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Sample records for grasps rotating object

  1. Preschool children adapt grasping movements to upcoming object manipulations: Evidence from a dial rotation task.

    Science.gov (United States)

    Herbort, Oliver; Büschelberger, Juliane; Janczyk, Markus

    2018-03-01

    In adults, the motor plans for object-directed grasping movements reflects the anticipated requirements of intended future object manipulations. This prospective mode of planning has been termed second-order planning. Surprisingly, second-order planning is thought to be fully developed only by 10 years of age, when children master seemingly more complex motor skills. In this study, we tested the hypothesis that already 5- and 6-year-old children consistently use second-order planning but that this ability does not become apparent in tasks that are traditionally used to probe it. We asked 5- and 6-year-olds and adults to grasp and rotate a circular dial in a clockwise or counterclockwise direction. Although children's grasp selections were less consistent on an intra- and inter-individual level than adults' grasp selections, all children adjusted their grasps to the upcoming dial rotations. By contrast, in an also administered bar rotation task, only a subset of children adjusted their grasps to different bar rotations, thereby replicating previous results. The results indicate that 5- and 6-year-olds consistently use second-order planning in a dial rotation task, although this ability does not become apparent in bar rotation tasks. Copyright © 2017 Elsevier Inc. All rights reserved.

  2. Active Grasp Synthesis for Grasping Unknown Objects

    NARCIS (Netherlands)

    Çall?, B.

    2015-01-01

    Manipulation is a key feature for robots which are designed to work in daily environments like homes, offices and streets. These robots do not often have manipulators that are specialized for specific tasks, but grippers that can grasp the target object. This makes grasping a crucial ability that

  3. The extended object-grasping network.

    Science.gov (United States)

    Gerbella, Marzio; Rozzi, Stefano; Rizzolatti, Giacomo

    2017-10-01

    Grasping is the most important skilled motor act of primates. It is based on a series of sensorimotor transformations through which the affordances of the objects to be grasped are transformed into appropriate hand movements. It is generally accepted that a circuit formed by inferior parietal areas AIP and PFG and ventral premotor area F5 represents the core circuit for sensorimotor transformations for grasping. However, selection and control of appropriate grip should also depend on higher-order information, such as the meaning of the object to be grasped, and the overarching goal of the action in which grasping is embedded. In this review, we describe recent findings showing that specific sectors of the ventrolateral prefrontal cortex are instrumental in controlling higher-order aspects of grasping. We show that these prefrontal sectors control the premotor cortex through two main gateways: the anterior subdivision of ventral area F5-sub-area F5a-, and the pre-supplementary area (area F6). We then review functional studies showing that both F5a and F6, besides being relay stations of prefrontal information, also play specific roles in grasping. Namely, sub-area F5a is involved in stereoscopic analysis of 3D objects, and in planning cue-dependent grasping activity. As for area F6, this area appears to play a crucial role in determining when to execute the motor program encoded in the parieto-premotor circuit. The recent discovery that area F6 contains a set of neurons encoding specific grip types suggests that this area, besides controlling "when to go", also may control the grip type, i.e., "how to go". We conclude by discussing clinical syndromes affecting grasping actions and their possible mechanisms.

  4. Passive Aerial Grasping of Ferrous Objects

    KAUST Repository

    Fiaz, Usman Amin

    2017-10-19

    Aerial transportation is probably the most efficient way to supply quick and effective aid especially in cases of emergency like search and rescue operations. Thus the ability to grasp and deliver objects is of vital importance in all sorts of unmanned and autonomous aerial operations. We detail a simple yet novel approach for aerial grasping of ferrous objects using a passive magnetic pickup and an impulse based drop mechanism. The design enables our gripper to grasp ferrous objects using single as well as multiple gripping pads, with visual as well as pickup and drop feedback. We describe the various components of the gripper with emphasis on its low mass and high lift capability since weight is a matter of high consideration in all aerial applications. In addition, we investigate and address the issues that may cause our design to fail. We demonstrate by experiments that the proposed design is robust and effective, based on its high payload capability, its sturdiness against possible slide during aggressive aerial maneuvers, and optimum performance of the drop mechanism for the designed range of payloads. We also show that the gripper is able to pick up and drop a single as well as multiple ferrous objects of different shapes, curvature, and inclination, which also involves picking up an object and then grasping the next, while keeping hold of the previous one.

  5. Passive Aerial Grasping of Ferrous Objects

    KAUST Repository

    Fiaz, Usman; Toumi, Noureddine; Shamma, Jeff S.

    2017-01-01

    Aerial transportation is probably the most efficient way to supply quick and effective aid especially in cases of emergency like search and rescue operations. Thus the ability to grasp and deliver objects is of vital importance in all sorts of unmanned and autonomous aerial operations. We detail a simple yet novel approach for aerial grasping of ferrous objects using a passive magnetic pickup and an impulse based drop mechanism. The design enables our gripper to grasp ferrous objects using single as well as multiple gripping pads, with visual as well as pickup and drop feedback. We describe the various components of the gripper with emphasis on its low mass and high lift capability since weight is a matter of high consideration in all aerial applications. In addition, we investigate and address the issues that may cause our design to fail. We demonstrate by experiments that the proposed design is robust and effective, based on its high payload capability, its sturdiness against possible slide during aggressive aerial maneuvers, and optimum performance of the drop mechanism for the designed range of payloads. We also show that the gripper is able to pick up and drop a single as well as multiple ferrous objects of different shapes, curvature, and inclination, which also involves picking up an object and then grasping the next, while keeping hold of the previous one.

  6. Do already grasped objects activate motor affordances?

    Science.gov (United States)

    Iani, Cristina; Ferraro, Luca; Maiorana, Natale Vincenzo; Gallese, Vittorio; Rubichi, Sandro

    2018-04-07

    This study investigated whether in a stimulus-response compatibility (SRC) task affordance effects in response to picture of graspable objects emerge when these objects appear as already grasped. It also assessed whether the observed effects could be explained as due to spatial compatibility between the most salient part in the object/display and the hand of response rather than to action potentiation. To this aim, we conducted three behavioural experiments in which participants were required to discriminate the vertical orientation (upright vs. inverted) of an object presented in the centre of the screen, while ignoring the right-left orientation of its handle. The object could be presented alone, as already grasped, as partially masked (Experiment 1) or with a human hand close to its graspable side (Experiment 2). In addition, to assess the role of perceptual salience, the object could be presented with a human hand or a non-biological (a geometrical shape) distractor located opposite to the object's graspable side. Results showed faster responses when the object's handle was located on the same side of the responding hand with a larger effect when upright objects were shown as already grasped (Experiment 1) or when a hand was displayed close to its handle (Experiment 2), and a smaller reversed effect when the hand or the geometrical shape was located opposite to the handled side (Experiment 3). We interpreted these findings as indicating that handle orientation effects emerging in SRC tasks may result from the interplay between motor affordance and spatial compatibility mechanisms.

  7. Grasping Unknown Objects in an Early Cognitive Vision System

    DEFF Research Database (Denmark)

    Popovic, Mila

    2011-01-01

    Grasping of unknown objects presents an important and challenging part of robot manipulation. The growing area of service robotics depends upon the ability of robots to autonomously grasp and manipulate a wide range of objects in everyday environments. Simple, non task-specific grasps of unknown ...... and comparing vision-based grasping methods, and the creation of algorithms for bootstrapping a process of acquiring world understanding for artificial cognitive agents....... presents a system for robotic grasping of unknown objects us- ing stereo vision. Grasps are defined based on contour and surface information provided by the Early Cognitive Vision System, that organizes visual informa- tion into a biologically motivated hierarchical representation. The contributions...... of the thesis are: the extension of the Early Cognitive Vision representation with a new type of feature hierarchy in the texture domain, the definition and evaluation of contour based grasping methods, the definition and evaluation of surface based grasping methods, the definition of a benchmark for testing...

  8. Robotic Hand with Flexible Fingers for Grasping Cylindrical Objects

    OpenAIRE

    柴田, 瑞穂

    2015-01-01

    In this manuscript, a robotic hand for grasping a cylindrical object is proposed. This robotic hand has flexible fingers that can hold a cylindrical object during moving. We introduce a grasping strategy for a cylindrical object in terms of state transition graph. In this strategy the robotic hand picks up the cylindrical object utilizing a suction device before the hand grasp the object. We also design the flexible fingers; then, we investigate the validity of this robotic hand via several e...

  9. Linguistic approach to object recognition by grasping

    Energy Technology Data Exchange (ETDEWEB)

    Marik, V

    1982-01-01

    A method for recognizing both the three-dimensional object shapes and their sizes by grasping them with an antropomorphic five-finger artificial hand is described. The hand is equipped with position sensing elements in the joints of the fingers and with a tactile transducer net on the palm surface. The linguistic method uses formal grammars and languages for the pattern description. The recognition is hierarchically arranged, every level being different from the others by a formal language which has been used. On every level the pattern description is generated and verified from the symmetrical and semantical points of view. The results of the implementation of the recognition of cones, pyramides, spheres, prisms and cylinders are presented and discussed. 8 references.

  10. Fast grasping of unknown objects using principal component analysis

    Science.gov (United States)

    Lei, Qujiang; Chen, Guangming; Wisse, Martijn

    2017-09-01

    Fast grasping of unknown objects has crucial impact on the efficiency of robot manipulation especially subjected to unfamiliar environments. In order to accelerate grasping speed of unknown objects, principal component analysis is utilized to direct the grasping process. In particular, a single-view partial point cloud is constructed and grasp candidates are allocated along the principal axis. Force balance optimization is employed to analyze possible graspable areas. The obtained graspable area with the minimal resultant force is the best zone for the final grasping execution. It is shown that an unknown object can be more quickly grasped provided that the component analysis principle axis is determined using single-view partial point cloud. To cope with the grasp uncertainty, robot motion is assisted to obtain a new viewpoint. Virtual exploration and experimental tests are carried out to verify this fast gasping algorithm. Both simulation and experimental tests demonstrated excellent performances based on the results of grasping a series of unknown objects. To minimize the grasping uncertainty, the merits of the robot hardware with two 3D cameras can be utilized to suffice the partial point cloud. As a result of utilizing the robot hardware, the grasping reliance is highly enhanced. Therefore, this research demonstrates practical significance for increasing grasping speed and thus increasing robot efficiency under unpredictable environments.

  11. Differences in fixations between grasping and viewing objects

    NARCIS (Netherlands)

    Brouwer, A.M.; Franz, V.H.; Gegenfurtner, K.R.

    2009-01-01

    Where exactly do people look when they grasp an object? An object is usually contacted at two locations, whereas the gaze can only be at one location at the time. We investigated participants' fixation locations when they grasp objects with the contact positions of both index finger and thumb being

  12. Learning Objects and Grasp Affordances through Autonomous Exploration

    DEFF Research Database (Denmark)

    Kraft, Dirk; Detry, Renaud; Pugeault, Nicolas

    2009-01-01

    We describe a system for autonomous learning of visual object representations and their grasp affordances on a robot-vision system. It segments objects by grasping and moving 3D scene features, and creates probabilistic visual representations for object detection, recognition and pose estimation...... image sequences as well as (3) a number of built-in behavioral modules on the one hand, and autonomous exploration on the other hand, the system is able to generate object and grasping knowledge through interaction with its environment....

  13. Modeling and Simulation of Grasping of Deformable Objects

    DEFF Research Database (Denmark)

    Fugl, Andreas Rune

    Automated robot solutions have for decades been increasing productivity around the world. They are attractive for being fast, accurate and able to work in dangerous and repetitive environments. In traditional applications the grasped object is kinematically attached to the Tool Center Point....... The purpose of this thesis is to address the modeling and simulation of deformable objects, as applied to robotic grasping and manipulation. The main contributions of this work are: An evaluation of 3D linear elasticity used for robot grasping as implemented by a Finite Difference Method supporting regular...

  14. Patterns of muscle activity underlying object-specific grasp by the macaque monkey.

    Science.gov (United States)

    Brochier, T; Spinks, R L; Umilta, M A; Lemon, R N

    2004-09-01

    During object grasp, a coordinated activation of distal muscles is required to shape the hand in relation to the physical properties of the object. Despite the fundamental importance of the grasping action, little is known of the muscular activation patterns that allow objects of different sizes and shapes to be grasped. In a study of two adult macaque monkeys, we investigated whether we could distinguish between EMG activation patterns associated with grasp of 12 differently shaped objects, chosen to evoke a wide range of grasping postures. Each object was mounted on a horizontal shuttle held by a weak spring (load force 1-2 N). Objects were located in separate sectors of a "carousel," and inter-trial rotation of the carousel allowed sequential presentation of the objects in pseudorandom order. EMG activity from 10 to 12 digit, hand, and arm muscles was recorded using chronically implanted electrodes. We show that the grasp of different objects was characterized by complex but distinctive patterns of EMG activation. Cluster analysis shows that these object-related EMG patterns were specific and consistent enough to identify the object unequivocally from the EMG recordings alone. EMG-based object identification required a minimum of six EMGs from simultaneously recorded muscles. EMG patterns were consistent across recording sessions in a given monkey but showed some differences between animals. These results identify the specific patterns of activity required to achieve distinct hand postures for grasping, and they open the way to our understanding of how these patterns are generated by the central motor network.

  15. Development of Object and Grasping Knowledge by Robot Exploration

    DEFF Research Database (Denmark)

    Kraft, Dirk; Detry, Renaud; Pugeault, Nicolas

    2010-01-01

    We describe a bootstrapping cognitive robot system that—mainly based on pure exploration—acquires rich object representations and associated object-specific grasp affordances. Such bootstrapping becomes possible by combining innate competences and behaviours by which the system gradually enriches...

  16. Grasping an object comfortably: orientation information is held in memory

    NARCIS (Netherlands)

    Roche, K; Verheij, R.; Voudouris, D.; Chainay, H.; Smeets, J.B.J.

    2015-01-01

    It has been shown that memorized information can influence real-time visuomotor control. For instance, a previously seen object (prime) influences grasping movements toward a target object. In this study, we examined how general the priming effect is: does it depend on the orientation of the target

  17. Saccadic updating of object orientation for grasping movements

    NARCIS (Netherlands)

    Selen, L.P.J.; Medendorp, W.P.

    2011-01-01

    Reach and grasp movements are a fundamental part of our daily interactions with the environment. This spatially-guided behavior is often directed to memorized objects because of intervening eye movements that caused them to disappear from sight. How does the brain store and maintain the spatial

  18. Vision-based autonomous grasping of unknown piled objects

    International Nuclear Information System (INIS)

    Johnson, R.K.

    1994-01-01

    Computer vision techniques have been used to develop a vision-based grasping capability for autonomously picking and placing unknown piled objects. This work is currently being applied to the problem of hazardous waste sorting in support of the Department of Energy's Mixed Waste Operations Program

  19. The influence of grasping habits and object orientation on motor planning in children and adults.

    Science.gov (United States)

    Jovanovic, Bianca; Schwarzer, Gudrun

    2017-12-01

    We investigated the influence of habitual grasp strategies and object orientation on motor planning in 3-year-olds and 4- to 5-year-old children and adults. Participants were required to rotate different vertically oriented objects around 180°. Usually, adults perform this task by grasping objects with an awkward grip (thumb and index finger pointing downward) at the beginning of the movement, in order to finish it with a comfortable hand position. This pattern corresponds to the well-known end-state comfort effect (ESC) in grasp planning. The presented objects were associated with different habitual grasp orientations that either corresponded with the grasp direction required to reach end-state comfort (downward) or implied a contrary grasp orientation (upward). Additionally, they were presented either in their usual, canonical orientation (e.g., shovel with the blade oriented downward versus cup with its opening oriented upward) or upside down. As dependent variable we analyzed the number of grips conforming to the end-state comfort principle (ESC score) realized in each object type and orientation condition. The number of grips conforming to ESC strongly increased with age. In addition, the extent to which end-state comfort was considered was influenced by the actual orientation of the objects' functional parts. Thus, in all age-groups the ESC score was highest when the functional parts of the objects were oriented downward (shovel presented canonically with blade pointing downward, cup presented upside down) and corresponded to the hand orientation needed to realize ESC. © 2017 Wiley Periodicals, Inc.

  20. Grounded Object and Grasp Representations in a Cognitive Architecture

    DEFF Research Database (Denmark)

    Kraft, Dirk

    developed. This work presents a system that is able to learn autonomously about objects and applicable grasps in an unknown environment through exploratory manipulation and to then use this grounded knowledge in a planning setup to address complex tasks. A set of different subsystems is needed to achieve....... The topics are ordered so that we proceed from the more general integration works towards the works describing the individual components. The first chapter gives an overview over the system that is able to learn a grounded visual object representation and a grounded grasp representation. In the following...... part, we describe how this grounding procedures can be embedded in a three cognitive level architecture. Our initial work to use a tactile sensor to enrichen the object representations as well as allow for more complex actions is presented here as well. Since our system is concerned with learning about...

  1. Identifying relevant feature-action associations for grasping unmodelled objects

    DEFF Research Database (Denmark)

    Thomsen, Mikkel Tang; Kraft, Dirk; Krüger, Norbert

    2015-01-01

    content. The method is provided with a large and structured set of visual features, motivated by the visual hierarchy in primates and finds relevant feature action associations automatically. We apply our method in a simulated environment on three different object sets for the case of grasp affordance...... learning. For box objects, we achieve a 0.90 success probability, 0.80 for round objects and up to 0.75 for open objects, when presented with novel objects. In this work, we in particular demonstrate the effect of choosing appropriate feature representations. We demonstrate a significant performance...

  2. Effects of grasp compatibility on long-term memory for objects.

    Science.gov (United States)

    Canits, Ivonne; Pecher, Diane; Zeelenberg, René

    2018-01-01

    Previous studies have shown action potentiation during conceptual processing of manipulable objects. In four experiments, we investigated whether these motor actions also play a role in long-term memory. Participants categorized objects that afforded either a power grasp or a precision grasp as natural or artifact by grasping cylinders with either a power grasp or a precision grasp. In all experiments, responses were faster when the affordance of the object was compatible with the type of grasp response. However, subsequent free recall and recognition memory tasks revealed no better memory for object pictures and object names for which the grasp affordance was compatible with the grasp response. The present results therefore do not support the hypothesis that motor actions play a role in long-term memory. Copyright © 2017 Elsevier B.V. All rights reserved.

  3. Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite

    Science.gov (United States)

    Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

    2017-12-01

    The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method.

  4. Are we real when we fake? Attunement to object weight in natural and pantomimed grasping movements

    Directory of Open Access Journals (Sweden)

    Caterina Ansuini

    2016-09-01

    Full Text Available Behavioural and neuropsychological studies suggest that real actions and pantomimed actions tap, at least in part, different neural systems. Inspired by studies showing weight-attunement in real grasps, here we asked whether (and to what extent kinematics of pantomimed reach-to-grasp movement can reveal the weight of the pretended target. To address this question, we instructed participants (n =15 either to grasp or pretend to grasp towards two differently weighted objects, i.e., a light object and heavy object. Using linear discriminant analysis, we then proceeded to classify the weight of the target – either real or pretended – on the basis of the recorded movement patterns. Classification analysis revealed that pantomimed reach-to-grasp movements retained information about object weight, although to a lesser extent than real grasp movements. These results are discussed in relation to the mechanisms underlying the control of real and pantomimed grasping movements.

  5. Sensorimotor memory of object weight distribution during multidigit grasp.

    Science.gov (United States)

    Albert, Frederic; Santello, Marco; Gordon, Andrew M

    2009-10-09

    We studied the ability to transfer three-digit force sharing patterns learned through consecutive lifts of an object with an asymmetric center of mass (CM). After several object lifts, we asked subjects to rotate and translate the object to the contralateral hand and perform one additional lift. This task was performed under two weight conditions (550 and 950 g) to determine the extent to which subjects would be able to transfer weight and CM information. Learning transfer was quantified by measuring the extent to which force sharing patterns and peak object roll on the first post-translation trial resembled those measured on the pre-translation trial with the same CM. We found that the overall gain of fingertip forces was transferred following object rotation, but that the scaling of individual digit forces was specific to the learned digit-object configuration, and thus was not transferred following rotation. As a result, on the first post-translation trial there was a significantly larger object roll following object lift-off than on the pre-translation trial. This suggests that sensorimotor memories for weight, requiring scaling of fingertip force gain, may differ from memories for mass distribution.

  6. Visual Field Preferences of Object Analysis for Grasping with One Hand

    Directory of Open Access Journals (Sweden)

    Ada eLe

    2014-10-01

    Full Text Available When we grasp an object using one hand, the opposite hemisphere predominantly guides the motor control of grasp movements (Davare et al. 2007; Rice et al. 2007. However, it is unclear whether visual object analysis for grasp control relies more on inputs (a from the contralateral than the ipsilateral visual field, (b from one dominant visual field regardless of the grasping hand, or (c from both visual fields equally. For bimanual grasping of a single object we have recently demonstrated a visual field preference for the left visual field (Le and Niemeier 2013a, 2013b, consistent with a general right-hemisphere dominance for sensorimotor control of bimanual grasps (Le et al., 2013. But visual field differences have never been tested for unimanual grasping. Therefore, here we asked right-handed participants to fixate to the left or right of an object and then grasp the object either with their right or left hand using a precision grip. We found that participants grasping with their right hand performed better with objects in the right visual field: maximum grip apertures (MGAs were more closely matched to the object width and were smaller than for objects in the left visual field. In contrast, when people grasped with their left hand, preferences switched to the left visual field. What is more, MGA scaling showed greater visual field differences compared to right-hand grasping. Our data suggest that, visual object analysis for unimanual grasping shows a preference for visual information from the ipsilateral visual field, and that the left hemisphere is better equipped to control grasps in both visual fields.

  7. Cortical control of object-specific grasp relies on adjustments of both activity and effective connectivity

    DEFF Research Database (Denmark)

    Tia, Banty; Takemi, Mitsuaki; Kosugi, Akito

    2017-01-01

    The cortical mechanisms of grasping have been extensively studied in macaques and humans. Here, we investigated whether common marmosets could rely on similar mechanisms despite striking differences in manual dexterity. Two common marmosets were trained to grasp-and-pull three objects eliciting d...

  8. Dependence of behavioral performance on material category in an object grasping task with monkeys.

    Science.gov (United States)

    Yokoi, Isao; Tachibana, Atsumichi; Minamimoto, Takafumi; Goda, Naokazu; Komatsu, Hidehiko

    2018-05-02

    Material perception is an essential part of our cognitive function that enables us to properly interact with our complex daily environment. One important aspect of material perception is its multimodal nature. When we see an object, we generally recognize its haptic properties as well as its visual properties. Consequently, one must examine behavior using real objects that are perceived both visually and haptically to fully understand the characteristics of material perception. As a first step, we examined whether there is any difference in the behavioral responses to different materials in monkeys trained to perform an object grasping task in which they saw and grasped rod-shaped real objects made of various materials. We found that the monkeys' behavior in the grasping task, measured based on the success rate and the pulling force, differed depending on the material category. Monkeys easily and correctly grasped objects of some materials, such as metal and glass, but failed to grasp objects of other materials. In particular, monkeys avoided grasping fur-covered objects. The differences in the behavioral responses to the material categories cannot be explained solely based on the degree of familiarity with the different materials. These results shed light on the organization of multimodal representation of materials, where their biological significance is an important factor. In addition, a monkey that avoided touching real fur-covered objects readily touched images of the same objects presented on a CRT display. This suggests employing real objects is important when studying behaviors related to material perception.

  9. A novel algorithm for fast grasping of unknown objects using C-shape configuration

    Science.gov (United States)

    Lei, Qujiang; Chen, Guangming; Meijer, Jonathan; Wisse, Martijn

    2018-02-01

    Increasing grasping efficiency is very important for the robots to grasp unknown objects especially subjected to unfamiliar environments. To achieve this, a new algorithm is proposed based on the C-shape configuration. Specifically, the geometric model of the used under-actuated gripper is approximated as a C-shape. To obtain an appropriate graspable position, this C-shape configuration is applied to fit geometric model of an unknown object. The geometric model of unknown object is constructed by using a single-view partial point cloud. To examine the algorithm using simulations, a comparison of the commonly used motion planners is made. The motion planner with the highest number of solved runs, lowest computing time and the shortest path length is chosen to execute grasps found by this grasping algorithm. The simulation results demonstrate that excellent grasping efficiency is achieved by adopting our algorithm. To validate this algorithm, experiment tests are carried out using a UR5 robot arm and an under-actuated gripper. The experimental results show that steady grasping actions are obtained. Hence, this research provides a novel algorithm for fast grasping of unknown objects.

  10. Manipulation of Unknown Objects to Improve the Grasp Quality Using Tactile Information.

    Science.gov (United States)

    Montaño, Andrés; Suárez, Raúl

    2018-05-03

    This work presents a novel and simple approach in the area of manipulation of unknown objects considering both geometric and mechanical constraints of the robotic hand. Starting with an initial blind grasp, our method improves the grasp quality through manipulation considering the three common goals of the manipulation process: improving the hand configuration, the grasp quality and the object positioning, and, at the same time, prevents the object from falling. Tactile feedback is used to obtain local information of the contacts between the fingertips and the object, and no additional exteroceptive feedback sources are considered in the approach. The main novelty of this work lies in the fact that the grasp optimization is performed on-line as a reactive procedure using the tactile and kinematic information obtained during the manipulation. Experimental results are shown to illustrate the efficiency of the approach.

  11. A Strategy for Grasping unknown Objects based on Co-Planarity and Colour Information

    DEFF Research Database (Denmark)

    Popovic, Mila; Kraft, Dirk; Bodenhagen, Leon

    2010-01-01

    with a reasonable success rate in rather complex environments (i.e., cluttered scenes with multiple objects). Moreover, we have embedded the algorithm within a cognitive system that allows for autonomous exploration and learning in different contexts. First, the system is able to perform long action sequences which......, although the grasping attempts not being always successful, can recover from mistakes and more importantly, is able to evaluate the success of the grasps autonomously by haptic feedback (i.e., by a force torque sensor at the wrist and proprioceptive information about the distance of the gripper after...... a gasping attempt). Such labelled data is then used for improving the initially hard-wired algorithm by learning. Moreover, the grasping behaviour has been used in a cognitive system to trigger higher level processes such as object learning and learning of object specific grasping....

  12. Infant manual performance during reaching and grasping for objects moving in depth

    Directory of Open Access Journals (Sweden)

    Erik eDomellöf

    2015-08-01

    Full Text Available Few studies have observed investigated manual asymmetries performance in infants when reaching and grasping for objects moving in directions other than across the fronto-parallel plane. The present preliminary study explored manual object-oriented behavioral strategies and hand side preference in 8- and 10-month-old infants during reaching and grasping for objects approaching in depth from three positions (midline, and 27° diagonally from the left, and right, midline. Effects of task constraint by using objects of three different types and two sizes were further examined for behavioral strategies and . The study also involved measurements of hand position opening prior to grasping., and Additionally, assessments of general hand preference by a dedicated handedness test were performed. Regardless of object starting position, the 8-month-old infants predominantly displayed right-handed reaches for objects approaching in depth. In contrast, the older infants showed more varied strategies and performed more ipsilateral reaches in correspondence with the side of the approaching object. Conversely, 10-month-old infants were more successful than the younger infants in grasping the objects, independent of object starting position. The findings support the possibility of a shared underlying mechanism regarding for infant hand use strategies when reaching and grasping for horizontally objects moving in depth are similar to those from earlier studies using objects moving along a horizontal pathand vertically moving objects. Still, initiation times of reaching onset were generally long in the present study, indicating that the object motion paths seemingly affected how the infants perceived the intrinsic properties and spatial locations of the objects, possibly with an effect on motor planning. Findings are further discussed in relation to future investigations of infant reaching and grasping for objects approaching in depth.

  13. Infant manual performance during reaching and grasping for objects moving in depth.

    Science.gov (United States)

    Domellöf, Erik; Barbu-Roth, Marianne; Rönnqvist, Louise; Jacquet, Anne-Yvonne; Fagard, Jacqueline

    2015-01-01

    Few studies have investigated manual performance in infants when reaching and grasping for objects moving in directions other than across the fronto-parallel plane. The present preliminary study explored object-oriented behavioral strategies and side preference in 8- and 10-month-old infants during reaching and grasping for objects approaching in depth from three positions (midline, and 27° diagonally from the left and right). Effects of task constraint by using objects of three different types and two sizes were further examined for behavioral strategies and hand opening prior to grasping. Additionally, assessments of hand preference by a dedicated handedness test were performed. Regardless of object starting position, the 8-month-old infants predominantly displayed right-handed reaches for objects approaching in depth. In contrast, the older infants showed more varied strategies and performed more ipsilateral reaches in correspondence with the side of the approaching object. Conversely, 10-month-old infants were more successful than the younger infants in grasping the objects, independent of object starting position. The findings regarding infant hand use strategies when reaching and grasping for objects moving in depth are similar to those from earlier studies using objects moving along a horizontal path. Still, initiation times of reaching onset were generally long in the present study, indicating that the object motion paths seemingly affected how the infants perceived the intrinsic properties and spatial locations of the objects, possibly with an effect on motor planning. Findings are further discussed in relation to future investigations of infant reaching and grasping for objects approaching in depth.

  14. Grasping and manipulation of deformable objects based on internal force requirements

    Directory of Open Access Journals (Sweden)

    Sohil Garg

    2008-11-01

    Full Text Available In this paper an analysis of grasping and manipulation of deformable objects by a three finger robot hand has been carried out. It is proved that the required fingertip grasping forces and velocities vary with change in object size due to deformation. The variation of the internal force with the change in fingertip and object contact angle has been investigated in detail. From the results it is concluded that it is very difficult to manipulate an object if the finger contact angle is not between 30 o and 70 o, as the internal forces or velocities become very large outside this range. Hence even if the object is inside the work volume of the three fingers it would still not be possible to manipulate it. A simple control model is proposed which can control the grasping and manipulation of a deformable object. Experimental results are also presented to prove the proposed method.

  15. Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

    Directory of Open Access Journals (Sweden)

    Huangsheng Xie

    2014-01-01

    Full Text Available This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response Code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.

  16. Haptically guided grasping. FMRI shows right-hemisphere parietal stimulus encoding, and bilateral dorso-ventral parietal gradients of object- and action-related processing during grasp execution

    Directory of Open Access Journals (Sweden)

    Mattia eMarangon

    2016-01-01

    Full Text Available The neural bases of haptically-guided grasp planning and execution are largely unknown, especially for stimuli having no visual representations. Therefore, we used functional magnetic resonance imaging (fMRI to monitor brain activity during haptic exploration of novel 3D complex objects, subsequent grasp planning, and the execution of the pre-planned grasps. Haptic object exploration, involving extraction of shape, orientation and length of the to-be-grasped targets, was associated with the fronto-parietal, temporo-occipital, and insular cortex activity. Yet, only the anterior divisions of the posterior parietal cortex (PPC of the right hemisphere were significantly more engaged in exploration of complex objects (vs. simple control disks. None of these regions were re-recruited during the planning phase. Even more surprisingly, the left-hemisphere intraparietal, temporal, and occipital areas that were significantly invoked for grasp planning did not show sensitivity to object features. Finally, grasp execution, involving the re-recruitment of the critical right-hemisphere PPC clusters, was also significantly associated with two kinds of bilateral parieto-frontal processes. The first represents transformations of grasp-relevant target features and is linked to the dorso-dorsal (lateral and medial parieto-frontal networks. The second monitors grasp kinematics and belongs to the ventro-dorsal networks. Indeed, signal modulations associated with these distinct functions follow dorso-ventral gradients, with left aIPS showing significant sensitivity to both target features and the characteristics of the required grasp. Thus, our results from the haptic domain are consistent with the notion that the parietal processing for action guidance reflects primarily transformations from object-related to effector-related coding, and these mechanisms are rather independent of sensory input modality.

  17. Monocular Depth Perception and Robotic Grasping of Novel Objects

    Science.gov (United States)

    2009-06-01

    obtain its full 3D shape, and applies even to textureless, translucent or reflective objects on which standard stereo 3D reconstruction fares poorly. We...purple) in image A. 3.3.4 Phantom planes This cue enforces occlusion constraints across multiple cameras. Concretely , each small plane (superpixel...needing to obtain its full 3D shape, and applies even to textureless, translucent or reflective objects on which standard stereo 3D reconstruction

  18. Single-Grasp Object Classification and Feature Extraction with Simple Robot Hands and Tactile Sensors.

    Science.gov (United States)

    Spiers, Adam J; Liarokapis, Minas V; Calli, Berk; Dollar, Aaron M

    2016-01-01

    Classical robotic approaches to tactile object identification often involve rigid mechanical grippers, dense sensor arrays, and exploratory procedures (EPs). Though EPs are a natural method for humans to acquire object information, evidence also exists for meaningful tactile property inference from brief, non-exploratory motions (a 'haptic glance'). In this work, we implement tactile object identification and feature extraction techniques on data acquired during a single, unplanned grasp with a simple, underactuated robot hand equipped with inexpensive barometric pressure sensors. Our methodology utilizes two cooperating schemes based on an advanced machine learning technique (random forests) and parametric methods that estimate object properties. The available data is limited to actuator positions (one per two link finger) and force sensors values (eight per finger). The schemes are able to work both independently and collaboratively, depending on the task scenario. When collaborating, the results of each method contribute to the other, improving the overall result in a synergistic fashion. Unlike prior work, the proposed approach does not require object exploration, re-grasping, grasp-release, or force modulation and works for arbitrary object start positions and orientations. Due to these factors, the technique may be integrated into practical robotic grasping scenarios without adding time or manipulation overheads.

