Optimisation of anthropomorphic robot hand design through human manual dexterity testing

In this work, a new systematic approach towards the classification of the attributes of anthropomorphic hands with respect to their influence on manual dexterity is proposed. This approach involves the application of standard manual dexterity tests, normally applied in medically related fields and in industry, on healthy human subjects who have specific attributes of their hands selectively constrained or blocked for the duration of the tests. The contribution of the constrained attributes towards manual dexterity can then be assessed from the test results. To demonstrate this method, we have investigated the contribution of different degrees-of-freedom of the human hand to its performance rating in the dexterity tests, with the objective of using the results to help us design a new robot hand that maximizes dexterity through optimal use of resources. Further applications of this approach are also discussed.peer-reviewe

Development of an anthropomorphic robot finger : mechanical and kinematic aspects

In this work, we report on the mechanical design and development, the kinematic analysis, and the simulation of a new dexterous robot finger. The robot finger design is based on that of the human counterpart in size, mechanical structure, and range of motion, and exhibits four distinct joint motions (one abduction/adduction or yaw motion, and three flexion/extension or pitch motions), as does the human finger. Three miniature DC motors with built-in encoders drive the yaw motion of the finger and the two innermost pitch joints. The finger therefore has three independent degrees of freedom. The outermost pitch joint of the finger is mechanically coupled to the middle joint, and the design allows for the variation of the ratio of angular speed between the two coupled joint motions. The motors are installed on the finger itself and on the adjoining section of palm, and the required torques at the joints are obtained through speed reduction transmission systems. An analytical study of the finger, including forward and inverse kinematics and differential kinematics analyses, static force analysis, and computation of joint velocity profiles for straight-line motion of the fingertip, has been carried out. The results of these analyses have been used to develop the control program for the finger, as well as a versatile simulation tool that can be used to optimise future designs of the finger. The simulation program has been validated by comparison to the results of tests carried out on the prototype finger. The ultimate aim of the work is to produce a dexterous robot hand to be used in a flexible manufacturing environment in industry or as a prosthetic device.peer-reviewe

Trade-Off Between Delineation and Lighting on Freeway Interchanges

DTFH61-85-C-00137The objective was to determine whether, with improved delineation, performance at partially lighted interchanges can approach performance under full lighting, particularly in rain. Two field studies were conducted. The first was to determine whether transient visual adaptation (TVA) influences detection on partially lighted interchanges and could interact with lighting. It was shown that TVA occurs under partial lighting and influences detection up to 600 feet from the last luminaire. The second field study was to determine the effect of lighting, weather, and improved delineation on driver performance. Data were obtained on two exits in dry and wet weather under full lighting with baseline delineation and three improved delineation systems. Partial lighting at one exit was with one luminaire, at the other with three luminaires. Findings support the contention that full lighting is superior to partial lighting in ramp speed-related measures. Analysis of delineation effects on ramp and spot speeds and on speed distributions showed few differences under dry conditions. In rain, effects were stronger but were neither large nor consistent enough to recommend improved delineation over the baseline system. Nonstatistical comparison of the results from two sited provided evidence that three-luminaire partial lighting was superior to single-luminaire. Performance on ramp segments downstream of the last luminaire suggested TVA influenced results

Robots and AI at work: the prospects for singularity

This paper seeks to address emerging debates and controversies on the impact of robots and artificial intelligence on the world of work. Longer term discussions of technological ‘singularity’ are considered alongside the socio-technical and economic constraints on the application of robotics and AI. Evidence of robot ‘take-up’ is gathered from reports of the International Federation of Robotics and from case vignettes reported elsewhere. In assessing the contemporary relationship between singularity, robotics and AI the article reflects briefly on the two ‘tests’ of artificial ‘intelligence’ proposed by the pioneer computer scientist Alan Turing, and comments on the efficacy of his ‘tests’ in contemporary applications. The paper continues by examining aspects of public policy and concludes that technological singularity is far from imminent

Hepatitis C virus infection protein network

A proteome-wide mapping of interactions between hepatitis C virus (HCV) and human proteins was performed to provide a comprehensive view of the cellular infection. A total of 314 protein–protein interactions between HCV and human proteins was identified by yeast two-hybrid and 170 by literature mining. Integration of this data set into a reconstructed human interactome showed that cellular proteins interacting with HCV are enriched in highly central and interconnected proteins. A global analysis on the basis of functional annotation highlighted the enrichment of cellular pathways targeted by HCV. A network of proteins associated with frequent clinical disorders of chronically infected patients was constructed by connecting the insulin, Jak/STAT and TGFβ pathways with cellular proteins targeted by HCV. CORE protein appeared as a major perturbator of this network. Focal adhesion was identified as a new function affected by HCV, mainly by NS3 and NS5A proteins

Will we work in twenty-first century capitalism? A critique of the fourth industrial revolution literature

The fourth industrial revolution has become a prominent concept and imminent technological change a major issue. Facets are everyone’s concern but currently no one’s ultimate responsibility (perhaps a little like financial stability before the global financial crisis). In this paper, we argue that the future is being shaped now by the way the fourth industrial revolution is being positioned. Whilst no one has set out to argue for or defend technological determinism, anxiety combined with passivity and complacency are being produced, and this is in the context of a quasi-determinism. The contingent quantification of the future with regard to the potential for job displacement provides an influential source of authority for this. A background of ‘the future is coming, so you better get used to it’ is being disseminated. This favours a capitalism that may ‘deny work to the many’ perspective rather than a more fundamental rethink that encompasses change that may liberate the many from work. This, in turn, positions workers and responsibility for future employment (reducing the urgency of calls for wider societal preparation). Public understanding and policy are thus affected and along with them the future of work

Robots in machining

Robotic machining centers offer diverse advantages: large operation reach with large reorientation capability, and a low cost, to name a few. Many challenges have slowed down the adoption or sometimes inhibited the use of robots for machining tasks. This paper deals with the current usage and status of robots in machining, as well as the necessary modelling and identification for enabling optimization, process planning and process control. Recent research addressing deburring, milling, incremental forming, polishing or thin wall machining is presented. We discuss various processes in which robots need to deal with significant process forces while fulfilling their machining task