Estimation of hand and finger kinematics using inertial sensors

A new dataglove is developed and presented. Inertial sensors are placed on various hand and finger segments to estimate the hand pose

A Simulator for Depth Estimation

Met toestemming overgenomen uit Microniek, 2020, nr. 5 A stereo-vision system that was developed for application in mobile robots turned outto lack depth resolution in the background of the pictures. A simulator was built togain understanding of the parameters that influence depth estimation in stereo vision.In this article we will explain how these properties influence depth resolution andprovide a link to the webtool that was made to interactively observe and evaluate theresulting depth resolution when the parameters are varied. This tool makes it possibleto find the correct hardware that provides the resolution required, or to determinethe resolution for specific hardware

Addition to Systems Design and Engineering

Additions to the book "Systems Design and Engineering" by Bonnema et.al. Subjects were chosen based on the Systems Engineering needs for Small and Medium Enterprises, as researched in the SESAME project. Th

ServoSEA concept: Cheap, miniature series-elastic actuators for orthotic, prosthetic and robotic hands

For interactive humanoids, rehabilitation robots, and orthotic and prosthetic devices, the human-robot interaction is an essential but challenging element. Compliant Series-Elastic Actuators (SEAs) are ideal to power such devices due to their low impedance and smoothness of generated forces. In this paper we present the ServoSEA, which is a miniature Series-Elastic Actuator (SEA) based on cheap RC servos, and which is useful for actuation of orthotic, prosthetic or robotic hands. RC servos are complete packages that come with rotary motor and sensor and have an integrated control board to control the output angle. In the ServoSEA, a small rotational spring is attached to the output shaft and the internal rotary sensor is relocated to measure the spring deflection. These small modifications immediately make the integrated control board behave as a series-elastic torque controller. Here we present several design alternatives and report on the performance of our implementation that will be used in the active SCRIPT wrist and hand orthosis. The performance measurements showed that feedforward control of the example implementation of the ServoSEA results in acceptable, though not perfect, force tracking behavior. It is clear that although the ServoSEA concept is universal, final performance strongly depends on the quality of the original RC servo

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Additions to the book "Systems Design and Engineering" by Bonnema et.al. Subjects were chosen based on the Systems Engineering needs for Small and Medium Enterprises, as researched in the SESAME project. Th

On the role of mechanical stress in the chemical ordering of nanoalloys

Metallic alloy clusters at equilibrium display an inhomogeneous stress field which may contribute to the chemical ordering and segregation properties. We use the example of cuboctahedral and icosahedral Au-Pd clusters with the same size to compare these properties in systems displaying moderately and highly inhomogeneous stress fields. Metropolis Monte Carlo simulations in the semi-grand canonical ensemble are used with an empirical potential to predict equilibrium configurations. Pressure maps are used to estimate stress on each atom. It is found that when the stress field is moderately inhomogeneous, ordering is dominantly driven by thermodynamic forces. In icosahedral clusters, ordering is found to be the consequence of a balance where thermodynamic forces and mechanical stress may conflict or reinforce each other. Order-disorder transitions are smoother in the systems with higher stress inhomogeneity and it is conjectured that, in icosahedral clusters, disorder may nucleate in the central core. © EDP Sciences, Società Italiana di Fisica, Springer-Verlag 2012.SCOPUS: ar.jinfo:eu-repo/semantics/inPres