  19. Grasp Preparation Improves Change Detection for Congruent Objects

    Science.gov (United States)

    Symes, Ed; Tucker, Mike; Ellis, Rob; Vainio, Lari; Ottoboni, Giovanni

    2008-01-01

    A series of experiments provided converging support for the hypothesis that action preparation biases selective attention to action-congruent object features. When visual transients are masked in so-called "change-blindness scenes," viewers are blind to substantial changes between 2 otherwise identical pictures that flick back and forth. The…

  20. Grasping an augmented object to analyse manipulative force control.

    Science.gov (United States)

    Kawai, Satoru; Summers, Valerie A; Mackenzie, Christine L; Ivens, Chris J; Yamamoto, Takashi

    2002-12-15

    Augmented reality allows changes to be made to the visual perception of object size even while the tangible components remain completely unaltered. It was, therefore, utilized in a study whose results are being reported here to provide the proper environment required to thoroughly observe the exact effect that visual change to object size had on programming fingertip forces when objects were lifted with a precision grip. Twenty-one participants performed repeated lifts of an identical grip apparatus to a height of 20 mm, maintained each lift for 8 seconds, and then replaced the grip apparatus on the table. While all other factors of the grip apparatus remained unchanged, visual appearance was altered graphically in a 3-D augmented environment. The grip apparatus measured grip and load forces independently. Grip and load forces demonstrated significant rates of increase as well as peak forces as the size of graphical images increased; an aspect that occurred in spite of the fact that extraneous haptic information remained constant throughout the trials. By indicating a human tendency to rely - even unconsciously - on visual input to program the forces in the initial lifting phase, this finding provides further confirmation of previous research findings obtained in the physical environment; including the possibility of extraneous haptic effects (Gordon et al. 1991a, Mon-Williams and Murray 2000, Kawai et al. 2000). The present results also suggest that existing knowledge concerning human manipulation tasks in the physical world may be applied to an augmented environment where the physical objects are enhanced by computer generated visual components.

  1. Dynamic optimal grasping of a circular object with gravity using robotic soft-fingertips

    Directory of Open Access Journals (Sweden)

    García-Rodríguez Rodolfo

    2016-06-01

    Full Text Available Object manipulation usually requires dexterity, encoded as the ability to roll, which is very difficult to achieve with robotic hands based on point contact models (subject to holonomic constraints. As an alternative for dexterous manipulation, deformable contact with hemispherical shape fingertips has been proposed to yield naturally a rolling constraint. It entails dexterity at the expense of dealing with normal and tangential forces, as well as more elaborated models and control schemes. Furthermore, the essential feature of the quality of grasp can be addressed with this type of robot hands, but it has been overlooked for deformable contact. In this paper, a passivity-based controller that considers an optimal grasping measure is proposed for robotic hands with hemispherical deformable fingertips, to manipulate circular dynamic objects. Optimal grasping that minimizes the contact wrenches is achieved through fingertip rolling until normal forces pass through the center of mass of the object, aligning the relative angle between these normal forces. The case of a circular object is developed in detail, though our proposal can be extended to objects with an arbitrary shape that admit a local decomposition by a circular curvature. Simulation and experimental results show convergence under various conditions, wherein rolling and tangent forces become instrumental to achieve such a quality of grasp.

  2. Grasping the World: Object-Affordance Effect in Schizophrenia

    Directory of Open Access Journals (Sweden)

    Jessica Sevos

    2013-01-01

    Full Text Available For schizophrenic patients, the world can appear as deprived of practical meaning, which normally emerges from sensory-motor experiences. However, no research has yet studied the integration between perception and action in this population. In this study, we hypothesize that patients, after having controlled the integrity of their visuospatial integration, would nevertheless present deficit in sensory-motor simulation. In this view, we compare patients to control subjects using two stimulus-response compatibility (SRC tasks. Experiment 1 is performed to ensure that visuo-spatial integration is not impaired (Simon Effect. Experiment 2 replicates a study from Tucker and Ellis (1998 to explore the existence of sensory-motor compatibility between stimulus and response (Object Affordance. In control subjects, the SRC effect appears in both experiments. In schizophrenic patients, it appears only when stimuli and responses share the same spatial localization. This loss of automatic sensory-motor simulation could emerge from a lack of relation between the object and the subject’s environment.

  3. Cognitive-motor interference while grasping, lifting and holding objects.

    Directory of Open Access Journals (Sweden)

    Erwan Guillery

    Full Text Available In daily life, object manipulation is usually performed concurrently to the execution of cognitive tasks. The aim of the present study was to determine which aspects of precision grip require cognitive resources using a motor-cognitive dual-task paradigm. Eighteen healthy participants took part in the experiment, which comprised two conditions. In the first condition, participants performed a motor task without any concomitant cognitive task. They were instructed to grip, lift and hold an apparatus incorporating strain gauges allowing a continuous measurement of the force perpendicular to each contact surface (grip force, GF as well as the total tangential force applied on the object (load force, LF. In the second condition, participants performed the same motor task while concurrently performing a cognitive task consisting in a complex visual search combined with counting. In the dual-task condition, we found a significant increase in the duration of the preload phase (time between initial contact of the fingers with the apparatus and onset of the load force, as well as a significant increase of the grip force during the holding phase, indicating that the cognitive task interfered with the initial force scaling performed during the preload phase and the fine-tuning of grip force during the hold phase. These findings indicate that these aspects of precision grip require cognitive resources. In contrast, other aspects of the precision grip, such as the temporal coupling between grip and load forces, were not affected by the cognitive task, suggesting that they reflect more automatic processes. Taken together, our results suggest that assessing the dynamic and temporal parameters of precision grip in the context of a concurrent cognitive task may constitute a more ecological and better-suited tool to characterize motor dysfunction in patients.

  4. How Do Object Size and Rigidity Affect Reaching and Grasping in Infants with Down Syndrome?

    Science.gov (United States)

    de Campos, Ana Carolina; Francisco, Kelly Regina; Savelsbergh, Geert J. P.; Rocha, Nelci Adriana Cicuto Ferreira

    2011-01-01

    Reaching and grasping skills have been described to emerge from a dynamic interaction between intrinsic and extrinsic factors. The purpose of the present study was to investigate the interaction between such an intrinsic factor, Down syndrome, and extrinsic factors, such as different object properties. Seven infants with Down syndrome and seven…

  5. Volitional and automatic control of the hand when reaching to grasp objects.

    Science.gov (United States)

    Chen, Zhongting; Saunders, Jeffrey Allen

    2018-02-26

    When picking up an object, we tend to grasp at contact points that allow a stable grip. Recent studies have demonstrated that appropriate grasp points can be selected during an ongoing movement in response to unexpected perturbations of the target object. In this study, we tested whether such online grip adjustments are automatic responses or can be controlled volitionally. Subjects performed virtual grasping movements toward target 2D shapes that sometimes changed shape or orientation during movement. Unlike in previous studies, the conditions and task requirements discouraged any online adjustments toward the perturbed shapes. In Experiment 1, target shapes were perturbed briefly (200 ms) during movement before reverting to the original shape, and subjects were instructed to ignore the transient perturbations. Despite subjects' intentions, we observed online adjustments of grip orientation that were toward the expected grip axis of the briefly presented shape. In Experiment 2, we added a stop-signal to the grasping task, with target perturbation as the stop cue. We again observed unnecessary online adjustments toward the grip axis of the perturbed shape, with similar latency. Furthermore, the grip adjustments continued after the forward motion of the hand had stopped, indicating that the automatic response to the perturbed target shape co-occurred with the volitional response to the perturbation onset. Our results provide evidence that automatic control mechanisms are used to guide the fingers to appropriate grasp points and suggest that these mechanisms are distinct from those involved with volitional control. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

  6. Resolving conflicts in task demands during balance recovery: does holding an object inhibit compensatory grasping?

    Science.gov (United States)

    Bateni, Hamid; Zecevic, Aleksandra; McIlroy, William E; Maki, Brian E

    2004-07-01

    The ability to reach and "grasp" (grip or touch) structures for support in reaction to instability is an important element of the postural repertoire. It is unclear, however, how the central nervous system (CNS) resolves the potential conflict between holding an object and the need to release the held object and grasp alternative support, particularly if the held object is perceived to be relevant to the task of stabilizing the body, e.g. an assistive device. This study examined whether compensatory grasping is inhibited when holding an object, and whether the influence differs when holding an assistive device (cane) versus a task-irrelevant object (top handle portion of a cane). We also investigated the influence of preloading the assistive device, to determine whether conflicting demands for arm-muscle activation (requiring disengagement of ongoing agonist or antagonist activity) would influence the inhibition of compensatory grasping. Unpredictable forward and backward platform translations were used to evoke the balancing reactions in 16 healthy young adults. A handrail was mounted to the right and foot motion was constrained by barriers, with the intent that successful balance recovery would (in large-perturbation trials) require subjects to release the held object and contact the rail with the right hand. Results showed that grasping reactions were commonly used to recover equilibrium when the hand was free (rail contact in 71% of large-perturbation trials). However, holding either the cane or canetop had a potent modulating effect: although early biceps activation was almost never inhibited completely (significant activity within 200 ms in 98% of trials), the average activation amplitude was attenuated by 30-64% and the average frequency of handrail contact was reduced by a factor of two or more. This reduced use of the rail occurred even though the consequence often involved falling against a safety harness or barriers. Handrail contact occurred least

  7. Relativistic rotation and the anholonomic object

    International Nuclear Information System (INIS)

    Corum, J.F.

    1977-01-01

    The purpose of this communication is to call attention to the conceptual economy provided by the object of anholonomity for the theory of relativity. This geometric object expresses certain consequences of relativity theory and provides a single, simple framework for discussing a variety of phenomena. It particularly clarifies the description of relativistic rotation. The relativistic rotational transformation of the four coordinate differentials of flat space--time generates a set of anholonomic, or inexact differentials, whose duals are an orthogonal set of basis vectors. How should a rotating observer interpret physical events referred to such orthogonal, but anholonomic frames The answer to this question rests upon the origin and physical significance of the object of anholonomity. It is demonstrated that not only is the rotational Lorentz transformation an anholonomic transformation, but that the intrinsic anholonomic effects are essential to interpreting rotational phenomena. In particular, the Sagnac effect may be interpreted as the physical manifestation of temporal anholonomity under rotation. The Thomas precession of a reference axis may be interpreted as a consequence of the spatial anholonomity of the rotating frame. Further, the full four-dimensional covariance of Maxwellian electrodynamics, under a relativistic Lorentz rotation, is possible only with the inclusion of anholonomic effects. The anholonomic approach clarifies the distinction between the physically different operations of source rotation and observer rotation in a flat space--time. It is finally concluded that a consistant theory of relativistic rotation, satisfying the principle of general covariance, inherently requires the presence of the object of anholonomity

  8. Real-time Pipeline for Object Modeling and Grasping Pose Selection via Superquadric Functions

    Directory of Open Access Journals (Sweden)

    Giulia Vezzani

    2017-11-01

    Full Text Available This work provides a novel real-time pipeline for modeling and grasping of unknown objects with a humanoid robot. Such a problem is of great interest for the robotic community, since conventional approaches fail when the shape, dimension, or pose of the objects are missing. Our approach reconstructs in real-time a model for the object under consideration and represents the robot hand both with proper and mathematically usable models, i.e., superquadric functions. The volume graspable by the hand is represented by an ellipsoid and is defined a priori, because the shape of the hand is known in advance. The superquadric representing the object is obtained in real-time from partial vision information instead, e.g., one stereo view of the object under consideration, and provides an approximated 3D full model. The optimization problem we formulate for the grasping pose computation is solved online by using the Ipopt software package and, thus, does not require off-line computation or learning. Even though our approach is for a generic humanoid robot, we developed a complete software architecture for executing this approach on the iCub humanoid robot. Together with that, we also provide a tutorial on how to use this framework. We believe that our work, together with the available code, is of a strong utility for the iCub community for three main reasons: object modeling and grasping are relevant problems for the robotic community, our code can be easily applied on every iCub, and the modular structure of our framework easily allows extensions and communications with external code.

  9. Information about the weight of grasped objects from vision and internal models interacts within the primary motor cortex.

    Science.gov (United States)

    Loh, Morrison N; Kirsch, Louise; Rothwell, John C; Lemon, Roger N; Davare, Marco

    2010-05-19

    When grasping and lifting different objects, visual cues and previously acquired knowledge enable us to prepare the upcoming grasp by scaling the fingertip forces according to the actual weight of the object. However, when no visual information is available, the weight of the object has to be predicted based on information learned from previous grasps. Here, we investigated how changes in corticospinal excitability (CSE) and grip force scaling depend on the presence of visual cues and the weight of previously lifted objects. CSE was assessed by delivering transcranial magnetic stimulation (TMS) at different times before grasp of the object. In conditions in which visual information was not provided, the size of motor evoked potentials (MEP) was larger when the object lifted was preceded by a heavy relative to a light object. Interestingly, the previous lift also affected MEP amplitude when visual cues about object weight were available but only in the period immediately after object presentation (50 ms); this effect had already declined for TMS delivered 150 ms after presentation. In a second experiment, we demonstrated that these CSE changes are used by the motor system to scale grip force. This suggests that the corticospinal system stores a "sensorimotor memory" of the grasp of different objects and relies on this memory when no visual cues are present. Moreover, visual information about weight interacts with this stored representation and allows the corticospinal system to switch rapidly to a different model of predictive grasp control.

  10. Information about the weight of grasped objects from vision and from internal models interacts within the primary motor cortex

    Science.gov (United States)

    Loh, Morrison N; Kirsch, Louise; Rothwell, John C; Lemon, Roger N; Davare, Marco

    2010-01-01

    When grasping and lifting different objects, visual cues and previously acquired knowledge enable us to prepare the upcoming grasp by scaling the fingertip forces according to the actual weight of the object. However, when no visual information is available, the object’s weight has to be predicted based on information learned from previous grasps. Here, we investigated changes in corticospinal excitability (CSE) and grip force scaling depending on the presence of visual cues and the weight of previously lifted objects. CSE was assessed by delivering transcranial magnetic stimulation (TMS) at different times before grasp of the object. In conditions where visual information was not provided, the size of motor evoked potentials (MEP) was larger when the object lifted was preceded by a heavy relative to a light object. Interestingly, the previous lift also affected MEP amplitude when visual cues about object weight were available, but only in the period immediately after (50 ms) object presentation; this effect had already declined for TMS delivered 150 ms after presentation. In a second experiment, we demonstrated that these CSE changes are used by the motor system to scale grip force. This suggests that the corticospinal system stores a ‘sensorimotor memory’ of the grasp of different objects and relies on this memory when no visual cues are present. Moreover, visual information about weight interacts with this stored representation and allows the corticospinal system to switch rapidly to a different model of predictive grasp control. PMID:20484640

  11. Detection, Location and Grasping Objects Using a Stereo Sensor on UAV in Outdoor Environments

    Directory of Open Access Journals (Sweden)

    Pablo Ramon Soria

    2017-01-01

    Full Text Available The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs in real time. Giving UAVs the capability to manipulate objects vastly extends their applications, as they are capable of accessing places that are difficult to reach or even unreachable for human beings. This work is focused on the grasping of known objects based on feature models. The system runs in an on-board computer on a UAV equipped with a stereo camera and a robotic arm. The algorithm learns a feature-based model in an offline stage, then it is used online for detection of the targeted object and estimation of its position. This feature-based model was proved to be robust to both occlusions and the presence of outliers. The use of stereo cameras improves the learning stage, providing 3D information and helping to filter features in the online stage. An experimental system was derived using a rotary-wing UAV and a small manipulator for final proof of concept. The robotic arm is designed with three degrees of freedom and is lightweight due to payload limitations of the UAV. The system has been validated with different objects, both indoors and outdoors.

  12. Synthesis of optical holograms of rotating objects

    International Nuclear Information System (INIS)

    Bogdanova, T.V.; Titar', V.P.; Tomchuk, E.Ya.

    1998-01-01

    A method of synthesis of rotating objects is analyzed and its advantages over the previously known methods and restrictions caused by the nonlinear character of motion of objects being studied are determined. Numerical simulation is used to study properties of synthesized holograms and the images reconstructed with their help. The resolving power of synthesized holograms is determined. The pulsed response of the system used for the synthesis of rotating objects is studied and its isoplanar sections are determined. It is shown that in the optical range, in contrast to the radio-frequency range, one can synthesize holograms and reconstruct visual images not only of rotating objects, but of vibrating objects as well. For small angles of object rotation (0.0025 rad), an image with a high resolution power (0.0004 m) can be obtained

  13. Rotation of vertically oriented objects during earthquakes

    Science.gov (United States)

    Hinzen, Klaus-G.

    2012-10-01

    Vertically oriented objects, such as tombstones, monuments, columns, and stone lanterns, are often observed to shift and rotate during earthquake ground motion. Such observations are usually limited to the mesoseismal zone. Whether near-field rotational ground motion components are necessary in addition to pure translational movements to explain the observed rotations is an open question. We summarize rotation data from seven earthquakes between 1925 and 2009 and perform analog and numeric rotation testing with vertically oriented objects. The free-rocking motion of a marble block on a sliding table is disturbed by a pulse in the direction orthogonal to the rocking motion. When the impulse is sufficiently strong and occurs at the `right' moment, it induces significant rotation of the block. Numeric experiments of a free-rocking block show that the initiation of vertical block rotation by a cycloidal acceleration pulse applied orthogonal to the rocking axis depends on the amplitude of the pulse and its phase relation to the rocking cycle. Rotation occurs when the pulse acceleration exceeds the threshold necessary to provoke rocking of a resting block, and the rocking block approaches its equilibrium position. Experiments with blocks subjected to full 3D strong motion signals measured during the 2009 L'Aquila earthquake confirm the observations from the tests with analytic ground motions. Significant differences in the rotational behavior of a monolithic block and two stacked blocks exist.

  14. A Mathematical and Numerically Integrable Modeling of 3D Object Grasping under Rolling Contacts between Smooth Surfaces

    Directory of Open Access Journals (Sweden)

    Suguru Arimoto

    2011-01-01

    Full Text Available A computable model of grasping and manipulation of a 3D rigid object with arbitrary smooth surfaces by multiple robot fingers with smooth fingertip surfaces is derived under rolling contact constraints between surfaces. Geometrical conditions of pure rolling contacts are described through the moving-frame coordinates at each rolling contact point under the postulates: (1 two surfaces share a common single contact point without any mutual penetration and a common tangent plane at the contact point and (2 each path length of running of the contact point on the robot fingertip surface and the object surface is equal. It is shown that a set of Euler-Lagrange equations of motion of the fingers-object system can be derived by introducing Lagrange multipliers corresponding to geometric conditions of contacts. A set of 1st-order differential equations governing rotational motions of each fingertip and the object and updating arc-length parameters should be accompanied with the Euler-Lagrange equations. Further more, nonholonomic constraints arising from twisting between the two normal axes to each tangent plane are rewritten into a set of Frenet-Serre equations with a geometrically given normal curvature and a motion-induced geodesic curvature.

  15. Getting hold of approaching objects : In search of a common control of hand-closure initiation in catching and grasping

    NARCIS (Netherlands)

    van de Kamp, Cornelis; Bongers, Raoul M.; Zaal, Frank T. J. M.

    Both in the catching and grasping component of prehension, the hand opens and closes before hand-object contact is made. The initiation of hand closure has to be coordinated with the time course of the decrease of the distance between the hand and the target object, i.e., with the reaching component

  16. Intrinsic Hand Muscle Activation for Grasp and Horizontal Transport

    OpenAIRE

    Winges, Sara A.; Kundu, Bornali; Soechting, John F.; Flanders, Martha

    2007-01-01

    During object manipulation, the hand and arm muscles produce internal forces on the object (grasping forces) and forces that result in external translation or rotation of the object in space (transport forces). The present study tested whether the intrinsic hand muscles are actively involved in transport as well as grasping. Intrinsic hand muscle activity increased with increasing demands for grasp stability, but also showed the timing and directional tuning patterns appropriate for actively ...

  17. The coordination patterns observed when two hands reach-to-grasp separate objects.

    Science.gov (United States)

    Bingham, Geoffrey P; Hughes, Kirstie; Mon-Williams, Mark

    2008-01-01

    What determines coordination patterns when both hands reach to grasp separate objects at the same time? It is known that synchronous timing is preferred as the most stable mode of bimanual coordination. Nonetheless, normal unimanual prehension behaviour predicts asynchrony when the two hands reach towards unequal targets, with synchrony restricted to targets equal in size and distance. Additionally, sufficiently separated targets require sequential looking. Does synchrony occur in all cases because it is preferred in bimanual coordination or does asynchrony occur because of unimanual task constraints and the need for sequential looking? We investigated coordinative timing when participants (n = 8) moved their right (preferred) hand to the same object at a fixed distance but the left hand to objects of different width (3, 5, and 7 cm) and grip surface size (1, 2, and 3 cm) placed at different distances (20, 30, and 40 cm) over 270 randomised trials. The hand movements consisted of two components: (1) an initial component (IC) during which the hand reached towards the target while forming an appropriate grip aperture, stopping at (but not touching) the object; (2) a completion component (CC) during which the finger and thumb closed on the target. The two limbs started the IC together but did not interact until the deceleration phase when evidence of synchronisation began to appear. Nonetheless, asynchronous timing was present at the end of the IC and preserved through the CC even with equidistant targets. Thus, there was synchrony but requirements for visual information ultimately yielded asynchronous coordinative timing.

  18. Learning to Grasp Unknown Objects Based on 3D Edge Information

    DEFF Research Database (Denmark)

    Bodenhagen, Leon; Kraft, Dirk; Popovic, Mila

    2010-01-01

    In this work we refine an initial grasping behavior based on 3D edge information by learning. Based on a set of autonomously generated evaluated grasps and relations between the semi-global 3D edges, a prediction function is learned that computes a likelihood for the success of a grasp using either...... an offline or an online learning scheme. Both methods are implemented using a hybrid artificial neural network containing standard nodes with a sigmoid activation function and nodes with a radial basis function. We show that a significant performance improvement can be achieved....

  19. Haptically Guided Grasping. fMRI Shows Right-Hemisphere Parietal Stimulus Encoding, and Bilateral Dorso-Ventral Parietal Gradients of Object- and Action-Related Processing during Grasp Execution.

    Science.gov (United States)

    Marangon, Mattia; Kubiak, Agnieszka; Króliczak, Gregory

    2015-01-01

    The neural bases of haptically-guided grasp planning and execution are largely unknown, especially for stimuli having no visual representations. Therefore, we used functional magnetic resonance imaging (fMRI) to monitor brain activity during haptic exploration of novel 3D complex objects, subsequent grasp planning, and the execution of the pre-planned grasps. Haptic object exploration, involving extraction of shape, orientation, and length of the to-be-grasped targets, was associated with the fronto-parietal, temporo-occipital, and insular cortex activity. Yet, only the anterior divisions of the posterior parietal cortex (PPC) of the right hemisphere were significantly more engaged in exploration of complex objects (vs. simple control disks). None of these regions were re-recruited during the planning phase. Even more surprisingly, the left-hemisphere intraparietal, temporal, and occipital areas that were significantly invoked for grasp planning did not show sensitivity to object features. Finally, grasp execution, involving the re-recruitment of the critical right-hemisphere PPC clusters, was also significantly associated with two kinds of bilateral parieto-frontal processes. The first represents transformations of grasp-relevant target features and is linked to the dorso-dorsal (lateral and medial) parieto-frontal networks. The second monitors grasp kinematics and belongs to the ventro-dorsal networks. Indeed, signal modulations associated with these distinct functions follow dorso-ventral gradients, with left aIPS showing significant sensitivity to both target features and the characteristics of the required grasp. Thus, our results from the haptic domain are consistent with the notion that the parietal processing for action guidance reflects primarily transformations from object-related to effector-related coding, and these mechanisms are rather independent of sensory input modality.

  20. Learning Grasp Affordance Densities

    DEFF Research Database (Denmark)

    Detry, Renaud; Kraft, Dirk; Kroemer, Oliver

    2011-01-01

    and relies on kernel density estimation to provide a continuous model. Grasp densities are learned and refined from exploration, by letting a robot “play” with an object in a sequence of graspand-drop actions: The robot uses visual cues to generate a set of grasp hypotheses; it then executes......We address the issue of learning and representing object grasp affordance models. We model grasp affordances with continuous probability density functions (grasp densities) which link object-relative grasp poses to their success probability. The underlying function representation is nonparametric...... these and records their outcomes. When a satisfactory number of grasp data is available, an importance-sampling algorithm turns these into a grasp density. We evaluate our method in a largely autonomous learning experiment run on three objects of distinct shapes. The experiment shows how learning increases success...

  1. Scale-Dependent Grasp

    OpenAIRE

    Kaneko, Makoto; Shirai, Tatsuya; Tsuji, Toshio

    2000-01-01

    This paper discusses the scale-dependent grasp.Suppose that a human approaches an object initially placed on atable and finally achieves an enveloping grasp. Under such initialand final conditions, he (or she) unconsciously changes the graspstrategy according to the size of objects, even though they havesimilar geometry. We call the grasp planning the scale-dependentgrasp. We find that grasp patterns are also changed according tothe surface friction and the geometry of cross section in additi...

  2. Model-based automatic generation of grasping regions

    Science.gov (United States)

    Bloss, David A.

    1993-01-01

    The problem of automatically generating stable regions for a robotic end effector on a target object, given a model of the end effector and the object is discussed. In order to generate grasping regions, an initial valid grasp transformation from the end effector to the object is obtained based on form closure requirements, and appropriate rotational and translational symmetries are associated with that transformation in order to construct a valid, continuous grasping region. The main result of this algorithm is a list of specific, valid grasp transformations of the end effector to the target object, and the appropriate combinations of translational and rotational symmetries associated with each specific transformation in order to produce a continuous grasp region.

  3. Grasp Densities for Grasp Refinement in Industrial Bin Picking

    DEFF Research Database (Denmark)

    Hupfauf, Benedikt; Hahn, Heiko; Bodenhagen, Leon

    in terms of object-relative gripper pose, can be learned from empirical experience, and allow the automatic choice of optimal grasps in a given scene context (object pose, workspace constraints, etc.). We will show grasp densities extracted from empirical data in a real industrial bin picking context...... generated in industrial bin-picking for grasp learning. This aim is achieved by using the novel concept of grasp densities (Detry et al., 2010). Grasp densities can describe the full variety of grasps that apply to specific objects using specific grippers. They represent the likelihood of grasp success...

  4. An object-identity probability cueing paradigm during grasping observation: the facilitating effect is present only when the observed kinematics is suitable for the cued object.

    Science.gov (United States)

    Craighero, Laila; Mele, Sonia; Zorzi, Valentina

    2015-01-01

    Electrophysiological and psychophysical data indicate that grasping observation automatically orients attention toward the incoming interactions between the actor's hand and the object. The aim of the present study was to clarify if this effect facilitates the detection of a graspable object with the observed action as compared to an ungraspable one. We submitted participants to an object-identity probability cueing experiment in which the two possible targets were of the same dimensions but one of them presented sharp tips at one extreme while the other presented flat faces. At the beginning of each trial the most probable target was briefly shown. After a variable interval, at the same position, the same (75%) or a different target (25%) was presented. Participants had to press a key in response to target appearance. Superimposed to the video showing cue and target, an agent performing the reaching and grasping of the target was presented. The kinematics of the action was or was not suitable for grasping the cued target, according to the absence or presence of the sharp tips. Results showed that response was modulated by the probability of target identity but only when the observed kinematics was suitable to grasp the attended target. A further experiment clarified that response modulation was never present when the superimposed video always showed the agent at a rest position. These findings are discussed at the light of neurophysiological and psychophysical literature, considering the relationship between the motor system and the perception of objects and of others' actions. We conclude that the prediction of the mechanical events that arise from the interactions between the hand and the attended object is at the basis of the capability to select a graspable object in space.

  5. Object permanence in dogs: invisible displacement in a rotation task.

    Science.gov (United States)

    Miller, Holly C; Gipson, Cassie D; Vaughan, Aubrey; Rayburn-Reeves, Rebecca; Zentall, Thomas R

    2009-02-01

    Dogs were tested for object permanence using an invisible displacement in which an object was hidden in one of two containers at either end of a beam and the beam was rotated. Consistent with earlier research, when the beam was rotated 180 degrees , the dogs failed to find the object. However, when the beam was rotated only 90 degrees , they were successful. Furthermore, when the dogs were led either 90 degrees or 180 degrees around the apparatus, they were also successful. In a control condition, when the dogs could not see the direction of the 90 degrees rotation, they failed to find the object. The results suggest that the 180 degrees rotation may produce an interfering context that can be reduced by rotating the apparatus only 90 degrees or by changing the dogs' perspective. Once the conflict is eliminated, dogs show evidence of object permanence that includes invisibly displaced objects.

  6. Mental object rotation in Parkinson's disease.

    Science.gov (United States)

    Crucian, Gregory P; Barrett, Anna M; Burks, David W; Riestra, Alonso R; Roth, Heidi L; Schwartz, Ronald L; Triggs, William J; Bowers, Dawn; Friedman, William; Greer, Melvin; Heilman, Kenneth M

    2003-11-01

    Deficits in visual-spatial ability can be associated with Parkinson's disease (PD), and there are several possible reasons for these deficits. Dysfunction in frontal-striatal and/or frontal-parietal systems, associated with dopamine deficiency, might disrupt cognitive processes either supporting (e.g., working memory) or subserving visual-spatial computations. The goal of this study was to assess visual-spatial orientation ability in individuals with PD using the Mental Rotations Test (MRT), along with other measures of cognitive function. Non-demented men with PD were significantly less accurate on this test than matched control men. In contrast, women with PD performed similarly to matched control women, but both groups of women did not perform much better than chance. Further, mental rotation accuracy in men correlated with their executive skills involving mental processing and psychomotor speed. In women with PD, however, mental rotation accuracy correlated negatively with verbal memory, indicating that higher mental rotation performance was associated with lower ability in verbal memory. These results indicate that PD is associated with visual-spatial orientation deficits in men. Women with PD and control women both performed poorly on the MRT, possibly reflecting a floor effect. Although men and women with PD appear to engage different cognitive processes in this task, the reason for the sex difference remains to be elucidated.

  7. Visual Priming of Inverted and Rotated Objects

    Science.gov (United States)

    Knowlton, Barbara J.; McAuliffe, Sean P.; Coelho, Chase J.; Hummel, John E.

    2009-01-01

    Object images are identified more efficiently after prior exposure. Here, the authors investigated shape representations supporting object priming. The dependent measure in all experiments was the minimum exposure duration required to correctly identify an object image in a rapid serial visual presentation stream. Priming was defined as the change…

  8. An electrophysiological study of the object-based correspondence effect: is the effect triggered by an intended grasping action?

    Science.gov (United States)

    Lien, Mei-Ching; Jardin, Elliott; Proctor, Robert W

    2013-11-01

    We examined Goslin, Dixon, Fischer, Cangelosi, and Ellis's (Psychological Science 23:152-157, 2012) claim that the object-based correspondence effect (i.e., faster keypress responses when the orientation of an object's graspable part corresponds with the response location than when it does not) is the result of object-based attention (vision-action binding). In Experiment 1, participants determined the category of a centrally located object (kitchen utensil vs. tool), as in Goslin et al.'s study. The handle orientation (left vs. right) did or did not correspond with the response location (left vs. right). We found no correspondence effect on the response times (RTs) for either category. The effect was also not evident in the P1 and N1 components of the event-related potentials, which are thought to reflect the allocation of early visual attention. This finding was replicated in Experiment 2 for centrally located objects, even when the object was presented 45 times (33 more times than in Exp. 1). Critically, the correspondence effects on RTs, P1s, and N1s emerged only when the object was presented peripherally, so that the object handle was clearly located to the left or right of fixation. Experiment 3 provided further evidence that the effect was observed only for the base-centered objects, in which the handle was clearly positioned to the left or right of center. These findings contradict those of Goslin et al. and provide no evidence that an intended grasping action modulates visual attention. Instead, the findings support the spatial-coding account of the object-based correspondence effect.

  9. Grasping Beer Mugs: On the Dynamics of Alignment Effects Induced by Handled Objects

    Science.gov (United States)

    Bub, Daniel N.; Masson, Michael E. J.

    2010-01-01

    We examined automatic spatial alignment effects evoked by handled objects. Using color as the relevant cue carried by an irrelevant handled object aligned or misaligned with the response hand, responses to color were faster when the handle aligned with the response hand. Alignment effects were observed only when the task was to make a reach and…

  10. METHOD FOR DETERMINATION OF ROTATION CENTER IN VIBRATING OBJECT

    Directory of Open Access Journals (Sweden)

    I. P. Kauryha

    2016-01-01

    Full Text Available Linear piezoelectric gauges, eddy current transducers and other control and measuring devices have been widely applied for vibration diagnostics of objects in industry. Methods based on such gauges and used for measuring angular and linear vibrations do not provide the possibility to assess a rotation center or point angle of an object. Parasitic oscillations may occur during rotor rotation and in some cases the oscillations are caused by dis-balance. The known methods for measuring angular and linear vibrations make it possible to detect the phenomenon and they do not provide information for balancing of the given object. For this very reason the paper describes a method for obtaining instantaneous rotation center in the vibrating object. It allows to improve informational content of the measurements owing to obtaining additional data on position of object rotation center. The obtained data can be used for balancing of a control object. Essence of the given method is shown by an example of piezoelectric gauges of linear vibrations. Two three-axial gauges are fixed to the investigated object. Then gauge output signals are recalculated in angular vibrations of the object (for this purpose it is necessary to know a distance between gauges. Further projection positions of the object rotation center are determined on three orthogonal planes. Instantaneous rotation center is calculated according to the position of one of the gauges. The proposed method permits to obtain data on linear and angular vibrations and rotation center position of the vibrating object using one system of linear gauge. Possibilities of object diagnostics are expanded due to increase in number of determined parameters pertaining to object moving. The method also makes it possible to reduce material and time expenses for measurement of an angular vibration component. 

