We address the problem of grasping everyday objects that are small relative to an anthropomorphic hand, such as pens, screwdrivers, cellphones, and hammers from their natural poses on a support surface, e.g., a table top. In such conditions, state of the art grasp generation techniques fail to provide robust, achievable solutions due to either ignoring or trying to avoid contact with the suppor...

Power Assist Wheelchair (PAW) has being developed for users and caregivers in current high aging society. As a human-machine system, it is important for PAW to sense the human force and operation. In this paper, a Disturbance Observer (DOB) based force estimator is applied to PAW to estimate external forces including the human force, the rolling resistance and the sliding resistance. The rollin...

This paper demonstrates the iTaSC approach to a force-sensorless and bimanual human-robot comanipulation task on a tree-structured robot, comprising (i) co-manipulation of an object with a person, (ii) dynamic and static obstacle avoidance with its base, (iii) maintaining visual contact with the operator, and (iv) unnatural pose prevention. The task is implemented in a structured way in a reusa...

The objective of this study was to determine if load receptors contribute to the afferent-mediated enhancement of ankle extensor muscle activity during the late stance phase of the step cycle. Plantar flexion perturbations were presented in late stance while able-bodied human subjects walked on a treadmill that was declined by 4%, inclined by 4% or held level. The plantar flexion perturbation p...

economists, sociologists and others have come to-this conclusion that the only element that eventually will determine the orientation of development, economic and social development of any country is the human resource. hence the physical capital and natural resources are not determinant one in this respect. the development of human resources which is the result of younger generation education ...

Interaction forces between biological molecules such as antigen and antibody play important roles in many biological processes, but probing these forces remains technically challenging. Here, we investigated the specific interaction and unbinding forces between human IgG and rat anti-human IgG using self assembled monolayer (SAM) method for sample preparation and atomic force microscopy (AFM) f...

development of a numerical model which describes launching of offshore jackets from barge is presented in this paper. in this model, in addition to capabilities of commercial softwares, water entry forces on jacket members and an implicit newmark solution technique are included. the results are in general agreement with other numerical software’s available (sacs). fluid forces acting on jacket ...

in order to design and manufacturing some postharvest equipment, determination of some hydrodynamic properties of crops are necessary. the quality of products in global and local markets can be increased by applying these properties and receive economical benefits. for these purpose, two local varieties of apples in the east azerbaijan province, iran(asheghi and gare yapraq)were selected.ashegh...

This paper discusses the application of virtual reality technology in the 3-D visible human body and acupuncture research. Based on the 3-D visible human fused with the localization information and hierarchy of acupoints, the paper analyzes the force against the needle and haptic rendering during the needle manipulation according to the physical properties of different tissues. A haptic model i...

measurement of the loads exerted on the limb is a fundamental part of designing of an assistive device, which has been done by using strain gauges or a transducer. although calculation of loads applied on an orthosis coefficients achieved from calibration is a standard way, most of researchers determined the loads based on available equations. therefore, the aim of this research is finding the ...