Effect of Homogenous Object Stiffness on Tri-digit Grasp Properties

This paper presents experimental findings on how humans modulate their muscle activity while grasping objects of varying levels of compliance. We hypothesize that one of the key abilities that allows humans to successfully cope with uncertainties while grasping compliant objects is the ability to modulate muscle activity to control both grasp force and stiffness in a way that is coherent with the task. To that end, subjects were recruited to perform a grasp and lift task with a tripod-grasp device with contact surfaces of variable compliance. Subjects performed the task under four different compliance conditions while surface EMG from the main finger flexor and extensor muscles was recorded along with force and torque data at the contact points. Significant increases in the extensor muscle (the antagonist in the task) and co-contraction levels were found with increasing compliance at the contact points. These results suggest that the motor system may employ a strategy of increasing co-contraction, and thereby stiffness, to counteract the decreased stability in grasping compliant objects. Future experiments will examine the extent to which this phenomenon is also related to specific task features, such as precision versus power grasp and object weight

Development and validation of haptic devices for studies on human grasp and rehabilitation

This thesis aims to develop and to validate a new set of devices for accurate investigation of human finger stiffness and force distribution in grasping tasks. The ambitious goal of this research is twofold: 1) to advance the state of art on human strategies in manipulation tasks and provide tools to assess rehabilitation procedure, 2) to investigate human strategies for impedance control that can be used for human robot interaction and control of myoelectric prosthesis. The first part of this thesis describes two types of systems that enable to achieve a complete set of measurements on force distribution and contact point locations. More specifically, this part includes: (i) the design process and validation of tripod grasp devices with controllable stiffness at the contact to be used also for rehabilitation purposes, and (ii) the validation of multi-digit wearable sensor system. Results on devices validation as well as illustrative measurement examples are reported and discussed. The effectiveness of these devices in grasp analysis was also experimentally demonstrated and applications to neuroscientific studies are discussed. In the second part of this thesis, the tripod devices are exploited in two different studies to investigate stiffness regulation principles in humans. The first study provides evidence on the existence of coordinated stiffening patterns in human hand fingers and establishes initial steps towards a real-time and effective modelling of finger stiffness in tripod grasp. This pattern further supports the evidence of synergistic control in human grasping. To achieve this goal, the endpoint stiffness of the thumb, index and middle fingers of healthy subjects are experimentally identified and correlated with the electromyography (EMG) signals recorded from a dominant antagonistic pair of the forearm muscles. Our findings suggest that the magnitude of the stiffness ellipses at the fingertips grows in a coordinated way, subsequent to the co-contraction of the forearm muscles. The second study presents experimental findings on how humans modulate their hand stiffness while grasping object of varying levels of compliance. Subjects perform a grasp and lift task with a tripod-grasp object with contact surfaces of variable compliance; EMG from the main finger flexor and extensor muscles was recorded along with force and torque data at the contact points. A significant increase in the extensor muscle and cocontraction levels is evidenced with an increasing compliance at the contact points. Overall results give solid evidence on the validity and utility of the proposed devices to investigate human grasp proprieties. The underlying motor control principles that are exploited by humans in the achievement of a reliable and robust grasp can be potentially integrated into the control framework of robotic or prosthetic hands to achieve a similar interaction performance