  11. Insect brains use image interpolation mechanisms to recognise rotated objects.

    Directory of Open Access Journals (Sweden)

    Adrian G Dyer

    Full Text Available Recognising complex three-dimensional objects presents significant challenges to visual systems when these objects are rotated in depth. The image processing requirements for reliable individual recognition under these circumstances are computationally intensive since local features and their spatial relationships may significantly change as an object is rotated in the horizontal plane. Visual experience is known to be important in primate brains learning to recognise rotated objects, but currently it is unknown how animals with comparatively simple brains deal with the problem of reliably recognising objects when seen from different viewpoints. We show that the miniature brain of honeybees initially demonstrate a low tolerance for novel views of complex shapes (e.g. human faces, but can learn to recognise novel views of stimuli by interpolating between or 'averaging' views they have experienced. The finding that visual experience is also important for bees has important implications for understanding how three dimensional biologically relevant objects like flowers are recognised in complex environments, and for how machine vision might be taught to solve related visual problems.

  12. Earlier and greater hand pre-shaping in the elderly: a study based on kinematic analysis of reaching movements to grasp objects.

    Science.gov (United States)

    Tamaru, Yoshiki; Naito, Yasuo; Nishikawa, Takashi

    2017-11-01

    Elderly people are less able to manipulate objects skilfully than young adults. Although previous studies have examined age-related deterioration of hand movements with a focus on the phase after grasping objects, the changes in the reaching phase have not been studied thus far. We aimed to examine whether changes in hand shape patterns during the reaching phase of grasping movements differ between young adults and the elderly. Ten healthy elderly adults and 10 healthy young adults were examined using the Simple Test for Evaluating Hand Functions and kinetic analysis of hand pre-shaping reach-to-grasp tasks. The results were then compared between the two groups. For kinetic analysis, we measured the time of peak tangential velocity of the wrist and the inter-fingertip distance (the distance between the tips of the thumb and index finger) at different time points. The results showed that the elderly group's performance on the Simple Test for Evaluating Hand Functions was significantly lower than that of the young adult group, irrespective of whether the dominant or non-dominant hand was used, indicating deterioration of hand movement in the elderly. The peak tangential velocity of the wrist in either hand appeared significantly earlier in the elderly group than in the young adult group. The elderly group also showed larger inter-fingertip distances with arch-like fingertip trajectories compared to the young adult group for all object sizes. To perform accurate prehension, elderly people have an earlier peak tangential velocity point than young adults. This allows for a longer adjustment time for reaching and grasping movements and for reducing errors in object prehension by opening the hand and fingers wider. Elderly individuals gradually modify their strategy based on previous successes and failures during daily living to compensate for their decline in dexterity and operational capabilities. © 2017 Japanese Psychogeriatric Society.

  13. Neural substrates of view-invariant object recognition developed without experiencing rotations of the objects.

    Science.gov (United States)

    Okamura, Jun-Ya; Yamaguchi, Reona; Honda, Kazunari; Wang, Gang; Tanaka, Keiji

    2014-11-05

    One fails to recognize an unfamiliar object across changes in viewing angle when it must be discriminated from similar distractor objects. View-invariant recognition gradually develops as the viewer repeatedly sees the objects in rotation. It is assumed that different views of each object are associated with one another while their successive appearance is experienced in rotation. However, natural experience of objects also contains ample opportunities to discriminate among objects at each of the multiple viewing angles. Our previous behavioral experiments showed that after experiencing a new set of object stimuli during a task that required only discrimination at each of four viewing angles at 30° intervals, monkeys could recognize the objects across changes in viewing angle up to 60°. By recording activities of neurons from the inferotemporal cortex after various types of preparatory experience, we here found a possible neural substrate for the monkeys' performance. For object sets that the monkeys had experienced during the task that required only discrimination at each of four viewing angles, many inferotemporal neurons showed object selectivity covering multiple views. The degree of view generalization found for these object sets was similar to that found for stimulus sets with which the monkeys had been trained to conduct view-invariant recognition. These results suggest that the experience of discriminating new objects in each of several viewing angles develops the partially view-generalized object selectivity distributed over many neurons in the inferotemporal cortex, which in turn bases the monkeys' emergent capability to discriminate the objects across changes in viewing angle. Copyright © 2014 the authors 0270-6474/14/3415047-13$15.00/0.

  14. Continuum robots and underactuated grasping

    Directory of Open Access Journals (Sweden)

    N. Giri

    2011-02-01

    Full Text Available We discuss the capabilities of continuum (continuous backbone robot structures in the performance of under-actuated grasping. Continuum robots offer the potential of robust grasps over a wide variety of object classes, due to their ability to adapt their shape to interact with the environment via non-local continuum contact conditions. Furthermore, this capability can be achieved with simple, low degree of freedom hardware. However, there are practical issues which currently limit the application of continuum robots to grasping. We discuss these issues and illustrate via an experimental continuum grasping case study.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  15. What Grasps and Holds 8-Month-Old Infants' Looking Attention? The Effects of Object Size and Depth Cues

    OpenAIRE

    Guan, Yu; Corbetta, Daniela

    2012-01-01

    The current eye-tracking study explored the relative impact of object size and depth cues on 8-month-old infants' visual attention processes. A series of slides containing 3 objects of either different or same size were displayed on backgrounds with varying depth cues. The distribution of infants' first looks (a measure of initial attention switch) and infants' looking durations (a measure of sustained attention) at the objects were analyzed. Results revealed that the large objects captured i...

  16. Interaction between the Learners' Initial Grasp of the Object of Learning and the Learning Resource Afforded

    Science.gov (United States)

    Pang, Ming Fai; Marton, Ference

    2013-01-01

    Two studies are reported in this paper. The object of learning in both is the economic principle of changes in price as a function of changes in the relative magnitude of changes in demand and supply. The patterns of variation and invariance, defining the conditions compared were built into pedagogical tools (text, graphs, and worksheets). The…

  17. Collision-Avoidance Characteristics of Grasping. Early Signs in Hand and Arm Kinematics

    NARCIS (Netherlands)

    Lommertzen, J.; Costa e Silva, E.; Meulenbroek, R.G.J.

    2009-01-01

    Grasping an object successfully implies avoiding colliding into it before the hand is closed around the object. The present study focuses on prehension kinematics that typically reflect collision-avoidance characteristics of grasping movements. Twelve participants repeatedly grasped

  18. A Biologically Inspired Learning to Grasp System

    Science.gov (United States)

    2001-10-25

    possible extensive discussions of data on the premotor cortex and monkey grasping circuit with Giacomo Rizzolatti , Vittorio Gallese, to whom we express...premotor specialisation for the different types of grasps that Rizzolatti group [3] has found be formed at this age yet. Infants will need to...our gratitude. REFERENCES [1] M. Jeannerod, M.A. Arbib, G. Rizzolatti , H. Sakata, “Grasping objects: the cortical mechanisms of visuomotor

  19. Visual Descriptor Learning for Predicting Grasping Affordances

    DEFF Research Database (Denmark)

    Thomsen, Mikkel Tang

    2016-01-01

    by the task of grasping unknown objects given visual sensor information. The contributions from this thesis stem from three works that all relate to the task of grasping unknown objects but with particular focus on the visual representation part of the problem. First an investigation of a visual feature space...... consisting of surface features was performed. Dimensions in the visual space were varied and the effects were evaluated with the task of grasping unknown object. The evaluation was performed using a novel probabilistic grasp prediction approach based on neighbourhood analysis. The resulting success......-rates for predicting grasps were between 75% and 90% depending on the object class. The investigations also provided insights into the importance of selecting a proper visual feature space when utilising it for predicting affordances. As a consequence of the gained insights, a semi-local surface feature, the Sliced...

  20. A SCILAB Program for Computing Rotating Magnetic Compact Objects

    Science.gov (United States)

    Papasotiriou, P. J.; Geroyannis, V. S.

    We implement the so-called ``complex-plane iterative technique'' (CIT) to the computation of classical differentially rotating magnetic white dwarf and neutron star models. The program has been written in SCILAB (© INRIA-ENPC), a matrix-oriented high-level programming language, which can be downloaded free of charge from the site http://www-rocq.inria.fr/scilab. Due to the advanced capabilities of this language, the code is short and understandable. Highlights of the program are: (a) time-saving character, (b) easy use due to the built-in graphics user interface, (c) easy interfacing with Fortran via online dynamic link. We interpret our numerical results in various ways by extensively using the graphics environment of SCILAB.

  1. Optical derotator alignment using image-processing algorithm for tracking laser vibrometer measurements of rotating objects.

    Science.gov (United States)

    Khalil, Hossam; Kim, Dongkyu; Jo, Youngjoon; Park, Kyihwan

    2017-06-01

    An optical component called a Dove prism is used to rotate the laser beam of a laser-scanning vibrometer (LSV). This is called a derotator and is used for measuring the vibration of rotating objects. The main advantage of a derotator is that it works independently from an LSV. However, this device requires very specific alignment, in which the axis of the Dove prism must coincide with the rotational axis of the object. If the derotator is misaligned with the rotating object, the results of the vibration measurement are imprecise, owing to the alteration of the laser beam on the surface of the rotating object. In this study, a method is proposed for aligning a derotator with a rotating object through an image-processing algorithm that obtains the trajectory of a landmark attached to the object. After the trajectory of the landmark is mathematically modeled, the amount of derotator misalignment with respect to the object is calculated. The accuracy of the proposed method for aligning the derotator with the rotating object is experimentally tested.

  2. Apparatus and method for generating a magnetic field by rotation of a charge holding object

    Science.gov (United States)

    Gerald, II, Rex E.; Vukovic, Lela [Westchester, IL; Rathke, Jerome W [Homer Glenn, IL

    2009-10-13

    A device and a method for the production of a magnetic field using a Charge Holding Object that is mechanically rotated. In a preferred embodiment, a Charge Holding Object surrounding a sample rotates and subjects the sample to one or more magnetic fields. The one or more magnetic fields are used by NMR Electronics connected to an NMR Conductor positioned within the Charge Holding Object to perform NMR analysis of the sample.

  3. Refining Grasp Affordance Models by Experience

    DEFF Research Database (Denmark)

    Detry, Renaud; Kraft, Dirk; Buch, Anders Glent

    2010-01-01

    We present a method for learning object grasp affordance models in 3D from experience, and demonstrate its applicability through extensive testing and evaluation on a realistic and largely autonomous platform. Grasp affordance refers here to relative object-gripper configurations that yield stable...... with a visual model of the object they characterize. We explore a batch-oriented, experience-based learning paradigm where grasps sampled randomly from a density are performed, and an importance-sampling algorithm learns a refined density from the outcomes of these experiences. The first such learning cycle...... is bootstrapped with a grasp density formed from visual cues. We show that the robot effectively applies its experience by downweighting poor grasp solutions, which results in increased success rates at subsequent learning cycles. We also present success rates in a practical scenario where a robot needs...

  4. Remote impact of rotating objects on semiconductor detector of gamma radiation

    International Nuclear Information System (INIS)

    Mel'nik, I.A.

    2005-01-01

    Remote impact of rotating objects (such as electric motors, flywheels) on meter and ionizing radiation detector readings were studied. A model, explaining diminution of readings of scintillation and gas-discharge intensimeters at switched on hygroscopic electric motor and at mechanically rotating flywheel, is proposed

  5. Experiments in robotic sensorimotor control during grasp

    International Nuclear Information System (INIS)

    Stansfield, S.A.

    1993-01-01

    A series of experiments is presented, using a robot manipulator, which attempt to reproduce human sensorimotor control during grasping. The work utilizes a multifingered, dexterous robot hand equipped with a fingertip force sensor to explore dynamic grasp force adjustment during manipulation. The work is primarily concerned with the relationship between the weight of an object and the grasp force required to lift it. Too weak a grasp is unstable and the object will slip from the hand. Too strong a grasp may damage the object and/or the manipulator. An algorithm is presented which reproduces observed human behavior during grasp-and-lift tasks. The algorithm uses tactile information from the sensor to dynamically adjust the grasp force during lift. It is assumed that there is no a priori knowledge about the object to be manipulated. The effects of different arm/hand postures and object surfaces is explored. Finally, the use of sensory data to detect unexpected object motion and to signal transitions between manipulation phases--with the coincident triggering of new motor programs--is investigated

  6. Grasping in Robotics

    CERN Document Server

    2013-01-01

    Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture).   The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and hum...

  7. GRASP: A multitasking tether

    Directory of Open Access Journals (Sweden)

    Catherine eRabouille

    2016-01-01

    Full Text Available Originally identified as Golgi stacking factors in vitro, the Golgi reassembly stacking protein (GRASP family has been shown to act as membrane tethers with multiple cellular roles. As an update to previous comprehensive reviews of the GRASP family (Vinke et al., 2011 (Giuliani et al., 2011;Jarvela and Linstedt, 2012, we outline here the latest findings concerning their diverse roles. New insights into the mechanics of GRASP-mediated tethering come from recent crystal structures. The models of how GRASP65 and GRASP55 tether membranes relate directly to their role in Golgi ribbon formation in mammalian cells and the unlinking of the ribbon at the onset of mitosis. However, it is also clear that GRASPs act outside the Golgi with roles at the ER and ER exit sites (ERES. Furthermore, the proteins of this family display other roles upon cellular stress, especially in mediating unconventional secretion of both transmembrane proteins (Golgi bypass and cytoplasmic proteins (through secretory autophagosomes.

  8. Determining the drag coefficient of rotational symmetric objects falling through liquids

    International Nuclear Information System (INIS)

    Houari, Ahmed

    2012-01-01

    I will propose here a kinematic approach for measuring the drag coefficient of rotational symmetric objects falling through liquids. For this, I will show that one can obtain a measurement of the drag coefficient of a rotational symmetric object by numerically solving the equation of motion describing its fall through a known liquid contained in a vertical tube. The experimental value of the drag coefficient of an object with a particular shape is obtained by measuring the fall distance of the object at any recorded time along its entire falling path. (paper)

  9. System and Method for Obtaining Simultaneous Levitation and Rotation of a Ferromagnetic Object

    Science.gov (United States)

    Banerjee, Subrata; Sarkar, Mrinal Kanti; Ghosh, Arnab

    2017-02-01

    In this work a practical demonstration for simultaneous levitation and rotation for a ferromagnetic cylindrical object is presented. A hollow steel cylinder has been arranged to remain suspended stably under I-core electromagnet utilizing dc attraction type levitation principle and then arranged to rotate the levitated object around 1000 rpm speed based on eddy current based energy meter principle. Since the object is to be rotating during levitated condition the device will be frictionless, energy-efficient and robust. This technology may be applied to frictionless energy meter, wind turbine, machine tool applications, precision instruments and many other devices where easy energy-efficient stable rotation will be required. The cascade lead compensation control scheme has been applied for stabilization of unstable levitation system. The proposed device is successfully tested in the laboratory and experimental results have been produced.

  10. Dissociating object-based from egocentric transformations in mental body rotation: effect of stimuli size.

    Science.gov (United States)

    Habacha, Hamdi; Moreau, David; Jarraya, Mohamed; Lejeune-Poutrain, Laure; Molinaro, Corinne

    2018-01-01

    The effect of stimuli size on the mental rotation of abstract objects has been extensively investigated, yet its effect on the mental rotation of bodily stimuli remains largely unexplored. Depending on the experimental design, mentally rotating bodily stimuli can elicit object-based transformations, relying mainly on visual processes, or egocentric transformations, which typically involve embodied motor processes. The present study included two mental body rotation tasks requiring either a same-different or a laterality judgment, designed to elicit object-based or egocentric transformations, respectively. Our findings revealed shorter response times for large-sized stimuli than for small-sized stimuli only for greater angular disparities, suggesting that the more unfamiliar the orientations of the bodily stimuli, the more stimuli size affected mental processing. Importantly, when comparing size transformation times, results revealed different patterns of size transformation times as a function of angular disparity between object-based and egocentric transformations. This indicates that mental size transformation and mental rotation proceed differently depending on the mental rotation strategy used. These findings are discussed with respect to the different spatial manipulations involved during object-based and egocentric transformations.

  11. Functional classification of grasp strategies used by hemiplegic patients.

    Directory of Open Access Journals (Sweden)

    Alicia García Álvarez

    Full Text Available This study aimed to identify and qualify grasp-types used by patients with stroke and determine the clinical parameters that could explain the use of each grasp. Thirty-eight patients with chronic stroke-related hemiparesis and a range of motor and functional capacities (17 females and 21 males, aged 25-78, and 10 healthy subjects were included. Four objects were used (tissue packet, teaspoon, bottle and tennis ball. Participants were instructed to "grasp the object as if you are going to use it". Three trials were video-recorded for each object. A total of 456 grasps were analysed and rated using a custom-designed Functional Grasp Scale. Eight grasp-types were identified from the analysis: healthy subjects used Multi-pulpar, Pluri-digital, Lateral-pinch and Palmar grasps (Standard Grasps. Patients used the same grasps with in addition Digito-palmar, Raking, Ulnar and Interdigital grasps (Alternative Grasps. Only patients with a moderate or relatively good functional ability used Standard grasps. The correlation and regression analyses showed this was conditioned by sufficient finger and elbow extensor strength (Pluri-digital grasp; thumb extensor and wrist flexor strength (Lateral pinch or in forearm supinator strength (Palmar grasp. By contrast, the patients who had severe impairment used Alternative grasps that did not involve the thumb. These strategies likely compensate specific impairments. Regression and correlation analyses suggested that weakness had a greater influence over grasp strategy than spasticity. This would imply that treatment should focus on improving hand strength and control although reducing spasticity may be useful in some cases.

  12. Neurons in Primary Motor Cortex Encode Hand Orientation in a Reach-to-Grasp Task.

    Science.gov (United States)

    Ma, Chaolin; Ma, Xuan; Fan, Jing; He, Jiping

    2017-08-01

    It is disputed whether those neurons in the primary motor cortex (M1) that encode hand orientation constitute an independent channel for orientation control in reach-to-grasp behaviors. Here, we trained two monkeys to reach forward and grasp objects positioned in the frontal plane at different orientation angles, and simultaneously recorded the activity of M1 neurons. Among the 2235 neurons recorded in M1, we found that 18.7% had a high correlation exclusively with hand orientation, 15.9% with movement direction, and 29.5% with both movement direction and hand orientation. The distributions of neurons encoding hand orientation and those encoding movement direction were not uniform but coexisted in the same region. The trajectory of hand rotation was reproduced by the firing patterns of the orientation-related neurons independent of the hand reaching direction. These results suggest that hand orientation is an independent component for the control of reaching and grasping activity.

  13. OBJECT TRACKING WITH ROTATION-INVARIANT LARGEST DIFFERENCE INDEXED LOCAL TERNARY PATTERN

    Directory of Open Access Journals (Sweden)

    J Shajeena

    2017-02-01

    Full Text Available This paper presents an ideal method for object tracking directly in the compressed domain in video sequences. An enhanced rotation-invariant image operator called Largest Difference Indexed Local Ternary Pattern (LDILTP has been proposed. The Local Ternary Pattern which worked very well in texture classification and face recognition is now extended for rotation invariant object tracking. Histogramming the LTP code makes the descriptor resistant to translation. The histogram intersection is used to find the similarity measure. This method is robust to noise and retain contrast details. The proposed scheme has been verified on various datasets and shows a commendable performance.

  14. Shaping of Reach-to-Grasp Kinematics by Intentions

    DEFF Research Database (Denmark)

    Egmose, Ida; Køppe, Simo

    2017-01-01

    is primarily associated with transporting the hand to the object (i.e., extrinsic object properties), the decelerating part of the reach is used as a preparation for object manipulation (i.e., prepare the grasp or the subsequent action), and the grasp is associated with manipulating the object's intrinsic...

  15. Temperature measurements on fast-rotating objects using a thermographic camera with an optomechanical image derotator

    Science.gov (United States)

    Altmann, Bettina; Pape, Christian; Reithmeier, Eduard

    2017-08-01

    Increasing requirements concerning the quality and lifetime of machine components in industrial and automotive applications require comprehensive investigations of the components in conditions close to the application. Irregularities in heating of mechanical parts reveal regions with increased loading of pressure, draft or friction. In the long run this leads to damage and total failure of the machine. Thermographic measurements of rotating objects, e.g., rolling bearings, brakes, and clutches provide an approach to investigate those defects. However, it is challenging to measure fast-rotating objects accurately. Currently one contact-free approach is performing stroboscopic measurements using an infrared sensor. The data acquisition is triggered so that the image is taken once per revolution. This leads to a huge loss of information on the majority of the movement and to motion blur. The objective of this research is showing the potential of using an optomechanical image derotator together with a thermographic camera. The derotator follows the rotation of the measurement object so that quasi-stationary thermal images during motion can be acquired by the infrared sensor. Unlike conventional derotators which use a glass prism to achieve this effect, the derotator within this work is equipped with a sophisticated reflector assembly. These reflectors are made of aluminum to transfer infrared radiation emitted by the rotating object. Because of the resulting stationary thermal image, the operation can be monitored continuously even for fast-rotating objects. The field of view can also be set to a small off-axis region of interest which then can be investigated with higher resolution or frame rate. To depict the potential of this approach, thermographic measurements on a rolling bearings in different operating states are presented.

  16. Strong gravitational lensing by a Konoplya-Zhidenko rotating non-Kerr compact object

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Shangyun; Chen, Songbai; Jing, Jiliang, E-mail: shangyun_wang@163.com, E-mail: csb3752@hunnu.edu.cn, E-mail: jljing@hunnu.edu.cn [Institute of Physics and Department of Physics, Hunan Normal University, Changsha, Hunan 410081 (China)

    2016-11-01

    Konoplya and Zhidenko have proposed recently a rotating non-Kerr black hole metric beyond General Relativity and make an estimate for the possible deviations from the Kerr solution with the data of GW 150914. We here study the strong gravitational lensing in such a rotating non-Kerr spacetime with an extra deformation parameter. We find that the condition of existence of horizons is not inconsistent with that of the marginally circular photon orbit. Moreover, the deflection angle of the light ray near the weakly naked singularity covered by the marginally circular orbit diverges logarithmically in the strong-field limit. In the case of the completely naked singularity, the deflection angle near the singularity tends to a certain finite value, whose sign depends on the rotation parameter and the deformation parameter. These properties of strong gravitational lensing are different from those in the Johannsen-Psaltis rotating non-Kerr spacetime and in the Janis-Newman-Winicour spacetime. Modeling the supermassive central object of the Milk Way Galaxy as a Konoplya-Zhidenko rotating non-Kerr compact object, we estimated the numerical values of observables for the strong gravitational lensing including the time delay between two relativistic images.

  17. Phenomenological aspects of new gravitational forces. I. Rapidly rotating compact objects

    International Nuclear Information System (INIS)

    Nieto, M.M.; Goldman, T.; Hughes, R.J.

    1987-01-01

    A general phenomenological feature of theories of quantum gravity is the existence of spin-1 and spin-0 partners of the graviton, which are expected to be massive (have finite ranges). In the static limit, the forces associated with these partners could almost cancel for particle-particle interactions and yet still produce dramatic effects for antiparticle-particle interactions (such as the gravitational attraction of antiprotons to Earth). However, at relativistic velocities the new forces could become significant even for particle-particle interactions. In this paper we show how these partners could modify the dynamics of particles at the surface of rotating, compact objects, specifically, rapidly rotating pulsars

  18. Grasping trajectories in a virtual environment adhere to Weber's law.

    Science.gov (United States)

    Ozana, Aviad; Berman, Sigal; Ganel, Tzvi

    2018-06-01

    Virtual-reality and telerobotic devices simulate local motor control of virtual objects within computerized environments. Here, we explored grasping kinematics within a virtual environment and tested whether, as in normal 3D grasping, trajectories in the virtual environment are performed analytically, violating Weber's law with respect to object's size. Participants were asked to grasp a series of 2D objects using a haptic system, which projected their movements to a virtual space presented on a computer screen. The apparatus also provided object-specific haptic information upon "touching" the edges of the virtual targets. The results showed that grasping movements performed within the virtual environment did not produce the typical analytical trajectory pattern obtained during 3D grasping. Unlike as in 3D grasping, grasping trajectories in the virtual environment adhered to Weber's law, which indicates relative resolution in size processing. In addition, the trajectory patterns differed from typical trajectories obtained during 3D grasping, with longer times to complete the movement, and with maximum grip apertures appearing relatively early in the movement. The results suggest that grasping movements within a virtual environment could differ from those performed in real space, and are subjected to irrelevant effects of perceptual information. Such atypical pattern of visuomotor control may be mediated by the lack of complete transparency between the interface and the virtual environment in terms of the provided visual and haptic feedback. Possible implications of the findings to movement control within robotic and virtual environments are further discussed.

  19. Learning Grasp Strategies Composed of Contact Relative Motions

    Science.gov (United States)

    Platt, Robert, Jr.

    2007-01-01

    Of central importance to grasp synthesis algorithms are the assumptions made about the object to be grasped and the sensory information that is available. Many approaches avoid the issue of sensing entirely by assuming that complete information is available. In contrast, this paper proposes an approach to grasp synthesis expressed in terms of units of control that simultaneously change the contact configuration and sense information about the object and the relative manipulator-object pose. These units of control, known as contact relative motions (CRMs), allow the grasp synthesis problem to be recast as an optimal control problem where the goal is to find a strategy for executing CRMs that leads to a grasp in the shortest number of steps. An experiment is described that uses Robonaut, the NASA-JSC space humanoid, to show that CRMs are a viable means of synthesizing grasps. However, because of the limited amount of information that a single CRM can sense, the optimal control problem may be partially observable. This paper proposes expressing the problem as a k-order Markov Decision Process (MDP) and solving it using Reinforcement Learning. This approach is tested in a simulation of a two-contact manipulator that learns to grasp an object. Grasp strategies learned in simulation are tested on the physical Robonaut platform and found to lead to grasp configurations consistently.

  20. Mental rotation versus invariant features in object perception from different viewpoints: an fMRI study.

    Science.gov (United States)

    Vanrie, Jan; Béatse, Erik; Wagemans, Johan; Sunaert, Stefan; Van Hecke, Paul

    2002-01-01

    It has been proposed that object perception can proceed through different routes, which can be situated on a continuum ranging from complete viewpoint-dependency to complete viewpoint-independency, depending on the objects and the task at hand. Although these different routes have been extensively demonstrated on the behavioral level, the corresponding distinction in the underlying neural substrate has not received the same attention. Our goal was to disentangle, on the behavioral and the neurofunctional level, a process associated with extreme viewpoint-dependency, i.e. mental rotation, and a process associated with extreme viewpoint-independency, i.e. the use of viewpoint-invariant, diagnostic features. Two sets of 3-D block figures were created that either differed in handedness (original versus mirrored) or in the angles joining the block components (orthogonal versus skewed). Behavioral measures on a same-different judgment task were predicted to be dependent on viewpoint in the rotation condition (same versus mirrored), but not in the invariance condition (same angles versus different angles). Six subjects participated in an fMRI experiment while presented with both conditions in alternating blocks. Both reaction times and accuracy confirmed the predicted dissociation between the two conditions. Neurofunctional results indicate that all cortical areas activated in the invariance condition were also activated in the rotation condition. Parietal areas were more activated than occipito-temporal areas in the rotation condition, while this pattern was reversed in the invariance condition. Furthermore, some areas were activated uniquely by the rotation condition, probably reflecting the additional processes apparent in the behavioral response patterns.

  1. Ajustes nos movimentos de alcançar e apreender objetos: impacto da Síndrome de Down Adjustments in the movements of reaching for and grasping objects: the impact of Down Syndrome

    Directory of Open Access Journals (Sweden)

    Mariana Martins dos Santos

    2012-06-01

    Full Text Available OBJETIVOS: verificar a influência das propriedades dos objetos nos ajustes realizados por lactentes típicos e com Síndrome de Down (SD dos quatro aos oito meses de idade ao alcançar e apreender objetos. MÉTODOS: 16 lactentes, avaliados uma vez ao mês dos 4 aos 8 meses, sendo oito típicos e oito com SD. Quatro objetos esféricos (maleável grande, maleável pequeno, rígido grande e rígido pequeno foram apresentados, e os cinco primeiros movimentos válidos foram registrados para análise das variáveis: ajuste proximal (uni e bimanual, ajuste distal (orientação da palma, abertura da mão e apreensão do objeto. RESULTADOS: os lactentes típicos apresentaram mais ajuste bimanual para objetos grandes aos seis e oito meses e os com SD aos sete meses. Quanto aos ajustes distais, os lactentes típicos variaram seu comportamento enquanto os com SD apresentaram uso predominante da posição oblíqua. Em geral, o grupo típico apresentou maior sucesso na apreensão dos objetos rígidos e maleável pequeno quando comparados aos lactentes com SD. CONCLUSÕES: Os lactentes com SD apresentaram menor variedade de ajustes o que levou a um menor sucesso na apreensão, possivelmente devido a restrições intrínsecas da SD.OBJECTIVES: to verify the influence that properties of objects have on the reaching and grasping adjustments made by infants with and without Down syndrome (DS between four to eight months of age. METHODS: 16 infants, eight typical and eight with DS, were evaluated once a month from months 4 to 8. Four spherical objects (large soft, small soft, large hard and small hard were offered and the first five valid movements were recorded for analysis of the variables: proximal adjustment (uni- and bimanual, distal adjustments (palm orientation, hand opening and grasping of the object. RESULTS: the typical infants displayed greater bimanual adjustment for large objects at six and eight months and those with DS at seven months. As for distal

  2. Grasp Representations Depend on Knowledge and Attention

    Science.gov (United States)

    Chua, Kao-Wei; Bub, Daniel N.; Masson, Michael E. J.; Gauthier, Isabel

    2018-01-01

    Seeing pictures of objects activates the motor cortex and can have an influence on subsequent grasping actions. However, the exact nature of the motor representations evoked by these pictures is unclear. For example, action plans engaged by pictures could be most affected by direct visual input and computed online based on object shape.…

  3. From robot to human grasping simulation

    CERN Document Server

    León, Beatriz; Sancho-Bru, Joaquin

    2013-01-01

    The human hand and its dexterity in grasping and manipulating objects are some of the hallmarks of the human species. For years, anatomic and biomechanical studies have deepened the understanding of the human hand’s functioning and, in parallel, the robotics community has been working on the design of robotic hands capable of manipulating objects with a performance similar to that of the human hand. However, although many researchers have partially studied various aspects, to date there has been no comprehensive characterization of the human hand’s function for grasping and manipulation of

  4. Grasping without sight: insights from the congenitally blind.

    Directory of Open Access Journals (Sweden)

    Kayla D Stone

    Full Text Available We reach for and grasp different sized objects numerous times per day. Most of these movements are visually-guided, but some are guided by the sense of touch (i.e. haptically-guided, such as reaching for your keys in a bag, or for an object in a dark room. A marked right-hand preference has been reported during visually-guided grasping, particularly for small objects. However, little is known about hand preference for haptically-guided grasping. Recently, a study has shown a reduction in right-hand use in blindfolded individuals, and an absence of hand preference if grasping was preceded by a short haptic experience. These results suggest that vision plays a major role in hand preference for grasping. If this were the case, then one might expect congenitally blind (CB individuals, who have never had a visual experience, to exhibit no hand preference. Two novel findings emerge from the current study: first, the results showed that contrary to our expectation, CB individuals used their right hand during haptically-guided grasping to the same extent as visually-unimpaired (VU individuals did during visually-guided grasping. And second, object size affected hand use in an opposite manner for haptically- versus visually-guided grasping. Big objects were more often picked up with the right hand during haptically-guided, but less often during visually-guided grasping. This result highlights the different demands that object features pose on the two sensory systems. Overall the results demonstrate that hand preference for grasping is independent of visual experience, and they suggest a left-hemisphere specialization for the control of grasping that goes beyond sensory modality.

  5. Assessing Grasp Stability Based on Learning and Haptic Data

    DEFF Research Database (Denmark)

    Bekiroglu, Yasemin; Laaksonen, Janne; Jørgensen, Jimmy Alison

    2011-01-01

    a probabilistic learning framework to assess grasp stability and demonstrate that knowledge about grasp stability can be inferred using information from tactile sensors. Experiments on both simulated and real data are shown. The results indicate that the idea to exploit the learning approach is applicable...... data and machine-learning methods, including AdaBoost, support vector machines (SVMs), and hidden Markov models (HMMs). In particular, we study the effect of different sensory streams to grasp stability. This includes object information such as shape; grasp information such as approach vector; tactile...

  6. Bone indicators of grasping hands in lizards

    Directory of Open Access Journals (Sweden)

    Gabriela Fontanarrosa

    2016-05-01

    Full Text Available Grasping is one of a few adaptive mechanisms that, in conjunction with clinging, hooking, arm swinging, adhering, and flying, allowed for incursion into the arboreal eco-space. Little research has been done that addresses grasping as an enhanced manual ability in non-mammalian tetrapods, with the exception of studies comparing the anatomy of muscle and tendon structure. Previous studies showed that grasping abilities allow exploitation for narrow branch habitats and that this adaptation has clear osteological consequences. The objective of this work is to ascertain the existence of morphometric descriptors in the hand skeleton of lizards related to grasping functionality. A morphological matrix was constructed using 51 morphometric variables in 278 specimens, from 24 genera and 13 families of Squamata. To reduce the dimensions of the dataset and to organize the original variables into a simpler system, three PCAs (Principal Component Analyses were performed using the subsets of (1 carpal variables, (2 metacarpal variables, and (3 phalanges variables. The variables that demonstrated the most significant contributions to the construction of the PCA synthetic variables were then used in subsequent analyses. To explore which morphological variables better explain the variations in the functional setting, we ran Generalized Linear Models for the three different sets. This method allows us to model the morphology that enables a particular functional trait. Grasping was considered the only response variable, taking the value of 0 or 1, while the original variables retained by the PCAs were considered predictor variables. Our analyses yielded six variables associated with grasping abilities: two belong to the carpal bones, two belong to the metacarpals and two belong to the phalanges. Grasping in lizards can be performed with hands exhibiting at least two different independently originated combinations of bones. The first is a combination of a highly

  7. Hand Grasping Synergies As Biometrics.

    Science.gov (United States)

    Patel, Vrajeshri; Thukral, Poojita; Burns, Martin K; Florescu, Ionut; Chandramouli, Rajarathnam; Vinjamuri, Ramana

    2017-01-01

    Recently, the need for more secure identity verification systems has driven researchers to explore other sources of biometrics. This includes iris patterns, palm print, hand geometry, facial recognition, and movement patterns (hand motion, gait, and eye movements). Identity verification systems may benefit from the complexity of human movement that integrates multiple levels of control (neural, muscular, and kinematic). Using principal component analysis, we extracted spatiotemporal hand synergies (movement synergies) from an object grasping dataset to explore their use as a potential biometric. These movement synergies are in the form of joint angular velocity profiles of 10 joints. We explored the effect of joint type, digit, number of objects, and grasp type. In its best configuration, movement synergies achieved an equal error rate of 8.19%. While movement synergies can be integrated into an identity verification system with motion capture ability, we also explored a camera-ready version of hand synergies-postural synergies. In this proof of concept system, postural synergies performed well, but only when specific postures were chosen. Based on these results, hand synergies show promise as a potential biometric that can be combined with other hand-based biometrics for improved security.

