305 Japan

This paper focuses on a scheme for searching for a contact point between a multifmgered hand and an unknown object. Instead of mounting a attributed tactile sensor all over the finger links, we propose an active touch approach using joint compliance from the viewpoint of considerably reduced hardware improvement. The algorithm is composed of two phases. One is the approach phase, in which each finger is opened widely and approaches to an object until a part of a finger link is in contact with the object. The other is the detection phase, in which each finger posture is changed with slip while maintaining Contact between object and finger. Using two selected postures during the detection phase we can compute the intersecting point which leads to an approximate contact point. With a suitable combination of compliant joints and position-controlled joints, a finger link has the capability of changing its posture while maintaining contact with an object over a small angular displacement at a particular joint. This motion is essential in the contact point detection phase. The proposed algorithm is confirmed through simple experiments using a two-fingered robot hand. © 1990 institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Object detection

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IROS: an intelligent rehabilitative orthotic system for cerebrovascular accident

IROS: an intelligent rehabilitative orthotic system for cere...

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IEEE International Conference on Systems, Man and Cybernetics

作者： S. Lee A. Agah G. Bekey Institute for Robotics and Intelligent Systems Department of Electrical Engineering University of Southern California Los Angeles CA USA Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los Angeles CA USA

An intelligent externally powered orthotic system (exoskeleton) for the treatment of motor dysfunctions of the upper extremities of stroke patients is described. IROS is an interactive and cooperative human-machine system, with both controlling the human arm. Initially, the machine is the main controller of the arm. As the patient improves, the human control of the arm increases, and the machine control of the arm decreases. The system combines the skills of professional therapists with a sensor-integrated orthosis and a real-time graphics system to ensure proper interaction and cooperation with the patient in order to achieve the goals of therapy. It uses the expertise of the therapists, which is incorporated into its knowledge system, while monitoring the sensory information from the patient, including the force, motion, and electromyogram (EMG) signals. The treatment-related tasks are displayed on the real-time graphic system to increase the interest and enhance the motivation of the patient. Such a system can be used to improve the rehabilitation process for stroke patients.< >

关键词： Intelligent systems Orthotics Medical treatment Machine intelligence Humans Real time systems Graphics Exoskeletons Extremities Man machine systems

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A three fingered, multijointed gripper for experimental use

A three fingered, multijointed gripper for experimental use

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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

作者： W. Paetsch M. Kaneko Department of Control Engeneering Control Systems Theory and Robotics Section Technical University of Darmstadt Germany Computer Science and System Engeneering Kyushu Institute of Technology Iizuka Japan

A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture is designed for this special purpose. The gripper system provides the basic means in terms of position and force control to perform experiments about grasping and object motion in a useful way. The gripper can be used to develop and evaluate different approaches of stable grasping and object manipulation. Results of the control of the gripper on joint level, the Cartesian behaviour of the fingers and some experiences with the grasping and manipulation experiments using the presented system are reported.< >

关键词： Grippers Control systems Robot sensing systems Space technology Force control Fingers Orbital robotics Computational modeling computer simulation Grasping

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Shape description from imperfect and incomplete data

Shape description from imperfect and incomplete data

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International Conference on Pattern Recognition

作者： K. Rao R. Nevatia Image Understanding Branch Computer Science Center Texas Instruments Inc. Dallas TX USA Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

Usually, shape description systems assume that a scene has been segmented into objects and that object boundaries are given. This, however, is not realistic when working with intensity images; the resulting boundaries are fragmented and contain surface markings, and shadow and noise boundaries. A system is described which works with such input and computes shape descriptions of complex objects. Scene segmentation takes place through shape description. Generalized cones or, more precisely, their 2D analogs of ribbons are used as the basic shape representation scheme. Results for synthetic and real examples are shown. The output of the system is useful for object recognition, learning, further inference of 3D shape, grasping, and navigation.< >

关键词： Shape Layout Image segmentation Intelligent robots Noise shaping Object recognition Navigation Intelligent systems computer science Instruments

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A finger shaped tactile sensor using an optical waveguide

A finger shaped tactile sensor using an optical waveguide

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Annual Conference of Industrial Electronics Society

作者： N. Nakao M. Kaneko N. Suzuki K. Tanie NTT Tsukuba Field Engineering Development Center Tsukuba Ibaraki Japan School of Computer Science and System Engineering Department Kyushu Institute of Technology Fukuoka Japan Cybernetics Division Robotics Department Mechanical Engineering Laboratory Tsukuba Ibaraki Japan

A finger-shaped tactile sensor consisting of a charge-coupled device (CCD) and a semispherical optical waveguide covered with an elastic sheet and connected to a light source is proposed. The principle of the sensor is based on producing the scattering light at the sensor-object contact. The contact location is recognized using a CCD to detect light. By a simple calculation of the equation derived from the sensor surface geometry, the sensor can also provide the surface normal of the touched object. Through experiments using a prototype sensor, the fundamental characteristics of the sensor are evaluated and the principle of the sensor is confirmed.< >

关键词： Optical waveguides Fingers Tactile sensors Optical sensors Sensor phenomena and characterization Optical scattering Charge coupled devices Optical surface waves Optical devices Light sources

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A microfabricated three-degree-of-freedom parallel mechanism

A microfabricated three-degree-of-freedom parallel mechanism

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IEEE International Conference on Micro Electro Mechanical Systems