Design of an affordable anthropomorphic mechanical prosthetic hand

Includes bibliographical references.This dissertation outlines the conceptualisation, design, manufacture, assembly and experimental testing of an affordable anthropomorphic mechanical hand prosthesis. In many countries, upper-limb amputees lack access to prosthetic hand devices. Furthermore, currently available mechanical devices require a large amount of effort to actuate; fatiguing and frustrating patients who have no other alternative but to use them. Consequently, a need has arisen to provide a mechanical device that is affordable enough to be accessible to low and middle-income patients, is functional enough to allow users to easily perform their Activities of Daily Living (ADLs), and is aesthetically appealing enough to ensure that patients feel comfortable and confident when wearing it. Concept solutions of several mechanisms were identified and evaluated from which the final design was selected. Analytical force analysis was used to generate a mathematical model to analyse the response of each dynamic member in the hand. A linear relationship between the input-force and applied grasp-forces of the hand was identified. Finite Element Analysis (FEA) used to investigate the lateral and hyperextensive loading limits of the phalanges, generated results that corresponded well to the experimental outcomes. Amongst the utilised actuation mechanisms (levers, pulleys, tendon-wires, bearings and springs), the tendon-wires were of concern due to their repetitive tensile loading and relative movement with the phalanges. Tensile testing of various tendon-wires and endurance testing of the phalangeal tendon-channels, yielded a combination which surpassed the infinite life requirement of 1,200,000 loading cycles; with carbon-nylon contact wearing at the lowest rate as confirmed by gravimetric tests in accordance with ASTM F2025 (2000). Manufacture of the hand used rapid prototyping in combination with traditional machining methods and standard components, enabling a fully-assembled cost of R 11,628.37; below the required R 18,000 limit. Various power and precision grasping configurations were achieved and the contact forces satisfactorily maintained, using the hand’s built-in locking mechanism. Feedback gathered from the prosthetist and patients suggested making slight alterations to the hand’s aesthetics and to address minor functional challenges, such as the control of the closing trajectory for precision grasps

複数の静電容量型柔軟触覚デバイスを用いた三軸力センサの開発

早大学位記番号:新7325早稲田大

Fracture Biomechanics of the Human Skeleton

Trauma analysis is a growing area of physical and forensic anthropology. The analysis of fracture patterns is useful in determining cause and manner of death, as well as making inferences about past populations. Traditionally, anthropologists have categorized bone trauma into the discrete categories of blunt, ballistic, and sharp trauma. While these descriptors provide a practical approach, anthropologists need to change the way that trauma is perceived and analysis of fractures is conducted. Bone trauma is best viewed as a continuum (rather than discrete independent categories), with the variables of force, acceleration/deceleration, and surface area of impacting interface governing the appearance of the resulting fractures. The application of this new way of thinking will allow anthropologists to better understand bone fracture and injury to the body as a relationship between the engineering inputs and the anatomical outputs. This new way of thinking is applied to the human skeleton and tested through a series of experimental studies and injury data analyses. The studies include fracture propagation and patterning in the skull, the response of the thorax/upper body to propeller induced trauma, force tolerance for human phalanges, and mechanics of lower limb fractures. The results from these studies assist in reiterating the importance of variables (or “engineering inputs”), such as force, surface area of impacting interface, and acceleration/deceleration, on the resulting injury and fracture patterns (“anatomical outputs”) of the human body. As expected, the magnitude of force clearly influences the severity of fractures. However, comparison of force magnitude is not a “one-to-one” comparison. Surface area between the impacting object and the bone is a crucial variable. It essentially explains differences between blunt and sharp trauma. An example of the surface area variable in this experimental testing involved the propeller impacts to the buttocks and upper body. Note, though, as failure occurs, surface area interfacing can change, resulting in sharp trauma wounds that could contain characteristics of blunt trauma, or vice versa. Intrinsic properties of the bone (such as geometry, location, quality of bone) and its anisotropic and viscoelastic nature should also be considered along with these other engineering variables

Towards adaptive and autonomous humanoid robots: from vision to actions

Although robotics research has seen advances over the last decades robots are still not in widespread use outside industrial applications. Yet a range of proposed scenarios have robots working together, helping and coexisting with humans in daily life. In all these a clear need to deal with a more unstructured, changing environment arises. I herein present a system that aims to overcome the limitations of highly complex robotic systems, in terms of autonomy and adaptation. The main focus of research is to investigate the use of visual feedback for improving reaching and grasping capabilities of complex robots. To facilitate this a combined integration of computer vision and machine learning techniques is employed. From a robot vision point of view the combination of domain knowledge from both imaging processing and machine learning techniques, can expand the capabilities of robots. I present a novel framework called Cartesian Genetic Programming for Image Processing (CGP-IP). CGP-IP can be trained to detect objects in the incoming camera streams and successfully demonstrated on many different problem domains. The approach requires only a few training images (it was tested with 5 to 10 images per experiment) is fast, scalable and robust yet requires very small training sets. Additionally, it can generate human readable programs that can be further customized and tuned. While CGP-IP is a supervised-learning technique, I show an integration on the iCub, that allows for the autonomous learning of object detection and identification. Finally this dissertation includes two proof-of-concepts that integrate the motion and action sides. First, reactive reaching and grasping is shown. It allows the robot to avoid obstacles detected in the visual stream, while reaching for the intended target object. Furthermore the integration enables us to use the robot in non-static environments, i.e. the reaching is adapted on-the- fly from the visual feedback received, e.g. when an obstacle is moved into the trajectory. The second integration highlights the capabilities of these frameworks, by improving the visual detection by performing object manipulation actions