  8. Hand Grasping Synergies As Biometrics

    Directory of Open Access Journals (Sweden)

    Ramana Vinjamuri

    2017-05-01

    Full Text Available Recently, the need for more secure identity verification systems has driven researchers to explore other sources of biometrics. This includes iris patterns, palm print, hand geometry, facial recognition, and movement patterns (hand motion, gait, and eye movements. Identity verification systems may benefit from the complexity of human movement that integrates multiple levels of control (neural, muscular, and kinematic. Using principal component analysis, we extracted spatiotemporal hand synergies (movement synergies from an object grasping dataset to explore their use as a potential biometric. These movement synergies are in the form of joint angular velocity profiles of 10 joints. We explored the effect of joint type, digit, number of objects, and grasp type. In its best configuration, movement synergies achieved an equal error rate of 8.19%. While movement synergies can be integrated into an identity verification system with motion capture ability, we also explored a camera-ready version of hand synergies—postural synergies. In this proof of concept system, postural synergies performed well, but only when specific postures were chosen. Based on these results, hand synergies show promise as a potential biometric that can be combined with other hand-based biometrics for improved security.

  9. Image-based tracking system for vibration measurement of a rotating object using a laser scanning vibrometer

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Dongkyu, E-mail: akein@gist.ac.kr; Khalil, Hossam; Jo, Youngjoon; Park, Kyihwan, E-mail: khpark@gist.ac.kr [School of Mechatronics, Gwangju Institute of Science and Technology, Buk-gu, Gwangju, South Korea, 500-712 (Korea, Republic of)

    2016-06-28

    An image-based tracking system using laser scanning vibrometer is developed for vibration measurement of a rotating object. The proposed system unlike a conventional one can be used where the position or velocity sensor such as an encoder cannot be attached to an object. An image processing algorithm is introduced to detect a landmark and laser beam based on their colors. Then, through using feedback control system, the laser beam can track a rotating object.

  10. Fast Grasp Contact Computation for a Serial Robot

    Science.gov (United States)

    Shi, Jianying (Inventor); Hargrave, Brian (Inventor); Diftler, Myron A. (Inventor)

    2015-01-01

    A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.

  11. Critical object recognition in millimeter-wave images with robustness to rotation and scale.

    Science.gov (United States)

    Mohammadzade, Hoda; Ghojogh, Benyamin; Faezi, Sina; Shabany, Mahdi

    2017-06-01

    Locating critical objects is crucial in various security applications and industries. For example, in security applications, such as in airports, these objects might be hidden or covered under shields or secret sheaths. Millimeter-wave images can be utilized to discover and recognize the critical objects out of the hidden cases without any health risk due to their non-ionizing features. However, millimeter-wave images usually have waves in and around the detected objects, making object recognition difficult. Thus, regular image processing and classification methods cannot be used for these images and additional pre-processings and classification methods should be introduced. This paper proposes a novel pre-processing method for canceling rotation and scale using principal component analysis. In addition, a two-layer classification method is introduced and utilized for recognition. Moreover, a large dataset of millimeter-wave images is collected and created for experiments. Experimental results show that a typical classification method such as support vector machines can recognize 45.5% of a type of critical objects at 34.2% false alarm rate (FAR), which is a drastically poor recognition. The same method within the proposed recognition framework achieves 92.9% recognition rate at 0.43% FAR, which indicates a highly significant improvement. The significant contribution of this work is to introduce a new method for analyzing millimeter-wave images based on machine vision and learning approaches, which is not yet widely noted in the field of millimeter-wave image analysis.

  12. An expert system for automated robotic grasping

    International Nuclear Information System (INIS)

    Stansfield, S.A.

    1990-01-01

    Many US Department of Energy sites and facilities will be environmentally remediated during the next several decades. A number of the restoration activities (e.g., decontamination and decommissioning of inactive nuclear facilities) can only be carried out by remote means and will be manipulation-intensive tasks. Experience has shown that manipulation tasks are especially slow and fatiguing for the human operator of a remote manipulator. In this paper, the authors present a rule-based expert system for automated, dextrous robotic grasping. This system interprets the features of an object to generate hand shaping and wrist orientation for a robot hand and arm. The system can be used in several different ways to lessen the demands on the human operator of a remote manipulation system - either as a fully autonomous grasping system or one that generates grasping options for a human operator and then automatically carries out the selected option

  13. Human Grasp Assist Device With Exoskeleton

    Science.gov (United States)

    Bergelin, Bryan J (Inventor); Ihrke, Chris A. (Inventor); Davis, Donald R. (Inventor); Linn, Douglas Martin (Inventor); Bridgwater, Lyndon B. J. (Inventor)

    2014-01-01

    A grasp assist system includes a glove, actuator assembly, and controller. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. Phalange rings are positioned with respect to the digit. A flexible tendon is connected at one end to one of the rings and is routed through the remaining rings. An exoskeleton positioned with respect to the digit includes hinged interconnecting members each connected to a corresponding ring, and/or a single piece of slotted material. The actuator assembly is connected to another end of the tendon. The controller calculates a tensile force in response to the measured grasping force, and commands the tensile force from the actuator assembly to thereby pull on the tendon. The exoskeleton offloads some of the tensile force from the operator's finger to the glove.

  14. Grasping completions: Towards a new paradigm

    NARCIS (Netherlands)

    Lommertzen, J.; Meulenbroek, R.G.J.; Lier, R.J. van

    2006-01-01

    We studied contextual effects of amodal completion in both a primed-matching task, and a grasping task in a within-subjects design with twenty-nine participants. Stimuli were partly occluded cylindrical objects that could have indentations (or protrusions) at regular intervals along the contour. The

  15. Rotation Matrix to Operate a Robot Manipulator for 2D Analog Tracking Objects Using Electrooculography

    Directory of Open Access Journals (Sweden)

    Muhammad Ilhamdi Rusydi

    2014-07-01

    Full Text Available Performing some special tasks using electrooculography (EOG in daily activities is being developed in various areas. In this paper, simple rotation matrixes were introduced to help the operator move a 2-DoF planar robot manipulator. The EOG sensor, NF 5201, has two output channels (Ch1 and Ch2, as well as one ground channel and one reference channel. The robot movement was the indicator that this system could follow gaze motion based on EOG. Operators gazed into five training target points each in the horizontal and vertical line as the preliminary experiments, which were based on directions, distances and the areas of gaze motions. This was done to get the relationships between EOG and gaze motion distance for four directions, which were up, down, right and left. The maximum angle for the horizontal was 46°, while it was 38° for the vertical. Rotation matrixes for the horizontal and vertical signals were combined, so as to diagonally track objects. To verify, the errors between actual and desired target positions were calculated using the Euclidian distance. This test section had 20 random target points. The result indicated that this system could track an object with average angle errors of 3.31° in the x-axis and 3.58° in the y-axis.

  16. Modeling the Physics of Sliding Objects on Rotating Space Elevators and Other Non-relativistic Strings

    Science.gov (United States)

    Golubovic, Leonardo; Knudsen, Steven

    2017-01-01

    We consider general problem of modeling the dynamics of objects sliding on moving strings. We introduce a powerful computational algorithm that can be used to investigate the dynamics of objects sliding along non-relativistic strings. We use the algorithm to numerically explore fundamental physics of sliding climbers on a unique class of dynamical systems, Rotating Space Elevators (RSE). Objects sliding along RSE strings do not require internal engines or propulsion to be transported from the Earth's surface into outer space. By extensive numerical simulations, we find that sliding climbers may display interesting non-linear dynamics exhibiting both quasi-periodic and chaotic states of motion. While our main interest in this study is in the climber dynamics on RSEs, our results for the dynamics of sliding object are of more general interest. In particular, we designed tools capable of dealing with strongly nonlinear phenomena involving moving strings of any kind, such as the chaotic dynamics of sliding climbers observed in our simulations.

  17. Posture of the arm when grasping spheres to place them elsewhere

    NARCIS (Netherlands)

    Schot, W.D.; Brenner, E.; Smeets, J.B.J.

    2010-01-01

    Despite the infinitely many ways to grasp a spherical object, regularities have been observed in the posture of the arm and the grasp orientation. In the present study, we set out to determine the factors that predict the grasp orientation and the final joint angles of reach-tograsp movements.

  18. ESTIMATION OF GRASPING TORQUE USING ROBUST REACTION TORQUE OBSERVER FOR ROBOTIC FORCEPS

    OpenAIRE

    塚本, 祐介

    2015-01-01

    Abstract— In this paper, the estimation of the grasping torque of robotic forceps without the use of a force/torque sensor is discussed. To estimate the grasping torque when the robotic forceps driven by a rotary motor with a reduction gear grasps an object, a novel robust reaction torque observer is proposed. In the case where a conventional reaction force/torque observer is applied, the estimated torque includes not only the grasping torque, namely the reaction torque, but also t...

  19. Visuomotor Resolution in Telerobotic Grasping with Transmission Delays

    Directory of Open Access Journals (Sweden)

    Omri Afgin

    2017-10-01

    Full Text Available Weber’s law is among the basic psychophysical laws of human perception. It determines that human sensitivity to change along a physical dimension, the just noticeable difference (JND, is linearly related to stimulus intensity. Conversely, in direct (natural, visually guided grasping, Weber’s law is violated and the JND does not depend on stimulus intensity. The current work examines adherence to Weber’s law in telerobotic grasping. In direct grasping, perception and action are synchronized during task performance. Conversely, in telerobotic control, there is an inherent spatial and temporal separation between perception and action. The understanding of perception–action association in such conditions may facilitate development of objective measures for telerobotic systems and contribute to improved interface design. Moreover, telerobotic systems offer a unique platform for examining underlying causes for the violation of Weber’s law during direct grasping. We examined whether, like direct grasping, telerobotic grasping with transmission delays violates Weber’s law. To this end, we examined perceptual assessment, grasp control, and grasp demonstration, using a telerobotic system with time delays in two spatial orientations: alongside and facing the robot. The examination framework was adapted to telerobotics from the framework used for examining Weber’s law in direct grasping. The variability of final grip apertures (FGAs in perceptual assessment increased with object size in adherence with Weber’s law. Similarly, the variability of maximal grip apertures in grasp demonstration approached significance in adherence with Weber’s law. In grasp control, the variability of maximal grip apertures did not increase with object size, which seems to violate Weber’s law. However, unlike in direct grasping, motion trajectories were prolonged and fragmented, and included an atypical waiting period prior to finger closure. Therefore, in

  20. Motion Controllers for Learners to Manipulate and Interact with 3D Objects for Mental Rotation Training

    Science.gov (United States)

    Yeh, Shih-Ching; Wang, Jin-Liang; Wang, Chin-Yeh; Lin, Po-Han; Chen, Gwo-Dong; Rizzo, Albert

    2014-01-01

    Mental rotation is an important spatial processing ability and an important element in intelligence tests. However, the majority of past attempts at training mental rotation have used paper-and-pencil tests or digital images. This study proposes an innovative mental rotation training approach using magnetic motion controllers to allow learners to…

  1. Deep learning-based artificial vision for grasp classification in myoelectric hands

    Science.gov (United States)

    Ghazaei, Ghazal; Alameer, Ali; Degenaar, Patrick; Morgan, Graham; Nazarpour, Kianoush

    2017-06-01

    Objective. Computer vision-based assistive technology solutions can revolutionise the quality of care for people with sensorimotor disorders. The goal of this work was to enable trans-radial amputees to use a simple, yet efficient, computer vision system to grasp and move common household objects with a two-channel myoelectric prosthetic hand. Approach. We developed a deep learning-based artificial vision system to augment the grasp functionality of a commercial prosthesis. Our main conceptual novelty is that we classify objects with regards to the grasp pattern without explicitly identifying them or measuring their dimensions. A convolutional neural network (CNN) structure was trained with images of over 500 graspable objects. For each object, 72 images, at {{5}\\circ} intervals, were available. Objects were categorised into four grasp classes, namely: pinch, tripod, palmar wrist neutral and palmar wrist pronated. The CNN setting was first tuned and tested offline and then in realtime with objects or object views that were not included in the training set. Main results. The classification accuracy in the offline tests reached 85 % for the seen and 75 % for the novel objects; reflecting the generalisability of grasp classification. We then implemented the proposed framework in realtime on a standard laptop computer and achieved an overall score of 84 % in classifying a set of novel as well as seen but randomly-rotated objects. Finally, the system was tested with two trans-radial amputee volunteers controlling an i-limb UltraTM prosthetic hand and a motion controlTM prosthetic wrist; augmented with a webcam. After training, subjects successfully picked up and moved the target objects with an overall success of up to 88 % . In addition, we show that with training, subjects’ performance improved in terms of time required to accomplish a block of 24 trials despite a decreasing level of visual feedback. Significance. The proposed design constitutes a substantial

  2. How crawling and manual object exploration are related to the mental rotation abilities of 9-month-old infants

    Directory of Open Access Journals (Sweden)

    Gudrun eSchwarzer

    2013-03-01

    Full Text Available The present experiment examined whether the mental rotation ability of 9-month-old infants was related to their abilities to crawl and manually explore objects. Forty-eight 9-month-old infants were tested; half of them had been crawling for an average of 9.3 weeks. The infants were habituated to a video of a simplified Shepard-Metzler object rotating back and forth through a 240° angle around the longitudinal axis of the object. They were tested with videos of the same object rotating through a previously unseen 120° angle and with a mirror image of the display. All of the infants also participated in a manual object exploration task, in which they freely explored 5 toy blocks. The results showed that the crawlers looked significantly longer at the novel (mirror object than at the familiar object, independent of their manual exploration scores. The non-crawlers looking times, in contrast, were influenced by the manual exploration scores. The infants who did not spontaneously explore the toy blocks tended to show a familiarity preference, whereas those who explored the toy blocks preferred to look at the novel object. Thus, all of the infants were able to master the mental rotation task but it seemed to be the most complex process for infants who had no crawling experience and who did not spontaneously explore objects.

  3. Spontaneous in-flight accommodation of hand orientation to unseen grasp targets: A case of action blindsight.

    Science.gov (United States)

    Prentiss, Emily K; Schneider, Colleen L; Williams, Zoë R; Sahin, Bogachan; Mahon, Bradford Z

    2018-03-15

    The division of labour between the dorsal and ventral visual pathways is well established. The ventral stream supports object identification, while the dorsal stream supports online processing of visual information in the service of visually guided actions. Here, we report a case of an individual with a right inferior quadrantanopia who exhibited accurate spontaneous rotation of his wrist when grasping a target object in his blind visual field. His accurate wrist orientation was observed despite the fact that he exhibited no sensitivity to the orientation of the handle in a perceptual matching task. These findings indicate that non-geniculostriate visual pathways process basic volumetric information relevant to grasping, and reinforce the observation that phenomenal awareness is not necessary for an object's volumetric properties to influence visuomotor performance.

  4. Stereo vision based automated grasp planning

    International Nuclear Information System (INIS)

    Wilhelmsen, K.; Huber, L.; Silva, D.; Grasz, E.; Cadapan, L.

    1995-02-01

    The Department of Energy has a need for treating existing nuclear waste. Hazardous waste stored in old warehouses needs to be sorted and treated to meet environmental regulations. Lawrence Livermore National Laboratory is currently experimenting with automated manipulations of unknown objects for sorting, treating, and detailed inspection. To accomplish these tasks, three existing technologies were expanded to meet the increasing requirements. First, a binocular vision range sensor was combined with a surface modeling system to make virtual images of unknown objects. Then, using the surface model information, stable grasp of the unknown shaped objects were planned algorithmically utilizing a limited set of robotic grippers. This paper is an expansion of previous work and will discuss the grasp planning algorithm

  5. Attention and reach-to-grasp movements in Parkinson's disease.

    Science.gov (United States)

    Lu, Cathy; Bharmal, Aamir; Kiss, Zelma H; Suchowersky, Oksana; Haffenden, Angela M

    2010-08-01

    The role of attention in grasping movements directed at common objects has not been examined in Parkinson's disease (PD), though these movements are critical to activities of daily living. Our primary objective was to determine whether patients with PD demonstrate automaticity in grasping movements directed toward common objects. Automaticity is assumed when tasks can be performed with little or no interference from concurrent tasks. Grasping performance in three patient groups (newly diagnosed, moderate, and advanced/surgically treated PD) on and off of their medication or deep brain stimulation was compared to performance in an age-matched control group. Automaticity was demonstrated by the absence of a decrement in grasping performance when attention was consumed by a concurrent spatial-visualization task. Only the control group and newly diagnosed PD group demonstrated automaticity in their grasping movements. The moderate and advanced PD groups did not demonstrate automaticity. Furthermore, the well-known effects of pharmacotherapy and surgical intervention on movement speed and muscle activation patterns did not appear to reduce the impact of attention-demanding tasks on grasping movements in those with moderate to advanced PD. By the moderate stage of PD, grasping is an attention-demanding process; this change is not ameliorated by dopaminergic or surgical treatments. These findings have important implications for activities of daily living, as devoting attention to the simplest of daily tasks would interfere with complex activities and potentially exacerbate fatigue.

  6. An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping

    Directory of Open Access Journals (Sweden)

    Cabbar Veysel Baysal

    2010-11-01

    Full Text Available This paper presents a novel Intelligent Inference System (IIS for the determination of an optimum preshape for multifingered robot hand grasping, given object under a manipulation task. The IIS is formed as hybrid agent architecture, by the synthesis of object properties, manipulation task characteristics, grasp space partitioning, lowlevel kinematical analysis, evaluation of contact wrench patterns via fuzzy approximate reasoning and ANN structure for incremental learning. The IIS is implemented in software with a robot hand simulation.

  7. Minimal Reducts with Grasp

    Directory of Open Access Journals (Sweden)

    Iris Iddaly Mendez Gurrola

    2011-03-01

    Full Text Available The proper detection of patient level of dementia is important to offer the suitable treatment. The diagnosis is based on certain criteria, reflected in the clinical examinations. From these examinations emerge the limitations and the degree in which each patient is in. In order to reduce the total of limitations to be evaluated, we used the rough set theory, this theory has been applied in areas of the artificial intelligence such as decision analysis, expert systems, knowledge discovery, classification with multiple attributes. In our case this theory is applied to find the minimal limitations set or reduct that generate the same classification that considering all the limitations, to fulfill this purpose we development an algorithm GRASP (Greedy Randomized Adaptive Search Procedure.

  8. The magic grasp: motor expertise in deception.

    Directory of Open Access Journals (Sweden)

    Cristiana Cavina-Pratesi

    2011-02-01

    Full Text Available Most of us are poor at faking actions. Kinematic studies have shown that when pretending to pick up imagined objects (pantomimed actions, we move and shape our hands quite differently from when grasping real ones. These differences between real and pantomimed actions have been linked to separate brain pathways specialized for different kinds of visuomotor guidance. Yet professional magicians regularly use pantomimed actions to deceive audiences.In this study, we tested whether, despite their skill, magicians might still show kinematic differences between grasping actions made toward real versus imagined objects. We found that their pantomimed actions in fact closely resembled real grasps when the object was visible (but displaced (Experiment 1, but failed to do so when the object was absent (Experiment 2.We suggest that although the occipito-parietal visuomotor system in the dorsal stream is designed to guide goal-directed actions, prolonged practice may enable it to calibrate actions based on visual inputs displaced from the action.

  9. Robust Robot Grasp Detection in Multimodal Fusion

    Directory of Open Access Journals (Sweden)

    Zhang Qiang

    2017-01-01

    Full Text Available Accurate robot grasp detection for model free objects plays an important role in robotics. With the development of RGB-D sensors, object perception technology has made great progress. Reach feature expression by the colour and the depth data is a critical problem that needs to be addressed in order to accomplish the grasping task. To solve the problem of data fusion, this paper proposes a convolutional neural networks (CNN based approach combined with regression and classification. In the CNN model, the colour and the depth modal data are deeply fused together to achieve accurate feature expression. Additionally, Welsch function is introduced into the approach to enhance robustness of the training process. Experiment results demonstrates the superiority of the proposed method.

  10. General Rotorcraft Aeromechanical Stability Program (GRASP): Theory manual

    Science.gov (United States)

    Hodges, Dewey H.; Hopkins, A. Stewart; Kunz, Donald L.; Hinnant, Howard E.

    1990-01-01

    The general rotorcraft aeromechanical stability program (GRASP) was developed to calculate aeroelastic stability for rotorcraft in hovering flight, vertical flight, and ground contact conditions. GRASP is described in terms of its capabilities and its philosophy of modeling. The equations of motion that govern the physical system are described, as well as the analytical approximations used to derive them. The equations include the kinematical equation, the element equations, and the constraint equations. In addition, the solution procedures used by GRASP are described. GRASP is capable of treating the nonlinear static and linearized dynamic behavior of structures represented by arbitrary collections of rigid-body and beam elements. These elements may be connected in an arbitrary fashion, and are permitted to have large relative motions. The main limitation of this analysis is that periodic coefficient effects are not treated, restricting rotorcraft flight conditions to hover, axial flight, and ground contact. Instead of following the methods employed in other rotorcraft programs. GRASP is designed to be a hybrid of the finite-element method and the multibody methods used in spacecraft analysis. GRASP differs from traditional finite-element programs by allowing multiple levels of substructure in which the substructures can move and/or rotate relative to others with no small-angle approximations. This capability facilitates the modeling of rotorcraft structures, including the rotating/nonrotating interface and the details of the blade/root kinematics for various types. GRASP differs from traditional multibody programs by considering aeroelastic effects, including inflow dynamics (simple unsteady aerodynamics) and nonlinear aerodynamic coefficients.

  11. Robot Grasp Learning by Demonstration without Predefined Rules

    Directory of Open Access Journals (Sweden)

    César Fernández

    2011-12-01

    Full Text Available A learning-based approach to autonomous robot grasping is presented. Pattern recognition techniques are used to measure the similarity between a set of previously stored example grasps and all the possible candidate grasps for a new object. Two sets of features are defined in order to characterize grasps: point attributes describe the surroundings of a contact point; point-set attributes describe the relationship between the set of n contact points (assuming an n-fingered robot gripper is used. In the experiments performed, the nearest neighbour classifier outperforms other approaches like multilayer perceptrons, radial basis functions or decision trees, in terms of classification accuracy, while computational load is not excessive for a real time application (a grasp is fully synthesized in 0.2 seconds. The results obtained on a synthetic database show that the proposed system is able to imitate the grasping behaviour of the user (e.g. the system learns to grasp a mug by its handle. All the code has been made available for testing purposes.

  12. Mental rotation of letters, pictures, and three-dimensional objects in German dyslexic children.

    Science.gov (United States)

    Rüsseler, Jascha; Scholz, Janka; Jordan, Kirsten; Quaiser-Pohl, Claudia

    2005-12-01

    This study examines mental rotation ability in children with developmental dyslexia. Prior investigations have yielded equivocal results that might be due to differences in stimulus material and testing formats employed. Whereas some investigators found dyslexic readers to be impaired in mental rotation, others did not report any performance differences or even superior spatial performance for dyslexia. Here, we report a comparison of mental rotation for letters, three-dimensional figures sensu Shepard and Metzler, and colored pictures of animals or humans in second-grade German dyslexic readers. Findings indicate that dyslexic readers are impaired in mental rotation for all three kinds of stimuli. Effects of general intelligence were controlled. Furthermore, dyslexic children were deficient in other spatial abilities like identifying letters or forms among distracters. These results are discussed with respect to the hypotheses of a developmental dysfunction of the parietal cortex or a subtle anomaly in cerebellar function in dyslexic readers.

  13. Object Manipulation and Motion Perception: Evidence of an Influence of Action Planning on Visual Processing

    NARCIS (Netherlands)

    Lindemann, O.; Bekkering, H.

    2009-01-01

    In 3 experiments, the authors investigated the bidirectional coupling of perception and action in the context of object manipulations and motion perception. Participants prepared to grasp an X-shaped object along one of its 2 diagonals and to rotate it in a clockwise or a counterclockwise direction.

  14. Writing forces associated with four pencil grasp patterns in grade 4 children.

    Science.gov (United States)

    Schwellnus, Heidi; Carnahan, Heather; Kushki, Azadeh; Polatajko, Helene; Missiuna, Cheryl; Chau, Tom

    2013-01-01

    OBJECTIVE. We investigated differences in handwriting kinetics, speed, and legibility among four pencil grasps after a 10-min copy task. METHOD. Seventy-four Grade 4 students completed a handwriting assessment before and after a copy task. Grip and axial forces were measured with an instrumented stylus and force-sensitive tablet. We used multiple linear regression to analyze the relationship between grasp pattern and grip and axial forces. RESULTS. We found no kinetic differences among grasps, whether considered individually or grouped by the number of fingers on the barrel. However, when grasps were grouped according to the thumb position, the adducted grasps exhibited higher mean grip and axial forces. CONCLUSION. Grip forces were generally similar across the different grasps. Kinetic differences resulting from thumb position seemed to have no bearing on speed and legibility. Interventions for handwriting difficulties should focus more on speed and letter formation than on grasp pattern. Copyright © 2013 by the American Occupational Therapy Association, Inc.

  15. A LARGE, MASSIVE, ROTATING DISK AROUND AN ISOLATED YOUNG STELLAR OBJECT

    International Nuclear Information System (INIS)

    Quanz, Sascha P.; Beuther, Henrik; Steinacker, Juergen; Linz, Hendrik; Krause, Oliver; Henning, Thomas; Birkmann, Stephan M.; Zhang Qizhou

    2010-01-01

    We present multi-wavelength observations and a radiative transfer model of a newly discovered massive circumstellar disk of gas and dust which is one of the largest disks known today. Seen almost edge-on, the disk is resolved in high-resolution near-infrared (NIR) images and appears as a dark lane of high opacity intersecting a bipolar reflection nebula. Based on molecular line observations, we estimate the distance to the object to be 3.5 kpc. This leads to a size for the dark lane of ∼10,500 AU but due to shadowing effects the true disk size could be smaller. In Spitzer/IRAC 3.6 μm images, the elongated shape of the bipolar reflection nebula is still preserved and the bulk of the flux seems to come from disk regions that can be detected due to the slight inclination of the disk. At longer IRAC wavelengths, the flux is mainly coming from the central regions penetrating directly through the dust lane. Interferometric observations of the dust continuum emission at millimeter wavelengths with the Submillimeter Array confirm this finding as the peak of the unresolved millimeter-emission coincides perfectly with the peak of the Spitzer/IRAC 5.8 μm flux and the center of the dark lane seen in the NIR images. Simultaneously acquired CO data reveal a molecular outflow along the northern part of the reflection nebula which seems to be the outflow cavity. An elongated gaseous disk component is also detected and shows signs of rotation. The emission is perpendicular to the molecular outflow and thus parallel to but even more extended than the dark lane in the NIR images. Based on the dust continuum and the CO observations, we estimate a disk mass of up to a few solar masses depending on the underlying assumptions. Whether the disk-like structure is an actual accretion disk or rather a larger-scale flattened envelope or pseudodisk is difficult to discriminate with the current data set. The existence of HCO + /H 13 CO + emission proves the presence of dense gas in the disk

  16. The contributions of vision and haptics to reaching and grasping

    Directory of Open Access Journals (Sweden)

    Kayla Dawn Stone

    2015-09-01

    Full Text Available This review aims to provide a comprehensive outlook on the sensory (visual and haptic contributions to reaching and grasping. The focus is on studies in developing children, normal and neuropsychological populations, and in sensory-deprived individuals. Studies have suggested a right-hand/left-hemisphere specialization for visually-guided grasping and a left-hand/right-hemisphere specialization for haptically-guided object recognition. This poses the interesting possibility that when vision is not available and grasping relies heavily on the haptic system, there is an advantage to use the left hand. We review the evidence for this possibility and dissect the unique contributions of the visual and haptic systems to grasping. We ultimately discuss how the integration of these two sensory modalities shape hand preference.

  17. Decoding Grasping Movements from the Parieto-Frontal Reaching Circuit in the Nonhuman Primate.

    Science.gov (United States)

    Nelissen, Koen; Fiave, Prosper Agbesi; Vanduffel, Wim

    2018-04-01

    Prehension movements typically include a reaching phase, guiding the hand toward the object, and a grip phase, shaping the hand around it. The dominant view posits that these components rely upon largely independent parieto-frontal circuits: a dorso-medial circuit involved in reaching and a dorso-lateral circuit involved in grasping. However, mounting evidence suggests a more complex arrangement, with dorso-medial areas contributing to both reaching and grasping. To investigate the role of the dorso-medial reaching circuit in grasping, we trained monkeys to reach-and-grasp different objects in the dark and determined if hand configurations could be decoded from functional magnetic resonance imaging (MRI) responses obtained from the reaching and grasping circuits. Indicative of their established role in grasping, object-specific grasp decoding was found in anterior intraparietal (AIP) area, inferior parietal lobule area PFG and ventral premotor region F5 of the lateral grasping circuit, and primary motor cortex. Importantly, the medial reaching circuit also conveyed robust grasp-specific information, as evidenced by significant decoding in parietal reach regions (particular V6A) and dorsal premotor region F2. These data support the proposed role of dorso-medial "reach" regions in controlling aspects of grasping and demonstrate the value of complementing univariate with more sensitive multivariate analyses of functional MRI (fMRI) data in uncovering information coding in the brain.

  18. Grasp force sensor for robotic hands

    Science.gov (United States)

    Scheinman, Victor D. (Inventor); Bejczy, Antal K. (Inventor); Primus, Howard C. (Inventor)

    1989-01-01

    A grasp force sensor for robotic hands is disclosed. A flexible block is located in the base of each claw through which the grasp force is exerted. The block yields minute parallelogram deflection when the claws are subjected to grasping forces. A parallelogram deflection closely resembles pure translational deflection, whereby the claws remain in substantial alignment with each other during grasping. Strain gauge transducers supply signals which provide precise knowledge of and control over grasp forces.

  19. Decoding natural reach-and-grasp actions from human EEG

    Science.gov (United States)

    Schwarz, Andreas; Ofner, Patrick; Pereira, Joana; Ioana Sburlea, Andreea; Müller-Putz, Gernot R.

    2018-02-01

    Objective. Despite the high number of degrees of freedom of the human hand, most actions of daily life can be executed incorporating only palmar, pincer and lateral grasp. In this study we attempt to discriminate these three different executed reach-and-grasp actions utilizing their EEG neural correlates. Approach. In a cue-guided experiment, 15 healthy individuals were asked to perform these actions using daily life objects. We recorded 72 trials for each reach-and-grasp condition and from a no-movement condition. Main results. Using low-frequency time domain features from 0.3 to 3 Hz, we achieved binary classification accuracies of 72.4%, STD  ±  5.8% between grasp types, for grasps versus no-movement condition peak performances of 93.5%, STD  ±  4.6% could be reached. In an offline multiclass classification scenario which incorporated not only all reach-and-grasp actions but also the no-movement condition, the highest performance could be reached using a window of 1000 ms for feature extraction. Classification performance peaked at 65.9%, STD  ±  8.1%. Underlying neural correlates of the reach-and-grasp actions, investigated over the primary motor cortex, showed significant differences starting from approximately 800 ms to 1200 ms after the movement onset which is also the same time frame where classification performance reached its maximum. Significance. We could show that it is possible to discriminate three executed reach-and-grasp actions prominent in people’s everyday use from non-invasive EEG. Underlying neural correlates showed significant differences between all tested conditions. These findings will eventually contribute to our attempt of controlling a neuroprosthesis in a natural and intuitive way, which could ultimately benefit motor impaired end users in their daily life actions.

  20. Force coordination in static manipulation tasks performed using standard and non-standard grasping techniques.

    Science.gov (United States)

    de Freitas, Paulo B; Jaric, Slobodan

    2009-04-01

    We evaluated coordination of the hand grip force (GF; normal component of the force acting at the hand-object contact area) and load force (LF; the tangential component) in a variety of grasping techniques and two LF directions. Thirteen participants exerted a continuous sinusoidal LF pattern against externally fixed handles applying both standard (i.e., using either the tips of the digits or the palms; the precision and palm grasps, respectively) and non-standard grasping techniques (using wrists and the dorsal finger areas; the wrist and fist grasp). We hypothesized (1) that the non-standard grasping techniques would provide deteriorated indices of force coordination when compared with the standard ones, and (2) that the nervous system would be able to adjust GF to the differences in friction coefficients of various skin areas used for grasping. However, most of the indices of force coordination remained similar across the tested grasping techniques, while the GF adjustments for the differences in friction coefficients (highest in the palm and the lowest in the fist and wrist grasp) provided inconclusive results. As hypothesized, GF relative to the skin friction was lowest in the precision grasp, but highest in the palm grasp. Therefore, we conclude that (1) the elaborate coordination of GF and LF consistently seen across the standard grasping techniques could be generalized to the non-standard ones, while (2) the ability to adjust GF using the same grasping technique to the differences in friction of various objects cannot be fully generalized to the GF adjustment when different grasps (i.e., hand segments) are used to manipulate the same object. Due to the importance of the studied phenomena for understanding both the functional and neural control aspects of manipulation, future studies should extend the current research to the transient and dynamic tasks, as well as to the general role of friction in our mechanical interactions with the environment.

