206 research outputs found
A Method for Digital Representation of Human Movements
In this work we present a method to produce a
model of human motion based on an expansion in functions series.
The model is thought to reproduce the learned movements
generalizing them to different conditions. We will show, with an
example, how the proposed method is capable to produce the
model from a reduced set of examples preserving the relevant
features of the demonstrations while guaranteeing constraints
at boundaries
A 6-DOF haptic manipulation system to verify assembly procedures on CAD models
During the design phase of products and before going into production, it is
necessary to verify the presence of mechanical plays, tolerances, and
encumbrances on production mockups. This work introduces a multi-modal system
that allows verifying assembly procedures of products in Virtual Reality
starting directly from CAD models. Thus leveraging the costs and speeding up
the assessment phase in product design. For this purpose, the design of a novel
6-DOF Haptic device is presented. The achieved performance of the system has
been validated in a demonstration scenario employing state-of-the-art
volumetric rendering of interaction forces together with a stereoscopic
visualization setup
confined spaces industrial inspection with micro aerial vehicles and laser range finder localization
This work addresses the problem of semi-automatic inspection and navigation in confined environments. A system that overcomes many challenges at the state of the art is presented. It comprises a mu..
Design and Development of a Hand Exoskeleton Robot for Active and Passive Rehabilitation
The present work, which describes the mechatronic design and development of a novel rehabilitation robotic exoskeleton hand, aims to present a solution for neuromusculoskeletal rehabilitation. It presents a full range of motion for all hand phalanges and was specifically designed to carry out position and force-position control for passive and active rehabilitation routines. System integration and preliminary clinical tests are also presented
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