作者： F. Behi M. Mehregany K.J. Gabriel Robotics Research Department Machine Perception Research Department AT and T Bell Laboratories Inc. Holmdel NJ USA Microsystems Technology Laboratories Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA USA Tokyo Japan

A microfabricated, three-degree-of-freedom, passive, closed-chain, planar mechanism with the potential for low-torque precision positioning applications is presented. A parallel-link mechanism design is selected rather than a serial-link implementation, since parallel-link mechanisms can operate with stationary actuators and are more rigid than their serial counterparts. Polysilicon surface micromachining is used to fabricate a mechanism which has a total area of 0.13 mm/sup 2/ and a workspace of approximately 0.01 mm/sup 2/. The fabrication process for the mechanism is described, identifying the effect on device performance of constraints imposed by the microfabrication; most notably joint clearances, component nonplanarity, and residual-stress-induced linkage deformations. The requisite formulations for the kinematics and dynamics of the device are presented which, in conjunction with the documented measurements of friction on structures of similar geometry and material, indicate that the dominant torque loads are due to friction.< >

关键词： Fabrication Micromotors Couplings Kinematics Actuators Friction Silicon Micromachining Torque measurement Appropriate technology

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ROUGH CLASSIFICATION IN INCOMPLETE INFORMATION-SYSTEMS

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MATHEMATICAL AND computer MODELLING 1989年第10-11期12卷 1347-1357页

作者： SLOWINSKI, R STEFANOWSKI, J Institute of Computer Science Control Engineering and Robotics Technical University of Poznań 60∗965 Poznań Poland

The paper is concerned with the problems of rough sets theory and rough classification of objects. It is a new approach to problems from the field of decision-making, data analysis, knowledge representation, expert systems etc. Several applications (particularly in medical diagnosis and engineering control) confirm the usefulness of the rough sets idea. Rough classification concerns objects described by multiple attributes in a so-called information system. Traditionally, the information system is assumed to be complete, i.e. the descriptors are not missing and are supposed to be precise. In this paper we investigate the case of incomplete information systems, and present a generalization of the rough sets approach which deals with missing and imprecise descriptors.

关键词： Information science

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Probabilistic estimation mechanisms and tesselated representations for sensor fusion

Probabilistic estimation mechanisms and tesselated represent...

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Sensor Fusion: Spatial Reasoning and Scene Interpretation

作者： Matthies, Larry Elfes, Alberto Computer Science Department and Robotics Institute Carnegie- Mellon University PittsburghPA15213 United States

ISBN: (纸本)9780819400383

Two fundamental issues in sensor fusion are (1) the definition of model spaces for representing objects of interest and (2) the definition of estimation procedures for instantiating representations, with descriptions of uncertainty, from noisy observations. In 3-D perception, model spaces frequently are defined by contour and surface descriptions, such as line segments and planar patches. These models impose strong geometric limitations on the class of scenes that can be modelled and involve segmentation decisions that make model updating difficult. In this paper, we show that random field models provide attractive, alternative representations for the problem of creating spatial descriptions from stereo and sonar range measurements. For stereo ranging, we model the depth at every pixel in the image as a random variable. Maximum likelihood or Bayesian formulations of the matching problem allow us to express the uncertainty in depth at each pixel that results from matching in noisy images. For sonar ranging, we describe a tesselated spatial representation that encodes spatial occupancy probability at each cell. We derive a probabilistic scheme for updating estimates of spatial occupancy from a model of uncertainty in sonar range measurements. These representations can be used in conjunction to build occupancy maps from both sonar and stereo range measurements. We show preliminary results from sonar and single-scanline stereo that illustrate the potential of this approach. We conclude with a discussion of the advantages of the representations and estimation procedures used in this paper over approaches based on contour and surface models.

关键词： Sonar

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Reasoning about grasping from task descriptions 7

Reasoning about grasping from task descriptions

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Intelligent Robots and computer Vision VII 1988

作者： Liu, Huan Iberall, Thea Bekey, George A. Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los AngelesCA90089 United States

The advent of multiple degree of freedom, dextrous robot hands has made robot hand control more complicated. Besides the existing problem of finding a suitable grasping position and approach orientation, it is now necessary to decide the appropriate hand shape to use for a given task. In order to deal with this additional complexity, we focus on how to represent prehensile tasks for mapping task descriptions into suitable hand shapes, positions and orientations. A generic robot hand control system GeSAM is being implemented to refine task descriptions into suitable dextrous robot hand shapes using Knowledge Craft on a TI lisp machine. © 1989 SPIE. All rights reserved.

关键词： Robotic arms

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A QUANTIFICATION OF DEXTERITY

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robotics AND computer-INTEGRATED MANUFACTURING 1989年第1期6卷 3-14页

作者： STURGES, RH WRIGHT, PK Department of Mechanical Engineering and the Robotics Institute Carnegie-Mellon University Pittsburgh PA 15213 U.S.A. The second author is now in the Department of Computer Science of the Courant Institute of Mathematical Sciences at New York University New York NY 10012 U.S.A.

The need for a quantitative measure of dexterity has been reviewed. The interactions of the task being performed and the candidate robotic manipulator to be used have been considered. Intuitive notions of dexterity have been discussed, based on the scaling laws of biological systems. They can be expressed as effector capabilities, independent of task. Task/manipulator interactions have been quantified in the human perspective through design rules and measures of human motor capacity. Machine dexterity is shown to have parallel measures and limitations. A non-dimensional definition of dexterity has been proposed. The definition is independent of scale, and it can provide a quantitative measure between different robotic systems that have varying degrees of dexterity.

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