  1. Exploring manual asymmetries during grasping: a dynamic causal modeling approach.

    Directory of Open Access Journals (Sweden)

    Chiara eBegliomini

    2015-02-01

    Full Text Available Recording of neural activity during grasping actions in macaques showed that grasp-related sensorimotor transformations are accomplished in a circuit constituted by the anterior part of the intraparietal sulcus (AIP, the ventral (F5 and the dorsal (F2 region of the premotor area. In humans, neuroimaging studies have revealed the existence of a similar circuit, involving the putative homolog of macaque areas AIP, F5 and F2. These studies have mainly considered grasping movements performed with the right dominant hand and only a few studies have measured brain activity associated with a movement performed with the left non-dominant hand. As a consequence of this gap, how the brain controls for grasping movement performed with the dominant and the non-dominant hand still represents an open question. A functional resonance imaging experiment (fMRI has been conducted, and effective connectivity (Dynamic Causal Modelling, DCM was used to assess how connectivity among grasping-related areas is modulated by hand (i.e., left and right during the execution of grasping movements towards a small object requiring precision grasping. Results underlined boosted inter-hemispheric couplings between dorsal premotor cortices during the execution of movements performed with the left rather than the right dominant hand. More specifically, they suggest that the dorsal premotor cortices may play a fundamental role in monitoring the configuration of fingers when grasping movements are performed by either the right and the left hand. This role becomes particularly evident when the hand less-skilled (i.e., the left hand to perform such action is utilized. The results are discussed in light of recent theories put forward to explain how parieto-frontal connectivity is modulated by the execution of prehensile movements.

  2. End-state comfort trumps handedness in object manipulation.

    Science.gov (United States)

    Coelho, Chase J; Studenka, Breanna E; Rosenbaum, David A

    2014-04-01

    A goal of research on human perception and performance is to explore the relative importance of constraints shaping action selection. The present study concerned the relative importance of two constraints that have not been directly contrasted: (1) the tendency to grasp objects in ways that afford comfortable or easy-to-control final postures; and (2) the tendency to grasp objects with the dominant rather than the nondominant hand. We asked participants to reach out and grasp a horizontal rod whose left or right end was to be placed into a target after a 90° rotation. In one condition, we told participants which hand to use and let them choose an overhand or underhand initial grasp. In another condition, we told participants which grasp to use and let them choose either hand. Participants sacrificed hand preference to perform the task in a way that ensured a comfortable or easy to control thumb-up posture at the time of object placement, indicating that comfort trumped handedness. A second experiment confirmed that comfort was indeed higher for thumb-down postures than thumb-up postures. A third experiment confirmed that the choice data could be linked to objective performance differences. The results point to the importance of identifying constraint weightings for action selection and support an account of hand selection that ascribes hand preference to sensitivity to performance differences. The results do not support the hypothesis that hand preference simply reflects a bias to use the dominant hand.

  3. Displacement, distance, and shape measurements of fast-rotating rough objects by two mutually tilted interference fringe systems.

    Science.gov (United States)

    Günther, Philipp; Kuschmierz, Robert; Pfister, Thorsten; Czarske, Jürgen W

    2013-05-01

    The precise distance measurement of fast-moving rough surfaces is important in several applications such as lathe monitoring. A nonincremental interferometer based on two mutually tilted interference fringe systems has been realized for this task. The distance is coded in the phase difference between the generated interference signals corresponding to the fringe systems. Large tilting angles between the interference fringe systems are necessary for a high sensitivity. However, due to the speckle effect at rough surfaces, different envelopes and phase jumps of the interference signals occur. At large tilting angles, these signals become dissimilar, resulting in a small correlation coefficient and a high measurement uncertainty. Based on a matching of illumination and receiving optics, the correlation coefficient and the phase difference estimation have been improved significantly. For axial displacement measurements of recurring rough surfaces, laterally moving with velocities of 5 m/s, an uncertainty of 110 nm has been attained. For nonrecurring surfaces, a distance measurement uncertainty of 830 nm has been achieved. Incorporating the additionally measured lateral velocity and the rotational speed, the two-dimensional shape of rotating objects results. Since the measurement uncertainty of the displacement, distance, and shape is nearly independent of the lateral surface velocity, this technique is predestined for fast-rotating objects, such as crankshafts, camshafts, vacuum pump shafts, or turning parts of lathes.

  4. Coarse-coded higher-order neural networks for PSRI object recognition. [position, scale, and rotation invariant

    Science.gov (United States)

    Spirkovska, Lilly; Reid, Max B.

    1993-01-01

    A higher-order neural network (HONN) can be designed to be invariant to changes in scale, translation, and inplane rotation. Invariances are built directly into the architecture of a HONN and do not need to be learned. Consequently, fewer training passes and a smaller training set are required to learn to distinguish between objects. The size of the input field is limited, however, because of the memory required for the large number of interconnections in a fully connected HONN. By coarse coding the input image, the input field size can be increased to allow the larger input scenes required for practical object recognition problems. We describe a coarse coding technique and present simulation results illustrating its usefulness and its limitations. Our simulations show that a third-order neural network can be trained to distinguish between two objects in a 4096 x 4096 pixel input field independent of transformations in translation, in-plane rotation, and scale in less than ten passes through the training set. Furthermore, we empirically determine the limits of the coarse coding technique in the object recognition domain.

  5. Gaze strategies during visually-guided versus memory-guided grasping.

    Science.gov (United States)

    Prime, Steven L; Marotta, Jonathan J

    2013-03-01

    Vision plays a crucial role in guiding motor actions. But sometimes we cannot use vision and must rely on our memory to guide action-e.g. remembering where we placed our eyeglasses on the bedside table when reaching for them with the lights off. Recent studies show subjects look towards the index finger grasp position during visually-guided precision grasping. But, where do people look during memory-guided grasping? Here, we explored the gaze behaviour of subjects as they grasped a centrally placed symmetrical block under open- and closed-loop conditions. In Experiment 1, subjects performed grasps in either a visually-guided task or memory-guided task. The results show that during visually-guided grasping, gaze was first directed towards the index finger's grasp point on the block, suggesting gaze targets future grasp points during the planning of the grasp. Gaze during memory-guided grasping was aimed closer to the blocks' centre of mass from block presentation to the completion of the grasp. In Experiment 2, subjects performed an 'immediate grasping' task in which vision of the block was removed immediately at the onset of the reach. Similar to the visually-guided results from Experiment 1, gaze was primarily directed towards the index finger location. These results support the 2-stream theory of vision in that motor planning with visual feedback at the onset of the movement is driven primarily by real-time visuomotor computations of the dorsal stream, whereas grasping remembered objects without visual feedback is driven primarily by the perceptual memory representations mediated by the ventral stream.

  6. Real-time vision, tactile cues, and visual form agnosia in pantomimed grasping: removing haptic feedback induces a switch from natural to pantomime-like grasps

    Directory of Open Access Journals (Sweden)

    Robert Leslie Whitwell

    2015-05-01

    Full Text Available Investigators study the kinematics of grasping movements (prehension under a variety of conditions to probe visuomotor function in normal and brain-damaged individuals. When patient DF, who suffers from visual form agnosia, performs natural grasps, her in-flight hand aperture is scaled to the widths of targets ('grip scaling' that she cannot discriminate amongst. In contrast, when DF's pantomime grasps are based on a memory of a previewed object, her grip scaling is very poor. Her failure on this task has been interpreted as additional support for the dissociation between the use of object vision for action and object vision for perception. Curiously, however, when DF directs her pantomimed grasps towards a displaced imagined copy of a visible object where her fingers make contact with the surface of the table, her grip scaling does not appear to be particularly poor. In the first of two experiments, we revisit this previous work and show that her grip scaling in this real-time pantomime grasping task does not differ from controls, suggesting that terminal tactile feedback from a proxy of the target can maintain DF's grip scaling. In a second experiment with healthy participants, we tested a recent variant of a grasping task in which no tactile feedback is available (i.e. no haptic feedback by comparing the kinematics of target-directed grasps with and without haptic feedback to those of real-time pantomime grasps without haptic feedback. Compared to natural grasps, removing haptic feedback increased RT, slowed the velocity of the reach, reduced grip aperture, sharpened the slopes relating grip aperture to target width, and reduced the final grip aperture. All of these effects were also observed in the pantomime grasping task. Taken together, these results provide compelling support for the view that removing haptic feedback induces a switch from real-time visual control to one that depends more on visual perception and cognitive supervision.

  7. Toward autonomous avian-inspired grasping for micro aerial vehicles

    International Nuclear Information System (INIS)

    Thomas, Justin; Loianno, Giuseppe; Polin, Joseph; Kumar, Vijay; Sreenath, Koushil

    2014-01-01

    Micro aerial vehicles, particularly quadrotors, have been used in a wide range of applications. However, the literature on aerial manipulation and grasping is limited and the work is based on quasi-static models. In this paper, we draw inspiration from agile, fast-moving birds such as raptors, that are able to capture moving prey on the ground or in water, and develop similar capabilities for quadrotors. We address dynamic grasping, an approach to prehensile grasping in which the dynamics of the robot and its gripper are significant and must be explicitly modeled and controlled for successful execution. Dynamic grasping is relevant for fast pick-and-place operations, transportation and delivery of objects, and placing or retrieving sensors. We show how this capability can be realized (a) using a motion capture system and (b) without external sensors relying only on onboard sensors. In both cases we describe the dynamic model, and trajectory planning and control algorithms. In particular, we present a methodology for flying and grasping a cylindrical object using feedback from a monocular camera and an inertial measurement unit onboard the aerial robot. This is accomplished by mapping the dynamics of the quadrotor to a level virtual image plane, which in turn enables dynamically-feasible trajectory planning for image features in the image space, and a vision-based controller with guaranteed convergence properties. We also present experimental results obtained with a quadrotor equipped with an articulated gripper to illustrate both approaches. (papers)

  8. Toward autonomous avian-inspired grasping for micro aerial vehicles.

    Science.gov (United States)

    Thomas, Justin; Loianno, Giuseppe; Polin, Joseph; Sreenath, Koushil; Kumar, Vijay

    2014-06-01

    Micro aerial vehicles, particularly quadrotors, have been used in a wide range of applications. However, the literature on aerial manipulation and grasping is limited and the work is based on quasi-static models. In this paper, we draw inspiration from agile, fast-moving birds such as raptors, that are able to capture moving prey on the ground or in water, and develop similar capabilities for quadrotors. We address dynamic grasping, an approach to prehensile grasping in which the dynamics of the robot and its gripper are significant and must be explicitly modeled and controlled for successful execution. Dynamic grasping is relevant for fast pick-and-place operations, transportation and delivery of objects, and placing or retrieving sensors. We show how this capability can be realized (a) using a motion capture system and (b) without external sensors relying only on onboard sensors. In both cases we describe the dynamic model, and trajectory planning and control algorithms. In particular, we present a methodology for flying and grasping a cylindrical object using feedback from a monocular camera and an inertial measurement unit onboard the aerial robot. This is accomplished by mapping the dynamics of the quadrotor to a level virtual image plane, which in turn enables dynamically-feasible trajectory planning for image features in the image space, and a vision-based controller with guaranteed convergence properties. We also present experimental results obtained with a quadrotor equipped with an articulated gripper to illustrate both approaches.

  9. Mental rotation versus invariant features in object perception from different viewpoints: An fMRI study

    OpenAIRE

    Vanrie, Jan; Béatse, Erik; Wagemans, Johan; Sunaert, Stefan; Van Hecke, Paul

    2002-01-01

    It has been proposed that object perception can proceed through different routes, which can be situated on a continuum ranging from complete viewpoint-dependency to complete viewpoint-independency, depending on the objects and the task at hand. Although these different routes have been extensively demonstrated on the behavioral level, the corresponding distinction in the underlying neural substrate has not received the same attention. Our goal was to disentangle, on the behavioral and the neu...

  10. Distinct neural patterns enable grasp types decoding in monkey dorsal premotor cortex

    Science.gov (United States)

    Hao, Yaoyao; Zhang, Qiaosheng; Controzzi, Marco; Cipriani, Christian; Li, Yue; Li, Juncheng; Zhang, Shaomin; Wang, Yiwen; Chen, Weidong; Chiara Carrozza, Maria; Zheng, Xiaoxiang

    2014-12-01

    Objective. Recent studies have shown that dorsal premotor cortex (PMd), a cortical area in the dorsomedial grasp pathway, is involved in grasp movements. However, the neural ensemble firing property of PMd during grasp movements and the extent to which it can be used for grasp decoding are still unclear. Approach. To address these issues, we used multielectrode arrays to record both spike and local field potential (LFP) signals in PMd in macaque monkeys performing reaching and grasping of one of four differently shaped objects. Main results. Single and population neuronal activity showed distinct patterns during execution of different grip types. Cluster analysis of neural ensemble signals indicated that the grasp related patterns emerged soon (200-300 ms) after the go cue signal, and faded away during the hold period. The timing and duration of the patterns varied depending on the behaviors of individual monkey. Application of support vector machine model to stable activity patterns revealed classification accuracies of 94% and 89% for each of the two monkeys, indicating a robust, decodable grasp pattern encoded in the PMd. Grasp decoding using LFPs, especially the high-frequency bands, also produced high decoding accuracies. Significance. This study is the first to specify the neuronal population encoding of grasp during the time course of grasp. We demonstrate high grasp decoding performance in PMd. These findings, combined with previous evidence for reach related modulation studies, suggest that PMd may play an important role in generation and maintenance of grasp action and may be a suitable locus for brain-machine interface applications.

  11. Software for relativistic atomic structure theory: The grasp project at oxford

    International Nuclear Information System (INIS)

    Parpia, F.A.; Grant, I.P.

    1991-01-01

    GRASP is an acronym for General-purpose Relativistic Atomic Structure Program. The objective of the GRASP project at Oxford is to produce user-friendly state-of-the-art multiconfiguration Dirac-Fock (MCDF) software packages for rleativistic atomic structure theory

  12. The drift force on an object in an inviscid weakly-varying rotational flow

    Energy Technology Data Exchange (ETDEWEB)

    Wallis, G.B. [Dartmouth College, Hanover, NH (United States)

    1995-12-31

    The force on any stationary object in an inviscid incompressible extensive steady flow is derived in terms of the added mass tensor and gradient of velocity of the undisturbed fluid. Taylor`s theorem is extended to flows with weak vorticity. There are possible applications to constitutive equations for two-phase flow.

  13. Brain Function Overlaps When People Observe Emblems, Speech, and Grasping

    Science.gov (United States)

    Andric, Michael; Solodkin, Ana; Buccino, Giovanni; Goldin-Meadow, Susan; Rizzolatti, Giacomo; Small, Steven L.

    2013-01-01

    A hand grasping a cup or gesturing ‘thumbs-up’, while both manual actions, have different purposes and effects. Grasping directly affects the cup, whereas gesturing ‘thumbs-up’ has an effect through an implied verbal (symbolic) meaning. Because grasping and emblematic gestures (‘emblems’) are both goal-oriented hand actions, we pursued the hypothesis that observing each should evoke similar activity in neural regions implicated in processing goal-oriented hand actions. However, because emblems express symbolic meaning, observing them should also evoke activity in regions implicated in interpreting meaning, which is most commonly expressed in language. Using fMRI to test this hypothesis, we had participants watch videos of an actor performing emblems, speaking utterances matched in meaning to the emblems, and grasping objects. Our results show that lateral temporal and inferior frontal regions respond to symbolic meaning, even when it is expressed by a single hand action. In particular, we found that left inferior frontal and right lateral temporal regions are strongly engaged when people observe either emblems or speech. In contrast, we also replicate and extend previous work that implicates parietal and premotor responses in observing goal-oriented hand actions. For hand actions, we found that bilateral parietal and premotor regions are strongly engaged when people observe either emblems or grasping. These findings thus characterize converging brain responses to shared features (e.g., symbolic or manual), despite their encoding and presentation in different stimulus modalities. PMID:23583968

  14. Grasp movement decoding from premotor and parietal cortex.

    Science.gov (United States)

    Townsend, Benjamin R; Subasi, Erk; Scherberger, Hansjörg

    2011-10-05

    Despite recent advances in harnessing cortical motor-related activity to control computer cursors and robotic devices, the ability to decode and execute different grasping patterns remains a major obstacle. Here we demonstrate a simple Bayesian decoder for real-time classification of grip type and wrist orientation in macaque monkeys that uses higher-order planning signals from anterior intraparietal cortex (AIP) and ventral premotor cortex (area F5). Real-time decoding was based on multiunit signals, which had similar tuning properties to cells in previous single-unit recording studies. Maximum decoding accuracy for two grasp types (power and precision grip) and five wrist orientations was 63% (chance level, 10%). Analysis of decoder performance showed that grip type decoding was highly accurate (90.6%), with most errors occurring during orientation classification. In a subsequent off-line analysis, we found small but significant performance improvements (mean, 6.25 percentage points) when using an optimized spike-sorting method (superparamagnetic clustering). Furthermore, we observed significant differences in the contributions of F5 and AIP for grasp decoding, with F5 being better suited for classification of the grip type and AIP contributing more toward decoding of object orientation. However, optimum decoding performance was maximal when using neural activity simultaneously from both areas. Overall, these results highlight quantitative differences in the functional representation of grasp movements in AIP and F5 and represent a first step toward using these signals for developing functional neural interfaces for hand grasping.

  15. Brain function overlaps when people observe emblems, speech, and grasping.

    Science.gov (United States)

    Andric, Michael; Solodkin, Ana; Buccino, Giovanni; Goldin-Meadow, Susan; Rizzolatti, Giacomo; Small, Steven L

    2013-07-01

    A hand grasping a cup or gesturing "thumbs-up", while both manual actions, have different purposes and effects. Grasping directly affects the cup, whereas gesturing "thumbs-up" has an effect through an implied verbal (symbolic) meaning. Because grasping and emblematic gestures ("emblems") are both goal-oriented hand actions, we pursued the hypothesis that observing each should evoke similar activity in neural regions implicated in processing goal-oriented hand actions. However, because emblems express symbolic meaning, observing them should also evoke activity in regions implicated in interpreting meaning, which is most commonly expressed in language. Using fMRI to test this hypothesis, we had participants watch videos of an actor performing emblems, speaking utterances matched in meaning to the emblems, and grasping objects. Our results show that lateral temporal and inferior frontal regions respond to symbolic meaning, even when it is expressed by a single hand action. In particular, we found that left inferior frontal and right lateral temporal regions are strongly engaged when people observe either emblems or speech. In contrast, we also replicate and extend previous work that implicates parietal and premotor responses in observing goal-oriented hand actions. For hand actions, we found that bilateral parietal and premotor regions are strongly engaged when people observe either emblems or grasping. These findings thus characterize converging brain responses to shared features (e.g., symbolic or manual), despite their encoding and presentation in different stimulus modalities. Copyright © 2013 Elsevier Ltd. All rights reserved.

  16. Ground Robotic Hand Applications for the Space Program study (GRASP)

    Science.gov (United States)

    Grissom, William A.; Rafla, Nader I. (Editor)

    1992-01-01

    This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time.

  17. Application of a sensor fusion algorithm for improving grasping stability

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Jae Hyeon; Yoon, Hyun Suck; Moon, Hyung Pil; Choi, Hyouk Ryeol; Koo Ja Choon [Sungkyunkwan University, Suwon (Korea, Republic of)

    2015-07-15

    A robot hand normally employees various sensors that are packaged in small form factor, perform with delicately accurate, and cost mostly very expensive. Grasping operation of the hand relies especially on accuracy of those sensors. Even with a set of advanced sensory systems embedded in a robot hand, securing a stable grasping is still challenging task. The present work makes an attempt to improve force sensor accuracy by applying sensor fusion method. An optimal weight value sensor fusion method formulated with Kalman filters is presented and tested in the work. Using a set of inexpensive sensors, the work achieves a reliable force sensing and applies the enhanced sensor stability to an object pinch grasping.

  18. Application of a sensor fusion algorithm for improving grasping stability

    International Nuclear Information System (INIS)

    Kim, Jae Hyeon; Yoon, Hyun Suck; Moon, Hyung Pil; Choi, Hyouk Ryeol; Koo Ja Choon

    2015-01-01

    A robot hand normally employees various sensors that are packaged in small form factor, perform with delicately accurate, and cost mostly very expensive. Grasping operation of the hand relies especially on accuracy of those sensors. Even with a set of advanced sensory systems embedded in a robot hand, securing a stable grasping is still challenging task. The present work makes an attempt to improve force sensor accuracy by applying sensor fusion method. An optimal weight value sensor fusion method formulated with Kalman filters is presented and tested in the work. Using a set of inexpensive sensors, the work achieves a reliable force sensing and applies the enhanced sensor stability to an object pinch grasping.

  19. Modeling the shape hierarchy for visually guided grasping

    CSIR Research Space (South Africa)

    Rezai, O

    2014-10-01

    Full Text Available The monkey anterior intraparietal area (AIP) encodes visual information about three-dimensional object shape that is used to shape the hand for grasping. We modeled shape tuning in visual AIP neurons and its relationship with curvature and gradient...

  20. Task Requirements Influence Sensory Integration during Grasping in Humans

    Science.gov (United States)

    Safstrom, Daniel; Edin, Benoni B.

    2004-01-01

    The sensorimotor transformations necessary for generating appropriate motor commands depend on both current and previously acquired sensory information. To investigate the relative impact (or weighting) of visual and haptic information about object size during grasping movements, we let normal subjects perform a task in which, unbeknownst to the…

  1. The Sliced Pineapple Grid Feature for Predicting Grasping Affordances

    DEFF Research Database (Denmark)

    Thomsen, Mikkel Tang; Kraft, Dirk; Krüger, Norbert

    2017-01-01

    The problem of grasping unknown objects utilising vision is addressed in this work by introducing a novel feature, the Sliced Pineapple Grid Feature (SPGF). The SPGF encode semi-local surfaces and allows for distinguishing structures such as “walls”,“edges” and “rims”. These structures are shown...

  2. Grip type and task goal modify reach-to-grasp performance in post-stroke hemiparesis.

    Science.gov (United States)

    Schaefer, Sydney Y; DeJong, Stacey L; Cherry, Kendra M; Lang, Catherine E

    2012-04-01

    This study investigated whether grip type and/or task goal influenced reaching and grasping performance in poststroke hemiparesis. Sixteen adults with poststroke hemiparesis and twelve healthy adults reached to and grasped a cylindrical object using one of two grip types (3-finger or palmar) to achieve one of two task goals (hold or lift). Performance of the stroke group was characteristic of hemiparetic limb movement during reach-to-grasp, with more curved handpaths and slower velocities compared with the control group. These effects were present regardless of grip type or task goal. Other measures of reaching (reach time and reach velocity at object contact) and grasping (peak thumb-index finger aperture during the reach and peak grip force during the grasp) were differentially affected by grip type, task goal, or both, despite the presence of hemiparesis, providing new evidence that changes in motor patterns after stroke may occur to compensate for stroke-related motor impairment.

  3. VisGraB: A Benchmark for Vision-Based Grasping. Paladyn Journal of Behavioral Robotics

    DEFF Research Database (Denmark)

    Kootstra, Gert; Popovic, Mila; Jørgensen, Jimmy Alison

    2012-01-01

    that a large number of grasps can be executed and evaluated while dealing with dynamics and the noise and uncertainty present in the real world images. VisGraB enables a fair comparison among different grasping methods. The user furthermore does not need to deal with robot hardware, focusing on the vision......We present a database and a software tool, VisGraB, for benchmarking of methods for vision-based grasping of unknown objects with no prior object knowledge. The benchmark is a combined real-world and simulated experimental setup. Stereo images of real scenes containing several objects in different...

  4. THE PECULIAR PHOTOMETRIC PROPERTIES OF 2010 WG9: A SLOWLY ROTATING TRANS-NEPTUNIAN OBJECT FROM THE OORT CLOUD

    Energy Technology Data Exchange (ETDEWEB)

    Rabinowitz, David; Schwamb, Megan E.; Hadjiyska, Elena [Center for Astronomy and Astrophysics, Yale University, New Haven, CT (United States); Tourtellotte, Suzanne [Astronomy Department, Yale University, New Haven, CT (United States); Rojo, Patricio [Department of Astronomy, University of Chile, Santiago (Chile)

    2013-07-01

    We present long-term BVRI observations of 2010 WG9, an {approx}100 km diameter trans-Neptunian object (TNO) with an extremely high inclination of 70 Degree-Sign discovered by the La Silla-QUEST southern sky survey. Most of the observations were obtained with ANDICAM on the SMARTS 1.3 m at Cerro Tololo, Chile from 2010 December to 2012 November. Additional observations were made with EFOSC2 on the 3.5 m NTT telescope of the European Southern Observatory at La Silla, Chile in 2011 February. The observations reveal a sinusoidal light curve with amplitude 0.14 mag and period 5.4955 {+-} 0.0025 days, which is likely half the true rotation period. Such long rotation periods have previously been observed only for tidally evolved binary TNOs, suggesting that 2010 WG9 may be such a system. We predict a nominal separation of at least 790 km, resolvable with the Hubble Space Telescope and ground-based systems. We measure B - R = 1.318 {+-} 0.029 and V - R = 0.520 {+-} 0.018, consistent with the colors of modestly red Centaurs and Damocloids. At I-band wavelengths, we observe an unusually large variation of color with rotational phase, with R - I ranging from 0.394 {+-} 0.025 to 0.571 {+-} 0.044. We also measure an absolute R-band absolute magnitude of 7.93 {+-} 0.05 and solar phase coefficient of 0.049 {+-} 0.019 mag deg{sup -1}.

  5. What a successful grasp tells about the success chances of grasps in its vicinity

    DEFF Research Database (Denmark)

    Bodenhagen, Leon; Detry, Renaud; Piater, Justus

    2011-01-01

    Infants gradually improve their grasping competences, both in terms of motor abilities as well as in terms of the internal shape grasp representations. Grasp densities provide a statistical model of such an internal learning process. In the concept of grasp densities, kernel density estimation...... probabilities representing grasp success in the neighborhood of a successful grasp. The anisotropy has been determined utilizing a simulation environment that allowed for evaluation of large scale experiments. The anisotropic kernel has been fitted to the conditional probabilities obtained from the experiments...

  6. Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter.

    Science.gov (United States)

    Morita, Nobutomo; Nogami, Hirofumi; Higurashi, Eiji; Sawada, Renshi

    2018-01-23

    The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV) and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces-such as metal, paper, film, and so on-thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (μ-LDV) by modifying the design which was adopted from MEMS (microelectromechanical systems) fabrication process. In this paper, by applying our developed μ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects-aluminum block, wood block, and white acrylic block-considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping.

  7. A Grasp-Pose Generation Method Based on Gaussian Mixture Models

    Directory of Open Access Journals (Sweden)

    Wenjia Wu

    2015-11-01

    Full Text Available A Gaussian Mixture Model (GMM-based grasp-pose generation method is proposed in this paper. Through offline training, the GMM is set up and used to depict the distribution of the robot's reachable orientations. By dividing the robot's workspace into small 3D voxels and training the GMM for each voxel, a look-up table covering all the workspace is built with the x, y and z positions as the index and the GMM as the entry. Through the definition of Task Space Regions (TSR, an object's feasible grasp poses are expressed as a continuous region. With the GMM, grasp poses can be preferentially sampled from regions with high reachability probabilities in the online grasp-planning stage. The GMM can also be used as a preliminary judgement of a grasp pose's reachability. Experiments on both a simulated and a real robot show the superiority of our method over the existing method.

  8. Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions

    International Nuclear Information System (INIS)

    Ahmad, Hamzah; Razali, Saifudin; Mohamed, Mohd Rusllim

    2013-01-01

    This paper investigates the effects of the membership function to the object grasping for a three fingered gripper system. The performance of three famously used membership functions is compared to identify their behavior in lifting a defined object shape. MATLAB Simulink and SimMechanics toolboxes are used to examine the performance. Our preliminary results proposed that the Gaussian membership function surpassed the two other membership functions; triangular and trapezoid memberships especially in the context of firmer grasping and less time consumption during operations. Therefore, Gaussian membership function could be the best solution when time consumption and firmer grasp are considered

  9. Responses of mirror neurons in area F5 to hand and tool grasping observation

    Science.gov (United States)

    Rochat, Magali J.; Caruana, Fausto; Jezzini, Ahmad; Escola, Ludovic; Intskirveli, Irakli; Grammont, Franck; Gallese, Vittorio; Rizzolatti, Giacomo

    2010-01-01

    Mirror neurons are a distinct class of neurons that discharge both during the execution of a motor act and during observation of the same or similar motor act performed by another individual. However, the extent to which mirror neurons coding a motor act with a specific goal (e.g., grasping) might also respond to the observation of a motor act having the same goal, but achieved with artificial effectors, is not yet established. In the present study, we addressed this issue by recording mirror neurons from the ventral premotor cortex (area F5) of two monkeys trained to grasp objects with pliers. Neuron activity was recorded during the observation and execution of grasping performed with the hand, with pliers and during observation of an experimenter spearing food with a stick. The results showed that virtually all neurons responding to the observation of hand grasping also responded to the observation of grasping with pliers and, many of them to the observation of spearing with a stick. However, the intensity and pattern of the response differed among conditions. Hand grasping observation determined the earliest and the strongest discharge, while pliers grasping and spearing observation triggered weaker responses at longer latencies. We conclude that F5 grasping mirror neurons respond to the observation of a family of stimuli leading to the same goal. However, the response pattern depends upon the similarity between the observed motor act and the one executed by the hand, the natural motor template. PMID:20577726

  10. The Axial Curve Rotator.

    Science.gov (United States)

    Hunter, Walter M.

    This document contains detailed directions for constructing a device that mechanically produces the three-dimensional shape resulting from the rotation of any algebraic line or curve around either axis on the coordinate plant. The device was developed in response to student difficulty in visualizing, and thus grasping the mathematical principles…

  11. Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter

    Directory of Open Access Journals (Sweden)

    Nobutomo Morita

    2018-01-01

    Full Text Available The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces—such as metal, paper, film, and so on—thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (μ-LDV by modifying the design which was adopted from MEMS (microelectromechanical systems fabrication process. In this paper, by applying our developed μ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects—aluminum block, wood block, and white acrylic block—considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping.

  12. Grasping with mechanical intelligence. M.S. Thesis

    Science.gov (United States)

    Ulrich, Nathan Thatcher

    1988-01-01

    Many robotic hands have been designed and a number have been built. Because of the difficulty of controlling and using complex hands, which usually have nine or more degrees of freedom, the simple one- or two-degree-of-freedom gripper is still the most common robotic end effector. A new category of device is presented: a medium-complexity end effector. With three to five degrees of freedom, such a tool is much easier to control and use, as well as more economical, compact and lightweight than complex hands. In order to increase the versatility, it was necessary to identify grasping primitives and to implement them in the mechanism. In addition, power and enveloping grasps are stressed over fingertip and precision grasps. The design is based upon analysis of object apprehension types, requisite characteristics for active sensing, and a determination of necessary environmental interactions. Contained are the general concepts necessary to the design of a medium-complexity end effector, an analysis of typical performance, and a computer simulation of a grasp planning algorithm specific to this type of mechanism. Finally, some details concerning the UPenn Hand-a tool designed for the research laboratory-are presented.

  13. Improvement and Neuroplasticity after Combined Rehabilitation to Forced Grasping

    Directory of Open Access Journals (Sweden)

    Michiko Arima

    2017-01-01

    Full Text Available The grasp reflex is a distressing symptom but the need to treat or suppress it has rarely been discussed in the literature. We report the case of a 17-year-old man who had suffered cerebral infarction of the right putamen and temporal lobe 10 years previously. Forced grasping of the hemiparetic left upper limb was improved after a unique combined treatment. Botulinum toxin type A (BTX-A was first injected into the left biceps, wrist flexor muscles, and finger flexor muscles. Forced grasping was reduced along with spasticity of the upper limb. In addition, repetitive facilitative exercise and object-related training were performed under low-amplitude continuous neuromuscular electrical stimulation. Since this 2-week treatment improved upper limb function, we compared brain activities, as measured by near-infrared spectroscopy during finger pinching, before and after the combined treatment. Brain activities in the ipsilesional sensorimotor cortex (SMC and medial frontal cortex (MFC during pinching under electrical stimulation after treatment were greater than those before. The results suggest that training under electrical stimulation after BTX-A treatment may modulate the activities of the ipsilesional SMC and MFC and lead to functional improvement of the affected upper limb with forced grasping.

  14. An electromyographic analysis of two handwriting grasp patterns.

    Science.gov (United States)

    de Almeida, Pedro Henrique Tavares Queiroz; da Cruz, Daniel Marinho Cezar; Magna, Luis Alberto; Ferrigno, Iracema Serrat Vergotti

    2013-08-01

    Handwriting is a fundamental skill needed for the development of daily-life activities during lifetime and can be performed using different forms to hold the writing object. In this study, we monitored the sEMG activity of trapezius, biceps brachii, extensor carpi radialis brevis and flexor digitorum superficialis during a handwriting task with two groups of subjects using different grasp patterns. Twenty-four university students (thirteen males and eleven females; mean age of 22.04±2.8years) were included in this study. We randomly invited 12 subjects that used the Dynamic Tripod grasp and 12 subjects that used the Static Tripod grasp. The static tripod group showed statistically significant changes in the sEMG activity of trapezium and biceps brachii muscles during handwriting when compared to dynamic tripod group's subjects. No significant differences were found in extensor carpi radialis brevis and flexor digitorum superficialis activities among the two groups. The findings in this study suggest an increased activity of proximal muscles among subjects using a transitional grasp, indicating potential higher energy expenditure and muscular harm with the maintenance of this motor pattern in handwriting tasks, especially during the progression in academic life. Copyright © 2013 Elsevier Ltd. All rights reserved.