Design and Exploration of Feedforward Haptic Feedback in Anthropomorphically-Driven Prostheses

Here, we present a wearable, anthropomorphically-driven prosthesis with a built-in haptic feedback system. The device was designed and built to accommodate specific design parameters. Two control schemes were proposed and compared in a user study with N=6 able-bodied participants performing the Box and Blocks test. The first control scheme was designed to provide an intuitive, human-like actuation and relaxation of the hand, while the other controller was designed to reduce fatigue from sustaining EMG signals. Participants performed significantly better with lower fatigue levels while using the intuitive controller as opposed to the second controller. In addition, task performance with both controllers was better than reported performance with standard myoelectric prostheses. In addition, a second experiment compared the unilateral manual dexterity of N=3 able-bodied participants under three distinct conditions: vibration haptic feedback, skin stretch haptic feedback, and no haptic feedback. These findings suggest that there is utility in wearable anthropomorphically-driven prostheses, and provide support for future studies aimed at exploring anthropomorphically-driven prostheses

Engineering Dynamics and Life Sciences

From Preface: This is the fourteenth time when the conference “Dynamical Systems: Theory and Applications” gathers a numerous group of outstanding scientists and engineers, who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without a great effort of the staff of the Department of Automation, Biomechanics and Mechatronics. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and Ministry of Science and Higher Education of Poland. It is a great pleasure that our invitation has been accepted by recording in the history of our conference number of people, including good colleagues and friends as well as a large group of researchers and scientists, who decided to participate in the conference for the first time. With proud and satisfaction we welcomed over 180 persons from 31 countries all over the world. They decided to share the results of their research and many years experiences in a discipline of dynamical systems by submitting many very interesting papers. This year, the DSTA Conference Proceedings were split into three volumes entitled “Dynamical Systems” with respective subtitles: Vibration, Control and Stability of Dynamical Systems; Mathematical and Numerical Aspects of Dynamical System Analysis and Engineering Dynamics and Life Sciences. Additionally, there will be also published two volumes of Springer Proceedings in Mathematics and Statistics entitled “Dynamical Systems in Theoretical Perspective” and “Dynamical Systems in Applications”

Arterial Stiffness In Children With And Without Developmental Coordination Disorder

The purpose of this study was to determine whether children with potential developmental coordination disorder (p-DCD) demonstrate increased arterial stiffness and thickness compared to age and school matched controls (mean age 14.7 yrs). We also assessed whether these measures differed by sex. Compliance, distensibility, and intima-media thickness (IMT) were measured at the common carotid artery for 28 children with p-DCD and 47 controls. ECG-R-wave-toe pulse wave velocity (PWV) was also measured for 29 children with p-DCD and 45 controls. We found that compared to controls males with p-DCD had significantly higher PWV (3.8±0.2 vs. 4.1±0.3, p=0.001) and lower distensibility (0.82± 0.19 vs. 0.70± 0.17, p=0.034) while females showed no significant differences (p=0.523 and p=0.123 respectively). As a result, it is apparent that sex differences exist with respect to arterial health within this population and that children with p-DCD may be more likely to develop cardiovascular disease later in life

Industrial Robotics

This book covers a wide range of topics relating to advanced industrial robotics, sensors and automation technologies. Although being highly technical and complex in nature, the papers presented in this book represent some of the latest cutting edge technologies and advancements in industrial robotics technology. This book covers topics such as networking, properties of manipulators, forward and inverse robot arm kinematics, motion path-planning, machine vision and many other practical topics too numerous to list here. The authors and editor of this book wish to inspire people, especially young ones, to get involved with robotic and mechatronic engineering technology and to develop new and exciting practical applications, perhaps using the ideas and concepts presented herein