Most character motion capture data does not contain secondary motions like detailed hand motion, therefore the resultant animation looks unnatural due to the stiffness of hand motion. In this paper, we analyzed the pose space distance from the character’s motion capture data and used stepwise searching algorithm to find the key poses for hand motion synthesis. We adaptively changed the contrast...

| We describe a global motion planner for manipulating 3D objects by a dextrous robotic hand. We focus on the so-called re-connguration problem: nd a feasible trajectory (motions and contact forces) that moves a hand-object system from an initial grasp to a nal desired connguration of the object. The planner is designed as a three-level process combining a graph search on the conngu-ration spac...

Methods 17-year-old female gymnast, left hand dominant, started hand therapy 8 weeks after a vascularised medial femoral trochlea osteochrondral flap reconstruction to her right wrist. Initial status, 8 weeks post-operation: AROM fingers full; AROM wrist extension 20°; AROM wrist flexion 15°; AROM wrist radial deviation 8°; AROM wrist ulnar deviation 8°; AROM pronation 70°; AROM supination 90°;...

This paper presents grasp planning for a multifingered hand with a humanoid robot. Our planner selects different ways of grasping even for the same object according to object position/orientation. If the planner cannot find a feasible grasp with arm/hand kinematics, it switches to full body motion planning. These functions are necessary for realizing the robust grasp planning. Our planner defin...

This paper describes a method for obtaining mobile manipulator's motion sequence by indicating goal-hand pose. The proposed entails recording various robot motions as large number of sequences and associated swept volumes (SVs) then selecting the most appropriate SV current situation. In addition, can be altered while is in motion, transition generated using sequential quadratic programming, en...

objective(s): one applications of nanotechnology is in the area of medicine which is called nanomedicine. primary instruments in nanomedicine can help us to detect diseases and used for drug delivery to inaccessible areas of human tissues. an important issue in simulating the motion of nanoparticles is modeling blood flow as a newtonian or non-newtonian fluid. sometimes blood flow is simulated ...

The primary purpose of this study was to design a set of algorithm, which can compute the optimal trajectory (OT) for 3D human single-hand suspension motion. To achieve this goal, the study first established a 15-segment human body model (HBM). Then based on Lagrange-Euler equations (LEE) of motion and seven types of homogeneous transformation matrices (CH-7T) proposed by Chiu [1] , the study d...