  15. Probing the reaching-grasping network in humans through multivoxel pattern decoding.

    Science.gov (United States)

    Di Bono, Maria Grazia; Begliomini, Chiara; Castiello, Umberto; Zorzi, Marco

    2015-11-01

    The quest for a putative human homolog of the reaching-grasping network identified in monkeys has been the focus of many neuropsychological and neuroimaging studies in recent years. These studies have shown that the network underlying reaching-only and reach-to-grasp movements includes the superior parieto-occipital cortex (SPOC), the anterior part of the human intraparietal sulcus (hAIP), the ventral and the dorsal portion of the premotor cortex, and the primary motor cortex (M1). Recent evidence for a wider frontoparietal network coding for different aspects of reaching-only and reach-to-grasp actions calls for a more fine-grained assessment of the reaching-grasping network in humans by exploiting pattern decoding methods (multivoxel pattern analysis--MVPA). Here, we used MPVA on functional magnetic resonance imaging (fMRI) data to assess whether regions of the frontoparietal network discriminate between reaching-only and reach-to-grasp actions, natural and constrained grasping, different grasp types, and object sizes. Participants were required to perform either reaching-only movements or two reach-to-grasp types (precision or whole hand grasp) upon spherical objects of different sizes. Multivoxel pattern analysis highlighted that, independently from the object size, all the selected regions of both hemispheres contribute in coding for grasp type, with the exception of SPOC and the right hAIP. Consistent with recent neurophysiological findings on monkeys, there was no evidence for a clear-cut distinction between a dorsomedial and a dorsolateral pathway that would be specialized for reaching-only and reach-to-grasp actions, respectively. Nevertheless, the comparison of decoding accuracy across brain areas highlighted their different contributions to reaching-only and grasping actions. Altogether, our findings enrich the current knowledge regarding the functional role of key brain areas involved in the cortical control of reaching-only and reach-to-grasp actions

  16. Optimal grasp planning for a dexterous robotic hand using the volume of a generalized force ellipsoid during accepted flattening

    Directory of Open Access Journals (Sweden)

    Peng Jia

    2017-01-01

    Full Text Available A grasp planning method based on the volume and flattening of a generalized force ellipsoid is proposed to improve the grasping ability of a dexterous robotic hand. First, according to the general solution of joint torques for a dexterous robotic hand, a grasping indicator for the dexterous hand—the maximum volume of a generalized external force ellipsoid and the minimum volume of a generalized contact internal force ellipsoid during accepted flattening—is proposed. Second, an optimal grasp planning method based on a task is established using the grasping indicator as an objective function. Finally, a simulation analysis and grasping experiment are performed. Results show that when the grasping experiment is conducted with the grasping configuration and positions of contact points optimized using the proposed grasping indicator, the root-mean-square values of the joint torques and contact internal forces of the dexterous hand are at a minimum. The effectiveness of the proposed grasping planning method is thus demonstrated.

  17. Original article The effect of three-dimensional imaging of well-known objects on time and accuracy of mental rotation

    Directory of Open Access Journals (Sweden)

    Piotr Francuz

    2014-07-01

    Full Text Available Background The purpose of this study was to verify hypotheses concerning the effect of three-dimensional imaging and the canonicity of objects presented in the original position on the reaction time (RT and the accuracy (A of mental rotation task (MRT execution. The classical paradigm of MRT, developed by Shepard and Metzler (1971, was used in the experiment. Participants and procedure One hundred fifty-eight undergraduate students (88 female and 70 male, aged 18-30 years, participated in the experiment. All participants had normal vision or corrected vision, and reported no stereo blindness. The sequential version of the MRT was used in the experiment. Participants answered whether the object observed in the second position was only rotated or both rotated and mirror-reversed, in comparison to its original position. The answer (accuracy and its latency (RT were recorded. Results As predicted by the mental rotation model, both the “U”-shaped A-MRT distribution and the inverted “U”-shaped RT-MRT distribution were found, due to the angular disparity. For the RT-MRT, this effect was more pronounced when the objects were displayed stereoscopically than in a plane, and when the objects were presented in the original position from the canonical orientation rather than an unusual point of view. On the other hand, in the case of the A-MRT, an effect of the orientation of objects presented in the original position on strengthening the relationship between accuracy and angular disparity was found. Conclusions The results indicated that the interactions between the presentation of the objects in the mental rotation task (stereoscopically vs. in a plane and the orientation of the object in its original position (canonically vs. unusual are more complicated than would appear from predictions of classical theories of mental rotation. The results of this study are discussed in relation to the theories of recognition and categorization.

  18. Grasp Algorithms For Optotactile Robotic Sample Acquisition, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Robotic sample acquisition is basically grasping. Multi-finger robot sample grasping devices are controlled to securely pick up samples. While optimal grasps for...

  19. Objectivity

    CERN Document Server

    Daston, Lorraine

    2010-01-01

    Objectivity has a history, and it is full of surprises. In Objectivity, Lorraine Daston and Peter Galison chart the emergence of objectivity in the mid-nineteenth-century sciences--and show how the concept differs from its alternatives, truth-to-nature and trained judgment. This is a story of lofty epistemic ideals fused with workaday practices in the making of scientific images. From the eighteenth through the early twenty-first centuries, the images that reveal the deepest commitments of the empirical sciences--from anatomy to crystallography--are those featured in scientific atlases, the compendia that teach practitioners what is worth looking at and how to look at it. Galison and Daston use atlas images to uncover a hidden history of scientific objectivity and its rivals. Whether an atlas maker idealizes an image to capture the essentials in the name of truth-to-nature or refuses to erase even the most incidental detail in the name of objectivity or highlights patterns in the name of trained judgment is a...

  20. Interlimb Transfer of Grasp Orientation is Asymmetrical

    Directory of Open Access Journals (Sweden)

    Victor Frak

    2006-01-01

    Full Text Available One the most fundamental aspects of the human motor system is the hemispheric asymmetry seen in behavioral specialization. Hemispheric dominance can be inferred by a contralateral hand preference in grasping. Few studies have considered grasp orientation in the context of manual lateralization and none has looked at grasp orientation with natural prehension. Thirty right-handed adults performed precision grasps of a cylinder using the thumb and index fingers, and the opposition axis (OA was defined as the line connecting these two contact points on the cylinder. Subjects made ten consecutive grasps with one hand (primary hand movements followed by ten grasps with the other hand (trailing movements. Differences between primary and trailing grasps revealed that each hemisphere is capable of programming the orientation of the OA and that primary movements with the right hand significantly influenced OA orientation of the trailing left hand. These results extend the hemispheric dominance of the left hemisphere to the final positions of fingers during prehension.

  1. The Observation of Manual Grasp Actions Affects the Control of Speech: A Combined Behavioral and Transcranial Magnetic Stimulation Study

    Science.gov (United States)

    Gentilucci, Maurizio; Campione, Giovanna Cristina; Volta, Riccardo Dalla; Bernardis, Paolo

    2009-01-01

    Does the mirror system affect the control of speech? This issue was addressed in behavioral and Transcranial Magnetic Stimulation (TMS) experiments. In behavioral experiment 1, participants pronounced the syllable /da/ while observing (1) a hand grasping large and small objects with power and precision grasps, respectively, (2) a foot interacting…

  2. Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems

    Directory of Open Access Journals (Sweden)

    Tao Liu

    2017-02-01

    Full Text Available Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments.

  3. Design and fabrication of robotic gripper for grasping in minimizing contact force

    Science.gov (United States)

    Heidari, Hamidreza; Pouria, Milad Jafary; Sharifi, Shahriar; Karami, Mahmoudreza

    2018-03-01

    This paper presents a new method to improve the kinematics of robot gripper for grasping in unstructured environments, such as space operations. The robot gripper is inspired from the human hand and kept the hand design close to the structure of human fingers to provide successful grasping capabilities. The main goal is to improve kinematic structure of gripper to increase the grasping capability of large objects, decrease the contact forces and makes a successful grasp of various objects in unstructured environments. This research will describe the development of a self-adaptive and reconfigurable robotic hand for space operations through mechanical compliance which is versatile, robust and easy to control. Our model contains two fingers, two-link and three-link, with combining a kinematic model of thumb index. Moreover, some experimental tests are performed to examine the effectiveness of the hand-made in real, unstructured tasks. The results represent that the successful grasp range is improved about 30% and the contact forces is reduced approximately 10% for a wide range of target object size. According to the obtained results, the proposed approach provides an accommodative kinematic model which makes the better grasping capability by fingers geometries for a robot gripper.

  4. Grasp planning for a reconfigurable parallel robot with an underactuated arm structure

    Directory of Open Access Journals (Sweden)

    M. Riedel

    2010-12-01

    Full Text Available In this paper, a novel approach of grasp planning is applied to find out the appropriate grasp points for a reconfigurable parallel robot called PARAGRIP (Parallel Gripping. This new handling system is able to manipulate objects in the six-dimensional Cartesian space by several robotic arms using only six actuated joints. After grasping, the contact elements at the end of the underactuated arm mechanisms are connected to the object which forms a closed loop mechanism similar to the architecture of parallel manipulators. As the mounting and grasp points of the arms can easily be changed, the manipulator can be reconfigured to match the user's preferences and needs. This paper raises the question, how and where these grasp points are to be placed on the object to perform well for a certain manipulation task.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  5. A novel device for grasping assessment during functional tasks: preliminary results

    Directory of Open Access Journals (Sweden)

    Ana Carolinne Portela Rocha

    2016-02-01

    Full Text Available This paper presents a methodology and first results obtained in a study with a novel device that allows the analysis of grasping quality. Such a device is able to acquire motion information of upper limbs allowing kinetic of manipulation analysis as well. A pilot experiment was carried out with six groups of typically developing children aged between 5 and 10 years old, with 7-8 children in each one. The device, designed to emulate a glass, has an optical system composed by one digital camera and a special convex mirror that together allow image acquisition of grasping hand posture when it is grasped and manipulated. It also carries an Inertial Measurement Unit (IMU that captures motion data as acceleration, orientation, and angular velocities. The novel instrumented object is used in our approach to evaluate functional tasks performance in quantitative terms. During tests each child was invited to grasp the cylindrical part of the device that was placed on the top of a table, simulating the task of drinking a glass of water. In the sequence the child was oriented to transport the device back to the starting position and release it. The task was repeated 3 times for each child. A grasping hand posture evaluation is presented as an example to evaluate grasping quality. Additionally, motion patterns obtained with the triasl performed with the different groups are presented and discussed. This device is attractive due to its portable characteristics, the small size and its ability to evaluate grasping form. The results may be also useful to analyze the evolution of the rehabilitation process through reach-to-grasping movement and the grasping images analysis.

  6. Modelling the shape hierarchy for visually guided grasping

    Directory of Open Access Journals (Sweden)

    Omid eRezai

    2014-10-01

    Full Text Available The monkey anterior intraparietal area (AIP encodes visual information about three-dimensional object shape that is used to shape the hand for grasping. We modelled shape tuning in visual AIP neurons and its relationship with curvature and gradient information from the caudal intraparietal area (CIP. The main goal was to gain insight into the kinds of shape parameterizations that can account for AIP tuning and that are consistent with both the inputs to AIP and the role of AIP in grasping. We first experimented with superquadric shape parameters. We considered superquadrics because they occupy a role in robotics that is similar to AIP, in that superquadric fits are derived from visual input and used for grasp planning. We also experimented with an alternative shape parameterization that was based on an Isomap dimension reduction of spatial derivatives of depth (i.e. distance from the observer to the object surface. We considered an Isomap-based model because its parameters lacked discontinuities between similar shapes. When we matched the dimension of the Isomap to the number of superquadric parameters, the superquadric model fit the AIP data somewhat more closely. However, higher-dimensional Isomaps provided excellent fits. Also, we found that the Isomap parameters could be approximated much more accurately than superquadric parameters by feedforward neural networks with CIP-like inputs. We conclude that Isomaps, or perhaps alternative dimension reductions of visual inputs to AIP, provide a promising model of AIP electrophysiology data. However (in contrast with superquadrics further work is needed to test whether such shape parameterizations actually provide an effective basis for grasp control.

  7. Modeling task-specific neuronal ensembles improves decoding of grasp

    Science.gov (United States)

    Smith, Ryan J.; Soares, Alcimar B.; Rouse, Adam G.; Schieber, Marc H.; Thakor, Nitish V.

    2018-06-01

    Objective. Dexterous movement involves the activation and coordination of networks of neuronal populations across multiple cortical regions. Attempts to model firing of individual neurons commonly treat the firing rate as directly modulating with motor behavior. However, motor behavior may additionally be associated with modulations in the activity and functional connectivity of neurons in a broader ensemble. Accounting for variations in neural ensemble connectivity may provide additional information about the behavior being performed. Approach. In this study, we examined neural ensemble activity in primary motor cortex (M1) and premotor cortex (PM) of two male rhesus monkeys during performance of a center-out reach, grasp and manipulate task. We constructed point process encoding models of neuronal firing that incorporated task-specific variations in the baseline firing rate as well as variations in functional connectivity with the neural ensemble. Models were evaluated both in terms of their encoding capabilities and their ability to properly classify the grasp being performed. Main results. Task-specific ensemble models correctly predicted the performed grasp with over 95% accuracy and were shown to outperform models of neuronal activity that assume only a variable baseline firing rate. Task-specific ensemble models exhibited superior decoding performance in 82% of units in both monkeys (p  <  0.01). Inclusion of ensemble activity also broadly improved the ability of models to describe observed spiking. Encoding performance of task-specific ensemble models, measured by spike timing predictability, improved upon baseline models in 62% of units. Significance. These results suggest that additional discriminative information about motor behavior found in the variations in functional connectivity of neuronal ensembles located in motor-related cortical regions is relevant to decode complex tasks such as grasping objects, and may serve the basis for more

  8. How Weight Affects the Perceived Spacing between the Thumb and Fingers during Grasping.

    Directory of Open Access Journals (Sweden)

    Annie A Butler

    Full Text Available We know much about mechanisms determining the perceived size and weight of lifted objects, but little about how these properties of size and weight affect the body representation (e.g. grasp aperture of the hand. Without vision, subjects (n = 16 estimated spacing between fingers and thumb (perceived grasp aperture while lifting canisters of the same width (6.6cm but varied weights (300, 600, 900, and 1200 g. Lifts were performed by movement of either the wrist, elbow or shoulder to examine whether lifting with different muscle groups affects the judgement of grasp aperture. Results for perceived grasp aperture were compared with changes in perceived weight of objects of different sizes (5.2, 6.6, and 10 cm but the same weight (600 g. When canisters of the same width but different weights were lifted, perceived grasp aperture decreased 4.8% [2.2 ‒ 7.4] (mean [95% CI]; P < 0.001 from the lightest to the heaviest canister, no matter how they were lifted. For objects of the same weight but different widths, perceived weight decreased 42.3% [38.2 ‒ 46.4] from narrowest to widest (P < 0.001, as expected from the size-weight illusion. Thus, despite a highly distorted perception of the weight of objects based on their size, we conclude that proprioceptive afferents maintain a reasonably stable perception of the aperture of the grasping hand over a wide range of object weights. Given the small magnitude of this 'weight-grasp aperture' illusion, we propose the brain has access to a relatively stable 'perceptual ruler' to aid the manipulation of different objects.

  9. The visual neuroscience of robotic grasping achieving sensorimotor skills through dorsal-ventral stream integration

    CERN Document Server

    Chinellato, Eris

    2016-01-01

    This book presents interdisciplinary research that pursues the mutual enrichment of neuroscience and robotics. Building on experimental work, and on the wealth of literature regarding the two cortical pathways of visual processing - the dorsal and ventral streams - we define and implement, computationally and on a real robot, a functional model of the brain areas involved in vision-based grasping actions. Grasping in robotics is largely an unsolved problem, and we show how the bio-inspired approach is successful in dealing with some fundamental issues of the task. Our robotic system can safely perform grasping actions on different unmodeled objects, denoting especially reliable visual and visuomotor skills. The computational model and the robotic experiments help in validating theories on the mechanisms employed by the brain areas more directly involved in grasping actions. This book offers new insights and research hypotheses regarding such mechanisms, especially for what concerns the interaction between the...

  10. Linear and nonlinear subspace analysis of hand movements during grasping.

    Science.gov (United States)

    Cui, Phil Hengjun; Visell, Yon

    2014-01-01

    This study investigated nonlinear patterns of coordination, or synergies, underlying whole-hand grasping kinematics. Prior research has shed considerable light on roles played by such coordinated degrees-of-freedom (DOF), illuminating how motor control is facilitated by structural and functional specializations in the brain, peripheral nervous system, and musculoskeletal system. However, existing analyses suppose that the patterns of coordination can be captured by means of linear analyses, as linear combinations of nominally independent DOF. In contrast, hand kinematics is itself highly nonlinear in nature. To address this discrepancy, we sought to to determine whether nonlinear synergies might serve to more accurately and efficiently explain human grasping kinematics than is possible with linear analyses. We analyzed motion capture data acquired from the hands of individuals as they grasped an array of common objects, using four of the most widely used linear and nonlinear dimensionality reduction algorithms. We compared the results using a recently developed algorithm-agnostic quality measure, which enabled us to assess the quality of the dimensional reductions that resulted by assessing the extent to which local neighborhood information in the data was preserved. Although qualitative inspection of this data suggested that nonlinear correlations between kinematic variables were present, we found that linear modeling, in the form of Principle Components Analysis, could perform better than any of the nonlinear techniques we applied.

  11. Comparison of grasping movements made by healthy subjects in a 3-dimensional immersive virtual versus physical environment.

    Science.gov (United States)

    Magdalon, Eliane C; Michaelsen, Stella M; Quevedo, Antonio A; Levin, Mindy F

    2011-09-01

    Virtual reality (VR) technology is being used with increasing frequency as a training medium for motor rehabilitation. However, before addressing training effectiveness in virtual environments (VEs), it is necessary to identify if movements made in such environments are kinematically similar to those made in physical environments (PEs) and the effect of provision of haptic feedback on these movement patterns. These questions are important since reach-to-grasp movements may be inaccurate when visual or haptic feedback is altered or absent. Our goal was to compare kinematics of reaching and grasping movements to three objects performed in an immersive three-dimensional (3D) VE with haptic feedback (cyberglove/grasp system) viewed through a head-mounted display to those made in an equivalent physical environment (PE). We also compared movements in PE made with and without wearing the cyberglove/grasp haptic feedback system. Ten healthy subjects (8 women, 62.1±8.8years) reached and grasped objects requiring 3 different grasp types (can, diameter 65.6mm, cylindrical grasp; screwdriver, diameter 31.6mm, power grasp; pen, diameter 7.5mm, precision grasp) in PE and visually similar virtual objects in VE. Temporal and spatial arm and trunk kinematics were analyzed. Movements were slower and grip apertures were wider when wearing the glove in both the PE and the VE compared to movements made in the PE without the glove. When wearing the glove, subjects used similar reaching trajectories in both environments, preserved the coordination between reaching and grasping and scaled grip aperture to object size for the larger object (cylindrical grasp). However, in VE compared to PE, movements were slower and had longer deceleration times, elbow extension was greater when reaching to the smallest object and apertures were wider for the power and precision grip tasks. Overall, the differences in spatial and temporal kinematics of movements between environments were greater than

  12. GRASPING THE NATURE OF POTENTIALLY HAZARDOUS ASTEROIDS

    Energy Technology Data Exchange (ETDEWEB)

    Perna, D.; Barucci, M. A.; Fornasier, S.; Deshapriya, J. D. P. [LESIA—Observatoire de Paris, PSL Research University, CNRS, Sorbonne Universités, UPMC Univ. Paris 06, Univ. Paris Diderot, Sorbonne Paris Cité, 5 place Jules Janssen, F-92195 Meudon (France); Dotto, E.; Ieva, S.; Epifani, E. Mazzotta [INAF—Osservatorio Astronomico di Roma, Via Frascati 33, I-00040 Monte Porzio Catone (Roma) (Italy); Bernardi, F. [SpaceDyS, via Mario Giuntini 63, I-56023 Cascina (Pisa) (Italy); Luise, F. De [INAF—Osservatorio Astronomico di Teramo, via Mentore Maggini snd, I-64100 Teramo (Italy); Perozzi, E. [Deimos Space, Strada Buchesti 75-77, Bucharest (Romania); Rossi, A. [IFAC—CNR, via Madonna del Piano 10, I-50019 Sesto Fiorentino (Firenze) (Italy); Micheli, M., E-mail: davide.perna@obspm.fr [ESA—NEOCC, ESRIN, via Galileo Galilei 64, I-00044 Frascati (Rome) (Italy)

    2016-01-15

    Through their delivery of water and organics, near-Earth objects (NEOs) played an important role in the emergence of life on our planet.  However, they also pose a hazard to the Earth, as asteroid impacts could significantly affect our civilization. Potentially hazardous asteroids (PHAs) are those that, in principle, could possibly impact the Earth within the next century, producing major damage. About 1600 PHAs are currently known, from an estimated population of 4700 ± 1450. However, a comprehensive characterization of the PHA physical properties is still missing. Here we present spectroscopic observations of 14 PHAs, which we have used to derive their taxonomy, meteorite analogs, and mineralogy. Combining our results with the literature, we investigated how PHAs are distributed as a function of their dynamical and physical properties. In general, the “carbonaceous” PHAs seem to be particularly threatening, because of their high porosity (limiting the effectiveness of the main deflection techniques that could be used in space) and low inclination and minimum orbit intersection distance (MOID) with the Earth (favoring more frequent close approaches). V-type PHAs also present low MOID values, which can produce frequent close approaches (as confirmed by the recent discovery of a limited space weathering on their surfaces). We also identified those specific objects that deserve particular attention because of their extreme rotational properties, internal strength, or possible cometary nature. For PHAs and NEOs in general, we identified a possible anti-correlation between the elongation and the rotational period, in the range of P{sub rot} ≈ 5–80 hr. This would be compatible with the behavior of gravity-dominated aggregates in rotational equilibrium. For periods ≳80–90 hr, such a trend stops, possibly under the influence of the YORP effect and collisions. However, the statistics is very low, and further observational and theoretical work is required

  13. Getting the right grasp on executive function

    Directory of Open Access Journals (Sweden)

    Claudia L R Gonzalez

    2014-04-01

    Full Text Available Executive Function (EF refers to important socio-emotional and cognitive skills that are known to be highly correlated with both academic and life success. EF is a blanket term that is considered to include self-regulation, working memory, and planning. Recent studies have shown a relationship between EF and motor control. The emergence of motor control coincides with that of EF, hence understanding the relationship between these two domains could have significant implications for early detection and remediation of later EF deficits. The purpose of the current study was to investigate this relationship in young children. This study incorporated the Behavioural Rating Inventory of Executive Function (BRIEF and two motor assessments with a focus on precision grasping to test this hypothesis. The BRIEF is comprised of two indices of EF: 1 the Behavioral Regulation Index (BRI containing three subscales: Inhibit, Shift, and Emotional Control; 2 the Metacognition Index (MI containing five subscales: Initiate, Working Memory, Plan/Organize, Organization of Materials, and Monitor. A global executive composite (GEC is derived from the two indices. In this study, right-handed children aged 5-6 and 9-10 were asked to: grasp-to-construct (Lego® models; and grasp-to-place (wooden blocks, while their parents completed the BRIEF questionnaire. Analysis of results indicated significant correlations between the strength of right hand preference for grasping and numerous elements of the BRIEF including the BRI, MI, and GEC. Specifically, the more the right hand was used for grasping the better the EF ratings. In addition, patterns of space-use correlated with the GEC in several subscales of the BRIEF. Finally and remarkably, the results also showed a reciprocal relationship between hand and space use for grasping and EF. These findings are discussed with respect to: 1 the developmental overlap of motor and executive functions; 2 detection of EF deficits through

  14. Intrinsically Passive Handling and Grasping

    NARCIS (Netherlands)

    Stramigioli, Stefano; Scherpen, Jacquelien M.A.; Khodabandehloo, Koorosh

    2000-01-01

    The paper presents a control philosophy called Intrinsically Passive Control, which has the feature to properly behave during interaction with any passive objects. The controlled robot will never become unstable due to the physical structure of the controller.

  15. Feature-based fast grasping for unknown objects

    NARCIS (Netherlands)

    Lei, Q.

    2018-01-01

    According to the report by the United Nations in 2015, the global population of older persons aged 60 years or over is predicted to grow to 1.4 billion by 2030. A rapidly aging population poses a challenging problem for human beings, i.e. supply shortage of working-age people. To solve this problem,

  16. Viewing geometry determines the contribution of binocular vision to the online control of grasping.

    Science.gov (United States)

    Keefe, Bruce D; Watt, Simon J

    2017-12-01

    Binocular vision is often assumed to make a specific, critical contribution to online visual control of grasping by providing precise information about the separation between digits and object. This account overlooks the 'viewing geometry' typically encountered in grasping, however. Separation of hand and object is rarely aligned precisely with the line of sight (the visual depth dimension), and analysis of the raw signals suggests that, for most other viewing angles, binocular feedback is less precise than monocular feedback. Thus, online grasp control relying selectively on binocular feedback would not be robust to natural changes in viewing geometry. Alternatively, sensory integration theory suggests that different signals contribute according to their relative precision, in which case the role of binocular feedback should depend on viewing geometry, rather than being 'hard-wired'. We manipulated viewing geometry, and assessed the role of binocular feedback by measuring the effects on grasping of occluding one eye at movement onset. Loss of binocular feedback resulted in a significantly less extended final slow-movement phase when hand and object were separated primarily in the frontoparallel plane (where binocular information is relatively imprecise), compared to when they were separated primarily along the line of sight (where binocular information is relatively precise). Consistent with sensory integration theory, this suggests the role of binocular (and monocular) vision in online grasp control is not a fixed, 'architectural' property of the visuo-motor system, but arises instead from the interaction of viewer and situation, allowing robust online control across natural variations in viewing geometry.

  17. Playing With Nonverbal Communication: Using Grasp and Facial Direction to Create Adaptive Interaction in a Game

    DEFF Research Database (Denmark)

    Mortensen, Ditte Hvas; Bærentsen, Klaus B.

    2014-01-01

    . The results indicate that participants grasp a remote control according to the intended use and turn their face towards the object with which they intend to interact. The amount of time during which the participants turned their faces towards the object was influenced by the available visual information...

  18. How to grasp a ripe tomato

    NARCIS (Netherlands)

    Verhagen, L.

    2012-01-01

    Fortunately, we don’t have to think about this when we are standing in the supermarket after a busy day. We adjust our grip without effort, making sure we don’t squish an overripe tomato, while we firmly grasp a hard green one. This is actually a complex task in which humans are surprisingly

  19. Virtual grasping: closed-loop force control using electrotactile feedback.

    Science.gov (United States)

    Jorgovanovic, Nikola; Dosen, Strahinja; Djozic, Damir J; Krajoski, Goran; Farina, Dario

    2014-01-01

    Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously "unseen" objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.

  20. Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback

    Directory of Open Access Journals (Sweden)

    Nikola Jorgovanovic

    2014-01-01

    Full Text Available Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously “unseen” objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.

  1. Grasp cueing and joint attention.

    Science.gov (United States)

    Tschentscher, Nadja; Fischer, Martin H

    2008-10-01

    We studied how two different hand posture cues affect joint attention in normal observers. Visual targets appeared over lateralized objects, with different delays after centrally presented hand postures. Attention was cued by either hand direction or the congruency between hand aperture and object size. Participants pressed a button when they detected a target. Direction cues alone facilitated target detection following short delays but aperture cues alone were ineffective. In contrast, when hand postures combined direction and aperture cues, aperture congruency effects without directional congruency effects emerged and persisted, but only for power grips. These results suggest that parallel parameter specification makes joint attention mechanisms exquisitely sensitive to the timing and content of contextual cues.

  2. The multi-filter rotating shadowband radiometer (MFRSR) - precision infrared radiometer (PIR) platform in Fairbanks: Scientific objectives

    Energy Technology Data Exchange (ETDEWEB)

    Stamnes, K.; Leontieva, E. [Univ. of Alaska, Fairbanks (United States)

    1996-04-01

    The multi-filter rotating shadowband radiometer (MFRSR) and precision infrared radiometer (PIR) have been employed at the Geophysical Institute in Fairbanks to check their performance under arctic conditions. Drawing on the experience of the previous measurements in the Arctic, the PIR was equipped with a ventilator to prevent frost and moisture build-up. We adopted the Solar Infrared Observing Sytem (SIROS) concept from the Southern Great Plains Cloud and Radiation Testbed (CART) to allow implementation of the same data processing software for a set of radiation and meteorological instruments. To validate the level of performance of the whole SIROS prior to its incorporation into the North Slope of Alaska (NSA) Cloud and Radiation Testbed Site instrumental suite for flux radiatin measurements, the comparison between measurements and model predictions will be undertaken to assess the MFRSR-PIR Arctic data quality.

  3. A General Contact Force Analysis of an Under-Actuated Finger in Robot Hand Grasping

    Directory of Open Access Journals (Sweden)

    Xuan Vinh Ha

    2016-02-01

    Full Text Available This paper develops a mathematical analysis of contact forces for the under-actuated finger in a general under-actuated robotic hand during grasping. The concept of under-actuation in robotic grasping with fewer actuators than degrees of freedom (DOF, through the use of springs and mechanical limits, allows the hand to adjust itself to an irregularly shaped object without complex control strategies and sensors. Here the main concern is the contact forces, which are important elements in grasping tasks, based on the proposed mathematical analysis of their distributions of the n-DOF under-actuated finger. The simulation results, along with the 3-DOF finger from the ADAMS model, show the effectiveness of the mathematical analysis method, while comparing them with the measured results. The system can find magnitudes of the contact forces at the contact positions between the phalanges and the object.

  4. Impaired anticipatory control of grasp during obstacle crossing in Parkinson's disease.

    Science.gov (United States)

    McIsaac, Tara L; Diermayr, Gudrun; Albert, Frederic

    2012-05-16

    During self-paced walking, people with Parkinson's disease maintain anticipatory control during object grasping. However, common functional tasks often include carrying an object while changing step patterns mid-path and maneuvering over obstacles, increasing task complexity and attentional demands. Thus, the present study investigated the effect of Parkinson's disease on the modulation of grasping force changes as a function of gait-related inertial forces. Subjects with Parkinson's disease maintained the ability to scale and to couple over time their grip and inertial forces while walking at irregular step lengths, but were unable to maintain the temporal coupling of grasping forces compared to controls during obstacle crossing. We suggest that this deterioration in anticipatory control is associated with the increased demands of task complexity and attention during obstacle crossing. Copyright © 2012 Elsevier Ireland Ltd. All rights reserved.

  5. Grip type and task goal modify reach-to-grasp performance in post-stroke hemiparesis

    Science.gov (United States)

    Schaefer, Sydney Y.; DeJong, Stacey L.; Cherry, Kendra M.; Lang, Catherine E.

    2011-01-01

    This study investigated whether grip type and/or task goal influenced reaching and grasping performance in post-stroke hemiparesis. Sixteen adults with post-stroke hemiparesis and twelve healthy adults reached to and grasped a cylindrical object using one of two grip types (3-finger or palmar) to achieve one of two task goals (hold or lift). Performance of the stroke group was characteristic of hemiparetic limb movement during reach-to-grasp, with more curved handpaths and slower velocities compared to the control group. These effects were present regardless of grip type or task goal. Other measures of reaching (reach time and reach velocity at object contact) and grasping (peak thumb-index finger aperture during the reach and peak grip force during the grasp) were differentially affected by grip type, task goal, or both, despite the presence of hemiparesis, providing new evidence that changes in motor patterns after stroke may occur to compensate for stroke-related motor impairment. PMID:22357103

  6. On transferability and contexts when using simulated grasp databases

    DEFF Research Database (Denmark)

    Jørgensen, Jimmy Alison; Ellekilde, Lars-Peter; Kraft, Dirk

    2015-01-01

    It has become a common practice to use simulation to generate large databases of good grasps for grasp planning in robotics research. However, the existence of a generic simulation context that enables the generation of high quality grasps that can be used in several different contexts such as bi...

  7. Electrotactile EMG feedback improves the control of prosthesis grasping force

    Science.gov (United States)

    Schweisfurth, Meike A.; Markovic, Marko; Dosen, Strahinja; Teich, Florian; Graimann, Bernhard; Farina, Dario

    2016-10-01

    Objective. A drawback of active prostheses is that they detach the subject from the produced forces, thereby preventing direct mechanical feedback. This can be compensated by providing somatosensory feedback to the user through mechanical or electrical stimulation, which in turn may improve the utility, sense of embodiment, and thereby increase the acceptance rate. Approach. In this study, we compared a novel approach to closing the loop, namely EMG feedback (emgFB), to classic force feedback (forceFB), using electrotactile interface in a realistic task setup. Eleven intact-bodied subjects and one transradial amputee performed a routine grasping task while receiving emgFB or forceFB. The two feedback types were delivered through the same electrotactile interface, using a mixed spatial/frequency coding to transmit 8 discrete levels of the feedback variable. In emgFB, the stimulation transmitted the amplitude of the processed myoelectric signal generated by the subject (prosthesis input), and in forceFB the generated grasping force (prosthesis output). The task comprised 150 trials of routine grasping at six forces, randomly presented in blocks of five trials (same force). Interquartile range and changes in the absolute error (AE) distribution (magnitude and dispersion) with respect to the target level were used to assess precision and overall performance, respectively. Main results. Relative to forceFB, emgFB significantly improved the precision of myoelectric commands (min/max of the significant levels) for 23%/36% as well as the precision of force control for 12%/32%, in intact-bodied subjects. Also, the magnitude and dispersion of the AE distribution were reduced. The results were similar in the amputee, showing considerable improvements. Significance. Using emgFB, the subjects therefore decreased the uncertainty of the forward pathway. Since there is a correspondence between the EMG and force, where the former anticipates the latter, the emgFB allowed for

  8. Bio-inspired grasp control in a robotic hand with massive sensorial input.

    Science.gov (United States)

    Ascari, Luca; Bertocchi, Ulisse; Corradi, Paolo; Laschi, Cecilia; Dario, Paolo

    2009-02-01

    The capability of grasping and lifting an object in a suitable, stable and controlled way is an outstanding feature for a robot, and thus far, one of the major problems to be solved in robotics. No robotic tools able to perform an advanced control of the grasp as, for instance, the human hand does, have been demonstrated to date. Due to its capital importance in science and in many applications, namely from biomedics to manufacturing, the issue has been matter of deep scientific investigations in both the field of neurophysiology and robotics. While the former is contributing with a profound understanding of the dynamics of real-time control of the slippage and grasp force in the human hand, the latter tries more and more to reproduce, or take inspiration by, the nature's approach, by means of hardware and software technology. On this regard, one of the major constraints robotics has to overcome is the real-time processing of a large amounts of data generated by the tactile sensors while grasping, which poses serious problems to the available computational power. In this paper a bio-inspired approach to tactile data processing has been followed in order to design and test a hardware-software robotic architecture that works on the parallel processing of a large amount of tactile sensing signals. The working principle of the architecture bases on the cellular nonlinear/neural network (CNN) paradigm, while using both hand shape and spatial-temporal features obtained from an array of microfabricated force sensors, in order to control the sensory-motor coordination of the robotic system. Prototypical grasping tasks were selected to measure the system performances applied to a computer-interfaced robotic hand. Successful grasps of several objects, completely unknown to the robot, e.g. soft and deformable objects like plastic bottles, soft balls, and Japanese tofu, have been demonstrated.

  9. Automatic Grasp Generation and Improvement for Industrial Bin-Picking

    DEFF Research Database (Denmark)

    Kraft, Dirk; Ellekilde, Lars-Peter; Rytz, Jimmy Alison

    2014-01-01

    and achieve comparable results and that our learning approach can improve system performance significantly. Automatic bin-picking is an important industrial process that can lead to significant savings and potentially keep production in countries with high labour cost rather than outsourcing it. The presented......This paper presents work on automatic grasp generation and grasp learning for reducing the manual setup time and increase grasp success rates within bin-picking applications. We propose an approach that is able to generate good grasps automatically using a dynamic grasp simulator, a newly developed...

  10. Continuous grasp algorithm applied to economic dispatch problem of thermal units

    Energy Technology Data Exchange (ETDEWEB)

    Vianna Neto, Julio Xavier [Pontifical Catholic University of Parana - PUCPR, Curitiba, PR (Brazil). Undergraduate Program at Mechatronics Engineering; Bernert, Diego Luis de Andrade; Coelho, Leandro dos Santos [Pontifical Catholic University of Parana - PUCPR, Curitiba, PR (Brazil). Industrial and Systems Engineering Graduate Program, LAS/PPGEPS], e-mail: leandro.coelho@pucpr.br

    2010-07-01

    The economic dispatch problem (EDP) is one of the fundamental issues in power systems to obtain benefits with the stability, reliability and security. Its objective is to allocate the power demand among committed generators in the most economical manner, while all physical and operational constraints are satisfied. The cost of power generation, particularly in fossil fuel plants, is very high and economic dispatch helps in saving a significant amount of revenue. Recently, as an alternative to the conventional mathematical approaches, modern heuristic optimization techniques such as simulated annealing, evolutionary algorithms, neural networks, ant colony, and tabu search have been given much attention by many researchers due to their ability to find an almost global optimal solution in EDPs. On other hand, continuous GRASP (C-GRASP) is a stochastic local search meta-heuristic for finding cost-efficient solutions to continuous global optimization problems subject to box constraints. Like a greedy randomized adaptive search procedure (GRASP), a C-GRASP is a multi-start procedure where a starting solution for local improvement is constructed in a greedy randomized fashion. The C-GRASP algorithm is validated for a test system consisting of fifteen units, test system that takes into account spinning reserve and prohibited operating zones constrains. (author)

  11. Evaluation of Human Prehension Using Grasp Quality Measures

    Directory of Open Access Journals (Sweden)

    Beatriz León

    2012-10-01

    Full Text Available One of the main features of the human hand is its grasping ability. Robot grasping has been studied for years and different quality measures have been proposed to evaluate the stability and manipulability of grasps. Although the human hand is obviously more complex than robot hands, the methods used in robotics might be adopted to study the human grasp. The purpose of this work is to propose a set of measures that allow the evaluation of different aspects of the human grasp. The most common robotic grasp quality measures have been adapted to the evaluation of the human hand and a new quality measure – the fatigue index – is proposed in order to incorporate the biomechanical aspect into the evaluation. The minimum set of indices that allows the evaluation of the different aspects of the grasp is obtained from the analysis of a human prehension experiment.

  12. Grasp Learning by Means of Developing Sensorimotor Schemas and Generic World Knowledge

    DEFF Research Database (Denmark)

    Krüger, Norbert; Popovic, Mila; Bodenhagen, Leon

    2011-01-01

    We present a cognitive system in which grasping competences are coded by means of a formalisation of sensory motor schemas in terms of so called ‘object action complexes’ (OACs). OACs define the knowledge of the system via the effects and precondition of certain behavioural patterns, and also code...

  13. Grasping the other's attention: The role of animacy in action cueing of joint attention

    NARCIS (Netherlands)

    Lindemann, O.; Nuku, P.; Rüschemeyer, S.A.; Bekkering, H.

    2011-01-01

    The current experiment investigates the role of animacy on grasp-cueing effects as investigated in joint attention research. In a simple detection task participants responded to the colour change of one of two objects of identical size. Before the target onset, we presented a cueing stimulus

  14. Locomotion and Grasping impairment in preschoolers with autism spectrum disorder

    Directory of Open Access Journals (Sweden)

    Francesca Fulceri

    2015-08-01

    Full Text Available Objective: To investigate expressiveness of motor impairment in autism spectrum disorder (ASD and its correlation with developmental and clinical features of ASD. Method: Thirty-five male preschoolers with ASD completed the Peabody Developmental Motor Scales-2 (PDMS-2; Folio and Fewell, 2000 and underwent a multidisciplinary assessment including medical examination, standardized assessment of cognitive abilities, administration of Autism_Diagnostic_Observation_Schedule (ADOS and a parent interview about adaptive skills. Results: Results revealed a substantial impairment in locomotion and grasping skills. Both fine and gross motor skills were significantly correlated with non verbal IQ and adaptive behaviours (p<0.01 but not with chronological age or ADOS scores. Children with weaker motor skills have greater cognitive and adaptive behaviours deficits. Conclusions: Motor development in ASD can be detected at preschool age and locomotion and grasping skills are substantially the most impaired area. These findings support the need to assess motor skills in preschoolers with ASD in addition to other developmental skill areas. Along with the increasingly acknowledged importance of motor skills for subsequent social, cognitive, and communicative development our findings support the need to consider motor intervention as a key area in therapeutic program to improve outcome in preschoolers with ASD.

  15. Prosthetic hand sensor placement: Analysis of touch perception during the grasp

    Directory of Open Access Journals (Sweden)

    Mirković Bojana

    2014-01-01

    Full Text Available Humans rely on their hands to perform everyday tasks. The hand is used as a tool, but also as the interface to “sense” the world. Current prosthetic hands are based on sophisticated multi-fingered structures, and include many sensors which counterpart natural proprioceptors and exteroceptors. The sensory information is used for control, but not sent to the user of the hand (amputee. Grasping without sensing is not good enough. This research is part of the development of the sensing interface for amputees, specifically addressing the analysis of human perception while grasping. The goal is to determine the small number of preferred positions of sensors on the prosthetic hand. This task has previously been approached by trying to replicate a natural sensory system characteristic for healthy humans, resulting in a multitude of redundant sensors and basic inability to make the patient aware of the sensor readings on the subconscious level. We based our artificial perception system on the reported sensations of humans when grasping various objects without seeing the objects (obstructed visual feedback. Subjects, with no known sensory deficits, were asked to report on the touch sensation while grasping. The analysis included objects of various sizes, weights, textures and temperatures. Based on this data we formed a map of the preferred positions for the sensors that is appropriate for five finger human-like robotic hand. The final map was intentionally minimized in size (number of sensors.

  16. Microsoft kinect-based artificial perception system for control of functional electrical stimulation assisted grasping.

    Science.gov (United States)

    Strbac, Matija; Kočović, Slobodan; Marković, Marko; Popović, Dejan B

    2014-01-01

    We present a computer vision algorithm that incorporates a heuristic model which mimics a biological control system for the estimation of control signals used in functional electrical stimulation (FES) assisted grasping. The developed processing software acquires the data from Microsoft Kinect camera and implements real-time hand tracking and object analysis. This information can be used to identify temporal synchrony and spatial synergies modalities for FES control. Therefore, the algorithm acts as artificial perception which mimics human visual perception by identifying the position and shape of the object with respect to the position of the hand in real time during the planning phase of the grasp. This artificial perception used within the heuristically developed model allows selection of the appropriate grasp and prehension. The experiments demonstrate that correct grasp modality was selected in more than 90% of tested scenarios/objects. The system is portable, and the components are low in cost and robust; hence, it can be used for the FES in clinical or even home environment. The main application of the system is envisioned for functional electrical therapy, that is, intensive exercise assisted with FES.

  17. Characteristics of grasping movements in a laboratory and in an everyday-like context.

    Science.gov (United States)

    Bock, Otmar; Züll, Anne

    2013-02-01

    To understand the principles of motor control, it is useful to know whether movements with the same physical constraints can be governed by different rules depending on the behavioral context. We therefore have recently introduced a paradigm in which subjects grasp from the same starting position to the same final object, once as a typical laboratory task and once as part of everyday-like behavior. In the laboratory context, grasping was repetitive, externally triggered and purposeless; in the everyday-like context, it was embedded in a complex activity, intentionally initiated, and served a purpose. Here we present a comprehensive analysis of data from that paradigm. Among 38 response parameters that reflected hand transport, grip shaping and object manipulation, 20 differed significantly between groups. Factor analysis further reduced them to four orthogonal factors: response speed, finger-object contact, response variability, and hand path curvature. This shows, for the first time, that behavioral context influences the execution of grasping movements in four independent ways, possibly reflecting four distinct functional modules in the motor system. This fits well with the view - derived from neurological data - that grasping is controlled by a set of interconnected brain areas which are differentially recruited to achieve different behavioral goals. Copyright © 2013 Elsevier B.V. All rights reserved.

  18. Gaze anchoring guides real but not pantomime reach-to-grasp: support for the action-perception theory.

    Science.gov (United States)

    Kuntz, Jessica R; Karl, Jenni M; Doan, Jon B; Whishaw, Ian Q

    2018-04-01

    Reach-to-grasp movements feature the integration of a reach directed by the extrinsic (location) features of a target and a grasp directed by the intrinsic (size, shape) features of a target. The action-perception theory suggests that integration and scaling of a reach-to-grasp movement, including its trajectory and the concurrent digit shaping, are features that depend upon online action pathways of the dorsal visuomotor stream. Scaling is much less accurate for a pantomime reach-to-grasp movement, a pretend reach with the target object absent. Thus, the action-perception theory proposes that pantomime movement is mediated by perceptual pathways of the ventral visuomotor stream. A distinguishing visual feature of a real reach-to-grasp movement is gaze anchoring, in which a participant visually fixates the target throughout the reach and disengages, often by blinking or looking away/averting the head, at about the time that the target is grasped. The present study examined whether gaze anchoring is associated with pantomime reaching. The eye and hand movements of participants were recorded as they reached for a ball of one of three sizes, located on a pedestal at arms' length, or pantomimed the same reach with the ball and pedestal absent. The kinematic measures for real reach-to-grasp movements were coupled to the location and size of the target, whereas the kinematic measures for pantomime reach-to-grasp, although grossly reflecting target features, were significantly altered. Gaze anchoring was also tightly coupled to the target for real reach-to-grasp movements, but there was no systematic focus for gaze, either in relation with the virtual target, the previous location of the target, or the participant's reaching hand, for pantomime reach-to-grasp. The presence of gaze anchoring during real vs. its absence in pantomime reach-to-grasp supports the action-perception theory that real, but not pantomime, reaches are online visuomotor actions and is discussed in

  19. Multisession, noninvasive closed-loop neuroprosthetic control of grasping by upper limb amputees.

    Science.gov (United States)

    Agashe, H A; Paek, A Y; Contreras-Vidal, J L

    2016-01-01

    Upper limb amputation results in a severe reduction in the quality of life of affected individuals due to their inability to easily perform activities of daily living. Brain-machine interfaces (BMIs) that translate grasping intent from the brain's neural activity into prosthetic control may increase the level of natural control currently available in myoelectric prostheses. Current BMI techniques demonstrate accurate arm position and single degree-of-freedom grasp control but are invasive and require daily recalibration. In this study we tested if transradial amputees (A1 and A2) could control grasp preshaping in a prosthetic device using a noninvasive electroencephalography (EEG)-based closed-loop BMI system. Participants attempted to grasp presented objects by controlling two grasping synergies, in 12 sessions performed over 5 weeks. Prior to closed-loop control, the first six sessions included a decoder calibration phase using action observation by the participants; thereafter, the decoder was fixed to examine neuroprosthetic performance in the absence of decoder recalibration. Ability of participants to control the prosthetic was measured by the success rate of grasping; ie, the percentage of trials within a session in which presented objects were successfully grasped. Participant A1 maintained a steady success rate (63±3%) across sessions (significantly above chance [41±5%] for 11 sessions). Participant A2, who was under the influence of pharmacological treatment for depression, hormone imbalance, pain management (for phantom pain as well as shoulder joint inflammation), and drug dependence, achieved a success rate of 32±2% across sessions (significantly above chance [27±5%] in only two sessions). EEG signal quality was stable across sessions, but the decoders created during the first six sessions showed variation, indicating EEG features relevant to decoding at a smaller timescale (100ms) may not be stable. Overall, our results show that (a) an EEG

  20. Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-Arm System

    Directory of Open Access Journals (Sweden)

    Jian Huang

    2015-08-01

    Full Text Available Impedance control is an important technology used in the grasping control of a robot hand. Numerous studies related to grasping algorithms have been reported in recent years, with the contact force between robot fingers and the object to be grasped being primarily discussed in most cases. Generally, a coupling effect occurs between the internal loop of the grasping operation and the external loop of the interaction with the environment when a multi-fingered robot hand is used to complete a contact task. Therefore, a robot hand cannot hold an object using a large external force to complete a wide range of tasks by applying the conventional method. In this paper, the coupling of the internal/external forces occurring in grasping operations using multiple fingers is analysed. Then, improved impedance control based on the previous method is proposed as an effective tool to solve the problem of grasping failure caused by single-finger contact. Furthermore, a method for applying the improved grasping algorithm to the admittance control of a robot hand-arm system is also proposed. The proposed method divides the impedance effect into the grasping control of the hand and the cooperative control of the arm, so that expanding the task space and increasing the flexibility of impedance adjustment can be achieved. Experiments were conducted to demonstrate the effectiveness of the proposed method.

  1. Teaching grasping points using natural movements

    OpenAIRE

    Isleyici, Yalim

    2014-01-01

    Research about tasks that robotic maids should be able to perform is an emerging research area such as cooking and cleaning. Among them, manipulation of clothes is one of the hardest tasks due to the fact that textile is highly deformable and it is hard to model a good grasping point on them. In literature there are certain algorithms depending on 3D information of the cloth but most of them are not robust. Among them, Fast Integral Normal 3D (FINDDD) descriptors is a promising way for ...

  2. Optimization by GRASP greedy randomized adaptive search procedures

    CERN Document Server

    Resende, Mauricio G C

    2016-01-01

    This is the first book to cover GRASP (Greedy Randomized Adaptive Search Procedures), a metaheuristic that has enjoyed wide success in practice with a broad range of applications to real-world combinatorial optimization problems. The state-of-the-art coverage and carefully crafted pedagogical style lends this book highly accessible as an introductory text not only to GRASP, but also to combinatorial optimization, greedy algorithms, local search, and path-relinking, as well as to heuristics and metaheuristics, in general. The focus is on algorithmic and computational aspects of applied optimization with GRASP with emphasis given to the end-user, providing sufficient information on the broad spectrum of advances in applied optimization with GRASP. For the more advanced reader, chapters on hybridization with path-relinking and parallel and continuous GRASP present these topics in a clear and concise fashion. Additionally, the book offers a very complete annotated bibliography of GRASP and combinatorial optimizat...

  3. Reach-to-grasp movement as a minimization process.

    Science.gov (United States)

    Yang, Fang; Feldman, Anatol G

    2010-02-01

    It is known that hand transport and grasping are functionally different but spatially coordinated components of reach-to-grasp (RTG) movements. As an extension of this notion, we suggested that body segments involved in RTG movements are controlled as a coherent ensemble by a global minimization process associated with the necessity for the hand to reach the motor goal. Different RTG components emerge following this process without pre-programming. Specifically, the minimization process may result from the tendency of neuromuscular elements to diminish the spatial gap between the actual arm-hand configuration and its virtual (referent) configuration specified by the brain. The referent configuration is specified depending on the object shape, localization, and orientation. Since the minimization process is gradual, it can be interrupted and resumed following mechanical perturbations, at any phase during RTG movements, including hand closure. To test this prediction of the minimization hypothesis, we asked subjects to reach and grasp a cube placed within the reach of the arm. Vision was prevented during movement until the hand returned to its initial position. As predicted, by arresting wrist motion at different points of hand transport in randomly selected trials, it was possible to halt changes in hand aperture at any phase, not only during hand opening but also during hand closure. Aperture changes resumed soon after the wrist was released. Another test of the minimization hypothesis was made in RTG movements to an object placed beyond the reach of the arm. It has previously been shown (Rossi et al. in J Physiol 538:659-671, 2002) that in such movements, the trunk motion begins to contribute to hand transport only after a critical phase when the shifts in the referent arm configuration have finished (at about the time when hand velocity is maximal). The minimization rule suggests that when the virtual contribution of the arm to hand transport is completed

  4. Electromyographic Grasp Recognition for a Five Fingered Robotic Hand

    Directory of Open Access Journals (Sweden)

    Nayan M. Kakoty

    2012-09-01

    Full Text Available This paper presents classification of grasp types based on surface electromyographic signals. Classification is through radial basis function kernel support vector machine using sum of wavelet decomposition coefficients of the EMG signals. In a study involving six subjects, we achieved an average recognition rate of 86%. The electromyographic grasp recognition together with a 8-bit microcontroller has been employed to control a fivefingered robotic hand to emulate six grasp types used during 70% daily living activities.

  5. Knowledge-Oriented Physics-Based Motion Planning for Grasping Under Uncertainty

    OpenAIRE

    Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan

    2017-01-01

    Grasping an object in unstructured and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exits. High-level knowledge and reasoning processes, as well as the allowing of interaction between objects, can enhance the planning efficiency in such environments. In this direction, this study proposes a knowledge-oriented physics-based motion planning approach for a hand-arm system that uses a high-level knowledge-based reasoning to partition the wor...

  6. On the road to a neuroprosthetic hand: a novel hand grasp orthosis based on functional electrical stimulation.

    Science.gov (United States)

    Leeb, Robert; Gubler, Miguel; Tavella, Michele; Miller, Heather; Del Millan, Jose R

    2010-01-01

    To patients who have lost the functionality of their hands as a result of a severe spinal cord injury or brain stroke, the development of new techniques for grasping is indispensable for reintegration and independency in daily life. Functional Electrical Stimulation (FES) of residual muscles can reproduce the most dominant grasping tasks and can be initialized by brain signals. However, due to the very complex hand anatomy and current limitations in FES-technology with surface electrodes, these grasp patterns cannot be smoothly executed. In this paper, we present an adaptable passive hand orthosis which is capable of producing natural and smooth movements when coupled with FES. It evenly synchronizes the grasping movements and applied forces on all fingers, allowing for naturalistic gestures and functional grasps of everyday objects. The orthosis is also equipped with a lock, which allows it to remain in the desired position without the need for long-term stimulation. Furthermore, we quantify improvements offered by the orthosis compare them with natural grasps on healthy subjects.

  7. A novel gripper design for multi hand tools grasping under tight clearance constraints and external torque effect

    KAUST Repository

    Shaqura, Mohammad

    2017-08-29

    A robotic multi tool gripper design and implementation is presented in this paper. The proposed design targets applications where an actuation task is performed using a wide selection of standard hand tools. The manipulation motion is assumed to be rotational which requires a firm grip to account for external torque on the grasped tool. The setup is assumed to be a conventional workshop panel with hand tools being hanged close to each other, which constraints lateral clearance around the target, and near the wall of the panel, which constraints the depth clearance. Off the shelf grippers are mostly heavy and bulky which make them unsuitable for these requirements. Moreover, they are not optimized in terms of power consumption, simplicity and compactness. These generic grippers are mostly designed for pick and place tasks where no external torques other than those caused by the object weight affects the gripper. The design challenge involves building a gripper that is capable of operating in limited clearance space, firmly grip a variety of standard hand tools with different sizes and shapes. The proposed design is optimized for these objectives and offers a low cost and power consumption solution. The design has been validated in lab and outdoor experiments and has been deployed in real operating platform used in an international robotics competition.

  8. Optimizing a Biobjective Production-Distribution Planning Problem Using a GRASP

    Directory of Open Access Journals (Sweden)

    Martha-Selene Casas-Ramírez

    2018-01-01

    Full Text Available This paper addresses a biobjective production-distribution planning problem. The problem is formulated as a mixed integer programming problem with two objectives. The objectives are to minimize the total costs and to balance the total workload of the supply chain, which consist of plants and depots, considering that it represents a company vertically integrated. In order to solve the model, we propose an adapted biobjective GRASP to obtain an approximation of the Pareto front. To evaluate the performance of the proposed algorithm, numerical experimentations are conducted over a set of instances used for similar problems. Results indicate that the proposed GRASP obtains a relatively small number of nondominated solutions for each tested instance in very short computational time. The approximated Pareto fronts are discontinuous and nonconvex. Moreover, the solutions clearly show the compromise between both objective functions.

  9. Deficits of reach-to-grasp coordination following stroke: Comparison of instructed and natural movements.

    Science.gov (United States)

    Baak, Benjamin; Bock, Otmar; Dovern, Anna; Saliger, Jochen; Karbe, Hans; Weiss, Peter H

    2015-10-01

    The present work evaluates whether stroke-induced deficits of reach-to-grasp movements, established by typical laboratory paradigms, transfer unconditionally to more natural situations. Sixteen patients with a stroke to the motor-dominant left hemisphere and 16 age- and gender-matched healthy control subjects executed grasping movements with their left (ipsilesional, non-dominant) hand. All movements started in the same position, were aimed at the same object positioned in the same location, and were followed by forward displacement of that object along the same path. Twenty movements were performed as a repetitive, externally triggered task executed for their own sake (context L, as in typical laboratory tasks). Twenty movements were performed as part of a self-initiated action sequence aimed at winning a reward (context E, similar to many everyday situations). The kinematics and dynamics of the transport, grasp and manipulation component of each reach-to-grasp movement were quantified by 41 parameters. Analyses of variance yielded a significant effect of Context for 29 parameters, a significant effect of Group for 9 parameters (mostly related to the coupling of hand transport and grip aperture), and a significant interaction for 5 parameters (all related to the coupling of hand transport and grip aperture). The interaction reflected the fact that stroke patients' movement parameters were more abnormal in context E than in context L. Our data indicate that unilateral stroke degrades the grasp-transport coupling, and that stroke-related motor deficits may be more pronounced in a natural than in a laboratory context. Thus, for stroke patients, assessments and rehabilitation regimes should mainly use activities that are as natural as possible. Copyright © 2015 Elsevier Ltd. All rights reserved.

  10. Effects of accuracy constraints on reach-to-grasp movements in cerebellar patients.

    Science.gov (United States)

    Rand, M K; Shimansky, Y; Stelmach, G E; Bracha, V; Bloedel, J R

    2000-11-01

    Reach-to-grasp movements of patients with pathology restricted to the cerebellum were compared with those of normal controls. Two types of paradigms with different accuracy constraints were used to examine whether cerebellar impairment disrupts the stereotypic relationship between arm transport and grip aperture and whether the variability of this relationship is altered when greater accuracy is required. The movements were made to either a vertical dowel or to a cross bar of a small cross. All subjects were asked to reach for either target at a fast but comfortable speed, grasp the object between the index finger and thumb, and lift it a short distance off the table. In terms of the relationship between arm transport and grip aperture, the control subjects showed a high consistency in grip aperture and wrist velocity profiles from trial to trial for movements to both the dowel and the cross. The relationship between the maximum velocity of the wrist and the time at which grip aperture was maximal during the reach was highly consistent throughout the experiment. In contrast, the time of maximum grip aperture and maximum wrist velocity of the cerebellar patients was quite variable from trial to trial, and the relationship of these measurements also varied considerably. These abnormalities were present regardless of the accuracy requirement. In addition, the cerebellar patients required a significantly longer time to grasp and lift the objects than the control subjects. Furthermore, the patients exhibited a greater grip aperture during reach than the controls. These data indicate that the cerebellum contributes substantially to the coordination of movements required to perform reach-to-grasp movements. Specifically, the cerebellum is critical for executing this behavior with a consistent, well-timed relationship between the transport and grasp components. This contribution is apparent even when accuracy demands are minimal.

  11. Temporal-spatial parameters of the upper limb during a Reach & Grasp Cycle for children.

    Science.gov (United States)

    Butler, Erin E; Ladd, Amy L; Lamont, Lauren E; Rose, Jessica

    2010-07-01

    The objective of this study was to characterize normal temporal-spatial patterns during the Reach & Grasp Cycle and to identify upper limb motor deficits in children with cerebral palsy (CP). The Reach & Grasp Cycle encompasses six sequential tasks: reach, grasp cylinder, transport to self (T(1)), transport back to table (T(2)), release cylinder, and return to initial position. Three-dimensional motion data were recorded from 25 typically developing children (11 males, 14 females; ages 5-18 years) and 12 children with hemiplegic CP (2 males, 10 females; ages 5-17 years). Within-day and between-day coefficients of variation for the control group ranged from 0 to 0.19, indicating good repeatability of all parameters. The mean duration of the Cycle for children with CP was nearly twice as long as controls, 9.5±4.3s versus 5.1±1.2s (U=37.0, P=.002), partly due to prolonged grasp and release durations. Peak hand velocity occurred at approximately 40% of each phase and was greater during the transport (T(1), T(2)) than non-transport phases (reach, return) in controls (PGrasp Cycle (rho=.957, PGrasp Cycle for quantitative evaluation of upper limb motor deficits. Copyright © 2010 Elsevier B.V. All rights reserved.

  12. Visually and memory-guided grasping: aperture shaping exhibits a time-dependent scaling to Weber's law.

    Science.gov (United States)

    Holmes, Scott A; Mulla, Ali; Binsted, Gordon; Heath, Matthew

    2011-09-01

    The 'just noticeable difference' (JND) represents the minimum amount by which a stimulus must change to produce a noticeable variation in one's perceptual experience and is related to initial stimulus magnitude (i.e., Weber's law). The goal of the present study was to determine whether aperture shaping for visually derived and memory-guided grasping elicit a temporally dependent or temporally independent adherence to Weber's law. Participants were instructed to grasp differently sized objects (20, 30, 40, 50 and 60mm) in conditions wherein vision of the grasping environment was available throughout the response (i.e., closed-loop), when occluded at movement onset (i.e., open-loop), and when occluded for a brief (i.e., 0ms) or longer (i.e., 2000ms) delay in advance of movement onset. Within-participant standard deviations of grip aperture (i.e., the JNDs) computed at decile increments of normalized grasping time were used to determine participant's sensitivity to detecting changes in object size. Results showed that JNDs increased linearly with increasing object size from 10% to 40% of grasping time; that is, the trial-to-trial stability (i.e., visuomotor certainty) of grip aperture (i.e., the comparator) decreased with increasing object size (i.e., the initial stimulus). However, a null JND/object size scaling was observed during the middle and late stages of the response (i.e., >50% of grasping time). Most notably, the temporal relationship between JNDs and object size scaling was similar across the different visual conditions used here. Thus, our results provide evidence that aperture shaping elicits a time-dependent early, but not late, adherence to the psychophysical principles of Weber's law. Copyright © 2011 Elsevier Ltd. All rights reserved.

  13. Birth of the Object: Detection of Objectness and Extraction of Object Shape through Object Action Complexes

    DEFF Research Database (Denmark)

    Kraft, Dirk; Pugeault, Nicolas; Baseski, Emre

    2008-01-01

    We describe a process in which the segmentation of objects as well as the extraction of the object shape becomes realized through active exploration of a robot vision system. In the exploration process, two behavioral modules that link robot actions to the visual and haptic perception of objects...... interact. First, by making use of an object independent grasping mechanism, physical control over potential objects can be gained. Having evaluated the initial grasping mechanism as being successful, a second behavior extracts the object shape by making use of prediction based on the motion induced...... system, knowledge about its own embodiment as well as knowledge about geometric relationships such as rigid body motion. This prior knowledge allows the extraction of representations that are semantically richer compared to many other approaches....

  14. Grasp Assist Device with Automatic Mode Control Logic

    Science.gov (United States)

    Davis, Donald R. (Inventor); Ihrke, Chris A. (Inventor); Laske, Evan (Inventor)

    2018-01-01

    A system includes a glove, sensors, actuator assemblies, and controller. The sensors include load sensors which measure an actual grasping force and attitude sensors which determine a glove attitude. The actuator assembly provides a grasp assist force to the glove. Respective locations of work cells in the work environment and permitted work tasks for each work cell are programmed into the controller. The controller detects the glove location and attitude. A work task is selected by the controller for the location. The controller calculates a required grasp assist force using measured actual grasping forces from the load sensors. The required grasp assist force is applied via the glove using the actuator assembly to thereby assist the operator in performing the identified work task.

  15. The slow ionized wind and rotating disklike system that are associated with the high-mass young stellar object G345.4938+01.4677

    Energy Technology Data Exchange (ETDEWEB)

    Guzmán, Andrés E.; Garay, Guido; Bronfman, Leonardo; Mardones, Diego [Departamento de Astronomía, Universidad de Chile, Camino el Observatorio 1515, Las Condes, Santiago (Chile); Rodríguez, Luis F. [Centro de Radioastronomía y Astrofísica (UNAM), Morelia 58089 (Mexico); Moran, James [Harvard-Smithsonian Center for Astrophysics, 60 Garden Street, Cambridge, MA (United States); Brooks, Kate J. [CSIRO Astronomy and Space Science, P.O. Box 76, Epping, 1710 NSW (Australia); Nyman, Lars-Åke [Joint ALMA Observatory (JAO), Alonso de Córdova 3107, Vitacura, Santiago (Chile); Sanhueza, Patricio [Institute for Astrophysical Research, Boston University, Boston, MA 02215 (United States)

    2014-12-01

    We report the detection, made using ALMA, of the 92 GHz continuum and hydrogen recombination lines (HRLs) H40α, H42α, and H50β emission toward the ionized wind associated with the high-mass young stellar object G345.4938+01.4677. This is the luminous central dominating source located in the massive and dense molecular clump associated with IRAS 16562–3959. The HRLs exhibit Voigt profiles, which is a strong signature of Stark broadening. We successfully reproduce the observed continuum and HRLs simultaneously using a simple model of a slow ionized wind in local thermodynamic equilibrium, with no need for a high-velocity component. The Lorentzian line wings imply electron densities of 5 × 10{sup 7} cm{sup –3} on average. In addition, we detect SO and SO{sub 2} emission arising from a compact (∼3000 AU) molecular core associated with the central young star. The molecular core exhibits a velocity gradient that is perpendicular to the jet-axis, which we interpret as evidence of rotation. The set of observations toward G345.4938+01.4677 are consistent with it being a young high-mass star associated with a slow photo-ionized wind.

  16. Grasping at ontological straws: overcoming reductionism in the Advaita Vedānta-Neuroscience dialogue.

    Science.gov (United States)

    Kaplan, Stephen

    2009-01-01

    Contemporary neuropsychology reveals that the parietal lobe contains neurons that are specifically attuned to the act of grasping and this act may be fundamental to the establishment of the phenomenal boundaries between subject and object. Furthermore, alterations to this process, such as the hypoactivation of this region during meditation or the hyperactivation associated with schizophrenia, may eliminate or confuse, respectively, the phenomenal boundaries between subject and object. Traversing disciplines, the Advaita Vedānta school of Hinduism traces some of its key terms for subject and object to the verbal root grah, to grasp. The subject is literally the grasper. Furthermore, the practice of asparśa yoga, the yoga of no-touch, is aimed at stopping, hypoactivating, the grasping process in order to transcend all subject-object boundaries. This paper will argue that while we have not uncovered an identity of thought, we have uncovered a confluence of ideas between these two disciplines. We will see that this confluence of ideas has not pitted the believer against the critic-not forced us into the great reductionism debate that has dominated so much of the interchange between religious studies and the sciences. This case study will illuminate some of the methodological ways around this reductionism battle and also the boundaries of both disciplines for the intellectual benefit of each.

  17. Differences between kinematic synergies and muscle synergies during two-digit grasping

    Directory of Open Access Journals (Sweden)

    Michele eTagliabue

    2015-03-01

    Full Text Available The large number of mechanical degrees of freedom of the hand is not fully exploited during actual movements such as grasping. Usually, angular movements in various joints tend to be coupled, and EMG activities in different hand muscles tend to be correlated. The occurrence of covariation in the former was termed kinematic synergies, in the latter muscle synergies. This study addresses two questions: (i Whether kinematic and muscle synergies can simultaneously accommodate for kinematic and kinetic constraints. (ii If so, whether there is an interrelation between kinematic and muscle synergies. We used a reach-grasp-and-pull paradigm and recorded the hand kinematics as well as 8 surface EMGs. Subjects had to either perform a precision grip or side grip and had to modify their grip force in order to displace an object against a low or high load. The analysis was subdivided into three epochs: reach, grasp-and-pull, and static hold. Principal component analysis (PCA, temporal or static was performed separately for all three epochs, in the kinematic and in the EMG domain. PCA revealed that (i Kinematic- and muscle-synergies can simultaneously accommodate kinematic (grip type and kinetic task constraints (load condition. (ii Upcoming grip and load conditions of the grasp are represented in kinematic- and muscle-synergies already during reach. Phase plane plots of the principal muscle-synergy against the principal kinematic synergy revealed (iii that the muscle-synergy is linked (correlated, and in phase advance to the kinematic synergy during reach and during grasp-and-pull. Furthermore (iv, pair-wise correlations of EMGs during hold suggest that muscle-synergies are (in part implemented by coactivation of muscles through common input. Together, these results suggest that kinematic synergies have (at least in part their origin not just in muscular activation, but in synergiestic muscle activation. In short: kinematic synergies may result from muscle

  18. Force Myography for Monitoring Grasping in Individuals with Stroke with Mild to Moderate Upper-Extremity Impairments: A Preliminary Investigation in a Controlled Environment

    Directory of Open Access Journals (Sweden)

    Gautam P. Sadarangani

    2017-07-01

    Full Text Available There is increasing research interest in technologies that can detect grasping, to encourage functional use of the hand as part of daily living, and thus promote upper-extremity motor recovery in individuals with stroke. Force myography (FMG has been shown to be effective for providing biofeedback to improve fine motor function in structured rehabilitation settings, involving isolated repetitions of a single grasp type, elicited at a predictable time, without upper-extremity movements. The use of FMG, with machine learning techniques, to detect and distinguish between grasping and no grasping, continues to be an active area of research, in healthy individuals. The feasibility of classifying FMG for grasp detection in populations with upper-extremity impairments, in the presence of upper-extremity movements, as would be expected in daily living, has yet to be established. We explore the feasibility of FMG for this application by establishing and comparing (1 FMG-based grasp detection accuracy and (2 the amount of training data necessary for accurate grasp classification, in individuals with stroke and healthy individuals. FMG data were collected using a flexible forearm band, embedded with six force-sensitive resistors (FSRs. Eight participants with stroke, with mild to moderate upper-extremity impairments, and eight healthy participants performed 20 repetitions of three tasks that involved reaching, grasping, and moving an object in different planes of movement. A validation sensor was placed on the object to label data as corresponding to a grasp or no grasp. Grasp detection performance was evaluated using linear and non-linear classifiers. The effect of training set size on classification accuracy was also determined. FMG-based grasp detection demonstrated high accuracy of 92.2% (σ = 3.5% for participants with stroke and 96.0% (σ = 1.6% for healthy volunteers using a support vector machine (SVM. The use of a training set that was 50

  19. Earth Rotation

    Science.gov (United States)

    Dickey, Jean O.

    1995-01-01

    The study of the Earth's rotation in space (encompassing Universal Time (UT1), length of day, polar motion, and the phenomena of precession and nutation) addresses the complex nature of Earth orientation changes, the mechanisms of excitation of these changes and their geophysical implications in a broad variety of areas. In the absence of internal sources of energy or interactions with astronomical objects, the Earth would move as a rigid body with its various parts (the crust, mantle, inner and outer cores, atmosphere and oceans) rotating together at a constant fixed rate. In reality, the world is considerably more complicated, as is schematically illustrated. The rotation rate of the Earth's crust is not constant, but exhibits complicated fluctuations in speed amounting to several parts in 10(exp 8) [corresponding to a variation of several milliseconds (ms) in the Length Of the Day (LOD) and about one part in 10(exp 6) in the orientation of the rotation axis relative to the solid Earth's axis of figure (polar motion). These changes occur over a broad spectrum of time scales, ranging from hours to centuries and longer, reflecting the fact that they are produced by a wide variety of geophysical and astronomical processes. Geodetic observations of Earth rotation changes thus provide insights into the geophysical processes illustrated, which are often difficult to obtain by other means. In addition, these measurements are required for engineering purposes. Theoretical studies of Earth rotation variations are based on the application of Euler's dynamical equations to the problem of finding the response of slightly deformable solid Earth to variety of surface and internal stresses.

  20. Modelling and Simulation of a Manipulator with Stable Viscoelastic Grasping Incorporating Friction

    Directory of Open Access Journals (Sweden)

    A. Khurshid

    2016-12-01

    Full Text Available Design, dynamics and control of a humanoid robotic hand based on anthropological dimensions, with joint friction, is modelled, simulated and analysed in this paper by using computer aided design and multibody dynamic simulation. Combined joint friction model is incorporated in the joints. Experimental values of coefficient of friction of grease lubricated sliding contacts representative of manipulator joints are presented. Human fingers deform to the shape of the grasped object (enveloping grasp at the area of interaction. A mass-spring-damper model of the grasp is developed. The interaction of the viscoelastic gripper of the arm with objects is analysed by using Bond Graph modelling method. Simulations were conducted for several material parameters. These results of the simulation are then used to develop a prototype of the proposed gripper. Bond graph model is experimentally validated by using the prototype. The gripper is used to successfully transport soft and fragile objects. This paper provides information on optimisation of friction and its inclusion in both dynamic modelling and simulation to enhance mechanical efficiency.

  1. Grasping devices and methods in automated production processes

    DEFF Research Database (Denmark)

    Fantoni, Gualtiero; Santochi, Marco; Dini, Gino

    2014-01-01

    assembly to disassembly, from aerospace to food industry, from textile to logistics) are discussed. Finally, the most recent research is reviewed in order to introduce the new trends in grasping. They provide an outlook on the future of both grippers and robotic hands in automated production processes. (C......In automated production processes grasping devices and methods play a crucial role in the handling of many parts, components and products. This keynote paper starts with a classification of grasping phases, describes how different principles are adopted at different scales in different applications...

  2. Effect of pencil grasp on the speed and legibility of handwriting in children.

    Science.gov (United States)

    Schwellnus, Heidi; Carnahan, Heather; Kushki, Azadeh; Polatajko, Helene; Missiuna, Cheryl; Chau, Tom

    2012-01-01

    Pencil grasps other than the dynamic tripod may be functional for handwriting. This study examined the impact of grasp on handwriting speed and legibility. We videotaped 120 typically developing fourth-grade students while they performed a writing task. We categorized the grasps they used and evaluated their writing for speed and legibility using a handwriting assessment. Using linear regression analysis, we examined the relationship between grasp and handwriting. We documented six categories of pencil grasp: four mature grasp patterns, one immature grasp pattern, and one alternating grasp pattern. Multiple linear regression results revealed no significant effect for mature grasp on either legibility or speed. Pencil grasp patterns did not influence handwriting speed or legibility in this sample of typically developing children. This finding adds to the mounting body of evidence that alternative grasps may be acceptable for fast and legible handwriting. Copyright © 2012 by the American Occupational Therapy Association, Inc.

  3. Getting a grip: different actions and visual guidance of the thumb and finger in precision grasping.

    Science.gov (United States)

    Melmoth, Dean R; Grant, Simon

    2012-10-01

    We manipulated the visual information available for grasping to examine what is visually guided when subjects get a precision grip on a common class of object (upright cylinders). In Experiment 1, objects (2 sizes) were placed at different eccentricities to vary the relative proximity to the participant's (n = 6) body of their thumb and finger contact positions in the final grip orientations, with vision available throughout or only for movement programming. Thumb trajectories were straighter and less variable than finger paths, and the thumb normally made initial contact with the objects at a relatively invariant landing site, but consistent thumb first-contacts were disrupted without visual guidance. Finger deviations were more affected by the object's properties and increased when vision was unavailable after movement onset. In Experiment 2, participants (n = 12) grasped 'glow-in-the-dark' objects wearing different luminous gloves in which the whole hand was visible or the thumb or the index finger was selectively occluded. Grip closure times were prolonged and thumb first-contacts disrupted when subjects could not see their thumb, whereas occluding the finger resulted in wider grips at contact because this digit remained distant from the object. Results were together consistent with visual feedback guiding the thumb in the period just prior to contacting the object, with the finger more involved in opening the grip and avoiding collision with the opposite contact surface. As people can overtly fixate only one object contact point at a time, we suggest that selecting one digit for online guidance represents an optimal strategy for initial grip placement. Other grasping tasks, in which the finger appears to be used for this purpose, are discussed.

  4. Modelling primate control of grasping for robotics applications

    CSIR Research Space (South Africa)

    Kleinhans, A

    2014-09-01

    Full Text Available The neural circuits that control grasping and perform related visual processing have been studied extensively in Macaque monkeys. We are developing a computational model of this system, in order to better understand its function, and to explore...

  5. Bioinspired locomotion and grasping in water: the soft eight-arm OCTOPUS robot.

    Science.gov (United States)

    Cianchetti, M; Calisti, M; Margheri, L; Kuba, M; Laschi, C

    2015-05-13

    The octopus is an interesting model for the development of soft robotics, due to its high deformability, dexterity and rich behavioural repertoire. To investigate the principles of octopus dexterity, we designed an eight-arm soft robot and evaluated its performance with focused experiments. The OCTOPUS robot presented here is a completely soft robot, which integrates eight arms extending in radial direction and a central body which contains the main processing units. The front arms are mainly used for elongation and grasping, while the others are mainly used for locomotion. The robotic octopus works in water and its buoyancy is close to neutral. The experimental results show that the octopus-inspired robot can walk in water using the same strategy as the animal model, with good performance over different surfaces, including walking through physical constraints. It can grasp objects of different sizes and shapes, thanks to its soft arm materials and conical shape.

  6. Evaluation of Pressure Capacitive Sensors for Application in Grasping and Manipulation Analysis.

    Science.gov (United States)

    Pessia, Paola; Cordella, Francesca; Schena, Emiliano; Davalli, Angelo; Sacchetti, Rinaldo; Zollo, Loredana

    2017-12-08

    The analysis of the human grasping and manipulation capabilities is paramount for investigating human sensory-motor control and developing prosthetic and robotic hands resembling the human ones. A viable solution to perform this analysis is to develop instrumented objects measuring the interaction forces with the hand. In this context, the performance of the sensors embedded in the objects is crucial. This paper focuses on the experimental characterization of a class of capacitive pressure sensors suitable for biomechanical analysis. The analysis was performed in three loading conditions (Distributed load, 9 Tips load, and Wave-shaped load, thanks to three different inter-elements) via a traction/compression testing machine. Sensor assessment was also carried out under human- like grasping condition by placing a silicon material with the same properties of prosthetic cosmetic gloves in between the sensor and the inter-element in order to simulate the human skin. Data show that the input-output relationship of the analyzed, sensor is strongly influenced by both the loading condition (i.e., type of inter-element) and the grasping condition (with or without the silicon material). This needs to be taken into account to avoid significant measurement error. To go over this hurdle, the sensors have to be calibrated under each specific condition in order to apply suitable corrections to the sensor output and significantly improve the measurement accuracy.

  7. Fundamental Relativistic Rotator

    International Nuclear Information System (INIS)

    Staruszkiewicz, A.

    2008-01-01

    Professor Jan Weyssenhoff was Myron Mathisson's sponsor and collaborator. He introduced a class of objects known in Cracow as '' kreciolki Weyssenhoffa '', '' Weyssenhoff's rotating little beasts ''. The Author describes a particularly simple object from this class. The relativistic rotator described in the paper is such that its both Casimir invariants are parameters rather than constants of motion. (author)

  8. Refining Visually Detected Object poses

    DEFF Research Database (Denmark)

    Holm, Preben; Petersen, Henrik Gordon

    2010-01-01

    to the particular object and in order to handle the demand for flexibility, there is an increasing demand for avoiding such dedicated mechanical alignment systems. Rather, it would be desirable to automatically locate and grasp randomly placed objects from tables, conveyor belts or even bins with a high accuracy...

  9. CONTROL OF APERTURE CLOSURE INITIATION DURING TRUNK-ASSISTED REACH-TO-GRASP MOVEMENTS

    Science.gov (United States)

    Rand, Miya K.; Van Gemmert, Arend W. A.; Hossain, Abul B.M.I.; Shimansky, Yury P.; Stelmach, George E.

    2012-01-01

    The present study investigated how the involvement and direction of trunk movement during reach-to-grasp movements affect the coordination between the transport and grasping components. Seated young adults made prehensile movements in which the involvement of the trunk was varied; the trunk was not involved, moved forward (flexion), or moved backward (extension) in the sagittal plane during the reach to the object. Each of the trunk movements was combined with an extension or flexion motion of the arm during the reach. Regarding the relation between the trunk and arm motion for arm transport, the onset of wrist motion relative to that of the trunk was delayed to a greater extent for the trunk extension than for the trunk flexion. The variability of the time period from the peak of wrist velocity to the peak of trunk velocity was also significantly greater for trunk extension compared to trunk flexion. These findings indicate that trunk flexion was better integrated into the control of wrist transport than trunk extension. In terms of the temporal relationship between wrist transport and grip aperture, the relation between the time of peak wrist velocity and the time of peak grip aperture did not change or became less steady across conditions. Therefore, the stability of temporal coordination between wrist transport and grip aperture was maintained despite the variation of the pattern of intersegmental coordination between the arm and the trunk during arm transport. The transport-aperture coordination was further assessed in terms of the control law according to which the initiation of aperture closure during the reach occurs when the hand crosses a hand-to-target distance threshold for grasp initiation that is a function of peak aperture, wrist velocity and acceleration, trunk velocity and acceleration, and trunk-to-target distance at the time of aperture closure initiation. The participants increased the hand-to-target distance threshold for grasp initiation in

  10. Control of aperture closure initiation during trunk-assisted reach-to-grasp movements.

    Science.gov (United States)

    Rand, Miya K; Van Gemmert, Arend W A; Hossain, Abul B M I; Shimansky, Yury P; Stelmach, George E

    2012-06-01

    The present study investigated how the involvement and direction of trunk movement during reach-to-grasp movements affect the coordination between the transport and grasping components. Seated young adults made prehensile movements in which the involvement of the trunk was varied; the trunk was not involved, moved forward (flexion), or moved backward (extension) in the sagittal plane during the reach to the object. Each of the trunk movements was combined with an extension or flexion motion of the arm during the reach. Regarding the relationship between the trunk and arm motion for arm transport, the onset of wrist motion relative to that of the trunk was delayed to a greater extent for the trunk extension than for the trunk flexion. The variability of the time period from the peak of wrist velocity to the peak of trunk velocity was also significantly greater for trunk extension compared to trunk flexion. These findings indicate that trunk flexion was better integrated into the control of wrist transport than trunk extension. In terms of the temporal relationship between wrist transport and grip aperture, the relationship between the time of peak wrist velocity and the time of peak grip aperture did not change or become less steady across conditions. Therefore, the stability of temporal coordination between wrist transport and grip aperture was maintained despite the variation of the pattern of intersegmental coordination between the arm and the trunk during arm transport. The transport-aperture coordination was further assessed in terms of the control law according to which the initiation of aperture closure during the reach occurs when the hand crosses a hand-to-target distance threshold for grasp initiation, which is a function of peak aperture, wrist velocity and acceleration, trunk velocity and acceleration, and trunk-to-target distance at the time of aperture closure initiation. The participants increased the hand-to-target distance threshold for grasp

  11. TACTILE SENSING FOR OBJECT IDENTIFICATION

    DEFF Research Database (Denmark)

    Drimus, Alin; Marian, Nicolae; Bilberg, Arne

    2009-01-01

    The artificial sense of touch is a research area that can be considered still in demand, compared with the human dexterity of grasping a wide variety of shapes and sizes, perform complex tasks, and switch between grasps in response to changing task requirements. For handling unknown objects...... in unstructured environments, tactile sensing can provide more than valuable to complementary vision information about mechanical properties such as recognition and characterization, force, pressure, torque, compliance, friction, and mass as well as object shape, texture, position and pose. In this paper, we...

  12. Anticipatory planning and control of grasp positions and forces for dexterous two-digit manipulation.

    Science.gov (United States)

    Fu, Qiushi; Zhang, Wei; Santello, Marco

    2010-07-07

    Dexterous object manipulation requires anticipatory control of digit positions and forces. Despite extensive studies on sensorimotor learning of digit forces, how humans learn to coordinate digit positions and forces has never been addressed. Furthermore, the functional role of anticipatory modulation of digit placement to object properties remains to be investigated. We addressed these questions by asking human subjects (12 females, 12 males) to grasp and lift an inverted T-shaped object using precision grip at constrained or self-chosen locations. The task requirement was to minimize object roll during lift. When digit position was not constrained, subjects could have implemented many equally valid digit position-force coordination patterns. However, choice of digit placement might also have resulted in large trial-to-trial variability of digit position, hence challenging the extent to which the CNS could have relied on sensorimotor memories for anticipatory control of digit forces. We hypothesized that subjects would modulate digit placement for optimal force distribution and digit forces as a function of variable digit positions. All subjects learned to minimize object roll within the first three trials, and the unconstrained device was associated with significantly smaller grip forces but larger variability of digit positions. Importantly, however, digit load force modulation compensated for position variability, thus ensuring consistent object roll minimization on each trial. This indicates that subjects learned object manipulation by integrating sensorimotor memories with sensory feedback about digit positions. These results are discussed in the context of motor equivalence and sensorimotor integration of grasp kinematics and kinetics.

  13. Anticipatory modulation of digit placement for grasp control is affected by Parkinson's disease.

    Directory of Open Access Journals (Sweden)

    Jamie R Lukos

    2010-02-01

    Full Text Available Successful object manipulation relies on the ability to form and retrieve sensorimotor memories of digit forces and positions used in previous object lifts. Past studies of patients affected by Parkinson's disease (PD have revealed that the basal ganglia play a crucial role in the acquisition and/or retrieval of sensorimotor memories for grasp control. Whereas it is known that PD impairs anticipatory control of digit forces during grasp, learning deficits associated with the planning of digit placement have yet to be explored. This question is motivated by recent work in healthy subjects revealing that anticipatory control of digit placement plays a crucial role for successful manipulation.We asked ten PD patients off medication and ten age-matched controls to reach, grasp and lift an object whose center of mass (CM was on the left, right or center. The only task requirement was to minimize object roll during lift. The CM remained the same across consecutive trials (blocked condition or was altered from trial to trial (random condition. We hypothesized that impairment of the basal ganglia-thalamo-cortical circuits in PD patients would reduce their ability to anticipate digit placement appropriate to the CM location. Consequently, we predicted that PD patients would exhibit similar digit placement in the blocked vs. random conditions and produce larger peak object rolls than that of control subjects. In the blocked condition, PD patients exhibited significantly weaker modulation of fingertip contact points to CM location and larger object roll than controls (p<0.05 and p<0.01, respectively. Nevertheless, both controls and PD patients minimized object roll more in the blocked than in the random condition (p<0.01.Our findings indicate that, even though PD patients may have a residual ability of anticipatory control of digit contact points and forces, they fail to implement a motor plan with the same degree of effectiveness as controls. We conclude

  14. Reach–to-grasp movements in macaca fascicularis monkeys: the Isochrony Principle at work

    Directory of Open Access Journals (Sweden)

    Luisa eSartori

    2013-03-01

    Full Text Available Humans show a spontaneous tendency to increase the velocity of their movements depending on the linear extent of their trajectory in order to keep execution time approximately constant. Termed the isochrony principle, this compensatory mechanism refers to the observation that the velocity of voluntary movements increases proportionally with their linear extension. Although there is a wealth of psychophysical data regarding isochrony in humans, there is none regarding non-human primates. The present study attempts to fill that gap by investigating reach-to-grasp movement kinematics in free-ranging macaques. Video footage of monkeys grasping objects located at different distances was analyzed frame-by-frame using digitalization techniques. The amplitude of arm peak velocity was found to be correlated with the distance to be covered, and total movement duration remained invariant although target distances varied. Like in humans, the ‘isochrony principle’ seems to be operative as there is a gearing down/up of movement velocity that is proportional to the distance to be covered in order to allow for a relatively constant movement duration. Based on a centrally generated temporal template, this mode of motor programming could be functional in macaques given the high speed and great instability of posture and joint kinematics characterizing their actions. The data presented here take research in the field of comparative motor control a step forward as they are based on precise measurements of spontaneous grasping movements by animals living/acting in their natural environment.

  15. Reach-to-grasp movements in Macaca fascicularis monkeys: the Isochrony Principle at work

    Science.gov (United States)

    Sartori, Luisa; Camperio-Ciani, Andrea; Bulgheroni, Maria; Castiello, Umberto

    2013-01-01

    Humans show a spontaneous tendency to increase the velocity of their movements depending on the linear extent of their trajectory in order to keep execution time approximately constant. Termed the isochrony principle, this compensatory mechanism refers to the observation that the velocity of voluntary movements increases proportionally with their linear extension. Although there is a wealth of psychophysical data regarding isochrony in humans, there is none regarding non-human primates. The present study attempts to fill that gap by investigating reach-to-grasp movement kinematics in free-ranging macaques. Video footage of monkeys grasping objects located at different distances was analyzed frame-by-frame using digitalization techniques. The amplitude of arm peak velocity was found to be correlated with the distance to be covered, and total movement duration remained invariant although target distances varied. Like in humans, the “isochrony principle” seems to be operative as there is a gearing down/up of movement velocity that is proportional to the distance to be covered in order to allow for a relatively constant movement duration. Based on a centrally generated temporal template, this mode of motor programming could be functional in macaques given the high speed and great instability of posture and joint kinematics characterizing their actions. The data presented here take research in the field of comparative motor control a step forward as they are based on precise measurements of spontaneous grasping movements by animals living/acting in their natural environment. PMID:23658547

  16. Temporary Nerve Block at Selected Digits Revealed Hand Motor Deficits in Grasping Tasks

    Directory of Open Access Journals (Sweden)

    Aude Carteron

    2016-11-01

    Full Text Available Peripheral sensory feedback plays a crucial role in ensuring correct motor execution throughout hand grasp control. Previous studies utilized local anesthesia to deprive somatosensory feedback in the digits or hand, observations included sensorimotor deficits at both corticospinal and peripheral levels. However, the questions of how the disturbed and intact sensory input integrate and interact with each other to assist the motor program execution, and whether the motor coordination based on motor output variability between affected and non-affected elements (e.g., digits becomes interfered by the local sensory deficiency, have not been answered. The current study aims to investigate the effect of peripheral deafferentation through digital nerve blocks at selective digits on motor performance and motor coordination in grasp control. Our results suggested that the absence of somatosensory information induced motor deficits in hand grasp control, as evidenced by reduced maximal force production ability in both local and non-local digits, impairment of force and moment control during object lift and hold, and attenuated motor synergies in stabilizing task performance variables, namely the tangential force and moment of force. These findings implied that individual sensory input is shared across all the digits and the disturbed signal from local sensory channel(s has a more comprehensive impact on the process of the motor output execution in the sensorimotor integration process. Additionally, a feedback control mechanism with a sensation-based component resides in the formation process for the motor covariation structure.

  17. Grasping the intentions of others with one's own mirror neuron system.

    Directory of Open Access Journals (Sweden)

    Marco Iacoboni

    2005-03-01

    Full Text Available Understanding the intentions of others while watching their actions is a fundamental building block of social behavior. The neural and functional mechanisms underlying this ability are still poorly understood. To investigate these mechanisms we used functional magnetic resonance imaging. Twenty-three subjects watched three kinds of stimuli: grasping hand actions without a context, context only (scenes containing objects, and grasping hand actions performed in two different contexts. In the latter condition the context suggested the intention associated with the grasping action (either drinking or cleaning. Actions embedded in contexts, compared with the other two conditions, yielded a significant signal increase in the posterior part of the inferior frontal gyrus and the adjacent sector of the ventral premotor cortex where hand actions are represented. Thus, premotor mirror neuron areas-areas active during the execution and the observation of an action-previously thought to be involved only in action recognition are actually also involved in understanding the intentions of others. To ascribe an intention is to infer a forthcoming new goal, and this is an operation that the motor system does automatically.

  18. Grasp it loudly! Supporting actions with semantically congruent spoken action words.

    Directory of Open Access Journals (Sweden)

    Raphaël Fargier

    Full Text Available Evidence for cross-talk between motor and language brain structures has accumulated over the past several years. However, while a significant amount of research has focused on the interaction between language perception and action, little attention has been paid to the potential impact of language production on overt motor behaviour. The aim of the present study was to test whether verbalizing during a grasp-to-displace action would affect motor behaviour and, if so, whether this effect would depend on the semantic content of the pronounced word (Experiment I. Furthermore, we sought to test the stability of such effects in a different group of participants and investigate at which stage of the motor act language intervenes (Experiment II. For this, participants were asked to reach, grasp and displace an object while overtly pronouncing verbal descriptions of the action ("grasp" and "put down" or unrelated words (e.g. "butterfly" and "pigeon". Fine-grained analyses of several kinematic parameters such as velocity peaks revealed that when participants produced action-related words their movements became faster compared to conditions in which they did not verbalize or in which they produced words that were not related to the action. These effects likely result from the functional interaction between semantic retrieval of the words and the planning and programming of the action. Therefore, links between (action language and motor structures are significant to the point that language can refine overt motor behaviour.

  19. Learning to control a brain-machine interface for reaching and grasping by primates.

    Directory of Open Access Journals (Sweden)

    Jose M Carmena

    2003-11-01

    Full Text Available Reaching and grasping in primates depend on the coordination of neural activity in large frontoparietal ensembles. Here we demonstrate that primates can learn to reach and grasp virtual objects by controlling a robot arm through a closed-loop brain-machine interface (BMIc that uses multiple mathematical models to extract several motor parameters (i.e., hand position, velocity, gripping force, and the EMGs of multiple arm muscles from the electrical activity of frontoparietal neuronal ensembles. As single neurons typically contribute to the encoding of several motor parameters, we observed that high BMIc accuracy required recording from large neuronal ensembles. Continuous BMIc operation by monkeys led to significant improvements in both model predictions and behavioral performance. Using visual feedback, monkeys succeeded in producing robot reach-and-grasp movements even when their arms did not move. Learning to operate the BMIc was paralleled by functional reorganization in multiple cortical areas, suggesting that the dynamic properties of the BMIc were incorporated into motor and sensory cortical representations.

  20. Retrieval of aerosol profiles combining sunphotometer and ceilometer measurements in GRASP code

    Science.gov (United States)

    Román, R.; Benavent-Oltra, J. A.; Casquero-Vera, J. A.; Lopatin, A.; Cazorla, A.; Lyamani, H.; Denjean, C.; Fuertes, D.; Pérez-Ramírez, D.; Torres, B.; Toledano, C.; Dubovik, O.; Cachorro, V. E.; de Frutos, A. M.; Olmo, F. J.; Alados-Arboledas, L.

    2018-05-01

    In this paper we present an approach for the profiling of aerosol microphysical and optical properties combining ceilometer and sun/sky photometer measurements in the GRASP code (General Retrieval of Aerosol and Surface Properties). For this objective, GRASP is used with sun/sky photometer measurements of aerosol optical depth (AOD) and sky radiances, both at four wavelengths and obtained from AErosol RObotic NETwork (AERONET), and ceilometer measurements of range corrected signal (RCS) at 1064 nm. A sensitivity study with synthetic data evidences the capability of the method to retrieve aerosol properties such as size distribution and profiles of volume concentration (VC), especially for coarse particles. Aerosol properties obtained by the mentioned method are compared with airborne in-situ measurements acquired during two flights over Granada (Spain) within the framework of ChArMEx/ADRIMED (Chemistry-Aerosol Mediterranean Experiment/Aerosol Direct Radiative Impact on the regional climate in the MEDiterranean region) 2013 campaign. The retrieved aerosol VC profiles agree well with the airborne measurements, showing a mean bias error (MBE) and a mean absolute bias error (MABE) of 0.3 μm3/cm3 (12%) and 5.8 μm3/cm3 (25%), respectively. The differences between retrieved VC and airborne in-situ measurements are within the uncertainty of GRASP retrievals. In addition, the retrieved VC at 2500 m a.s.l. is shown and compared with in-situ measurements obtained during summer 2016 at a high-atitude mountain station in the framework of the SLOPE I campaign (Sierra Nevada Lidar AerOsol Profiling Experiment). VC from GRASP presents high correlation (r = 0.91) with the in-situ measurements, but overestimates them, MBE and MABE being equal to 23% and 43%.

  1. Left neglected, but only in far space: Spatial biases in healthy participants revealed in a visually-guided grasping task

    Directory of Open Access Journals (Sweden)

    Natalie ede Bruin

    2014-01-01

    Full Text Available Hemispatial neglect is a common outcome of stroke that is characterised by the inability to orient towards, and attend to stimuli in contralesional space. It is established that hemispatial neglect has a perceptual component, however, the presence and severity of motor impairments is controversial. Establishing the nature of space use and spatial biases during visually-guided actions amongst healthy individuals is critical to understanding the presence of visuomotor deficits in patients with neglect. Accordingly, three experiments were conducted to investigate the effect of object spatial location on patterns of grasping. Experiment 1 required right-handed participants to reach and grasp for blocks in order to construct 3D models. The blocks were scattered on a tabletop divided into equal size quadrants: left near, left far, right near, and right far. Identical sets of building blocks were available in each quadrant. Space use was dynamic, with participants initially grasping blocks from right near space and tending to ‘neglect’ left far space until the final stages of the task. Experiment 2 repeated the protocol with left-handed participants. Remarkably, left-handed participants displayed a similar pattern of space use to right-handed participants. In Experiment 3 eye movements were examined to investigate whether ‘neglect’ for grasping in left far reachable space had its origins in attentional biases. It was found that patterns of eye movements mirrored patterns of reach-to-grasp movements. We conclude that there are spatial biases during visually-guided grasping, specifically, a tendency to neglect left far reachable space, and that this ‘neglect’ is attentional in origin. The results raise the possibility that visuomotor impairments reported among patients with right hemisphere lesions when working in contralesional space may result in part from this inherent tendency to ‘neglect’ left far space irrespective of the presence

  2. Kinematic characteristics of tenodesis grasp in C6 quadriplegia.

    Science.gov (United States)

    Mateo, S; Revol, P; Fourtassi, M; Rossetti, Y; Collet, C; Rode, G

    2013-02-01

    Descriptive control case study. To analyze the kinematics of tenodesis grasp in participants with C6 quadriplegia and healthy control participants in a pointing task and two daily life tasks involving a whole hand grip (apple) or a lateral grip (floppy disk). France. Four complete participants with C6 quadriplegia were age matched with four healthy control participants. All participants were right-handed. The measured kinematic parameters were the movement time (MT), the peak velocity (PV), the time of PV (TPV) and the wrist angle in the sagittal plane at movement onset, at the TPV and at the movement end point. The participants with C6 quadriplegia had significantly longer MTs in both prehension tasks. No significant differences in TPV were found between the two groups. Unlike control participants, for both prehension tasks the wrist of participants with C6 quadriplegia was in a neutral position at movement onset, in flexion at the TPV, and in extension at the movement end point. Two main kinematic parameters characterize tenodesis grasp movements in C6 quadriplegics: wrist flexion during reaching and wrist extension during the grasping phase, and increased MT reflecting the time required to adjust the wrist's position to achieve the tenodesis grasp. These characteristics were observed for two different grips (whole hand and lateral grip). These results suggest sequential planning of reaching and tenodesis grasp, and should be taken into account for prehension rehabilitation in patients with quadriplegia.

  3. Mena–GRASP65 interaction couples actin polymerization to Golgi ribbon linking

    Science.gov (United States)

    Tang, Danming; Zhang, Xiaoyan; Huang, Shijiao; Yuan, Hebao; Li, Jie; Wang, Yanzhuang

    2016-01-01

    In mammalian cells, the Golgi reassembly stacking protein 65 (GRASP65) has been implicated in both Golgi stacking and ribbon linking by forming trans-oligomers through the N-terminal GRASP domain. Because the GRASP domain is globular and relatively small, but the gaps between stacks are large and heterogeneous, it remains puzzling how GRASP65 physically links Golgi stacks into a ribbon. To explore the possibility that other proteins may help GRASP65 in ribbon linking, we used biochemical methods and identified the actin elongation factor Mena as a novel GRASP65-binding protein. Mena is recruited onto the Golgi membranes through interaction with GRASP65. Depleting Mena or disrupting actin polymerization resulted in Golgi fragmentation. In cells, Mena and actin were required for Golgi ribbon formation after nocodazole washout; in vitro, Mena and microfilaments enhanced GRASP65 oligomerization and Golgi membrane fusion. Thus Mena interacts with GRASP65 to promote local actin polymerization, which facilitates Golgi ribbon linking. PMID:26538023

  4. Grasping convergent evolution in syngnathids: a unique tale of tails

    Science.gov (United States)

    Neutens, C; Adriaens, D; Christiaens, J; De Kegel, B; Dierick, M; Boistel, R; Van Hoorebeke, L

    2014-01-01

    Seahorses and pipehorses both possess a prehensile tail, a unique characteristic among teleost fishes, allowing them to grasp and hold onto substrates such as sea grasses. Although studies have focused on tail grasping, the pattern of evolutionary transformations that made this possible is poorly understood. Recent phylogenetic studies show that the prehensile tail evolved independently in different syngnathid lineages, including seahorses, Haliichthys taeniophorus and several types of so-called pipehorses. This study explores the pattern that characterizes this convergent evolution towards a prehensile tail, by comparing the caudal musculoskeletal organization, as well as passive bending capacities in pipefish (representing the ancestral state), pipehorse, seahorse and H. taeniophorus. To study the complex musculoskeletal morphology, histological sectioning, μCT-scanning and phase contrast synchrotron scanning were combined with virtual 3D-reconstructions. Results suggest that the independent evolution towards tail grasping in syngnathids reflects at least two quite different strategies in which the ancestral condition of a heavy plated and rigid system became modified into a highly flexible one. Intermediate skeletal morphologies (between the ancestral condition and seahorses) could be found in the pygmy pipehorses and H. taeniophorus, which are phylogenetically closely affiliated with seahorses. This study suggests that the characteristic parallel myoseptal organization as already described in seahorse (compared with a conical organization in pipefish and pipehorse) may not be a necessity for grasping, but represents an apomorphy for seahorses, as this pattern is not found in other syngnathid species possessing a prehensile tail. One could suggest that the functionality of grasping evolved before the specialized, parallel myoseptal organization seen in seahorses. However, as the grasping system in pipehorses is a totally different one, this cannot be

  5. Software engineering capability for Ada (GRASP/Ada Tool)

    Science.gov (United States)

    Cross, James H., II

    1995-01-01

    The GRASP/Ada project (Graphical Representations of Algorithms, Structures, and Processes for Ada) has successfully created and prototyped a new algorithmic level graphical representation for Ada software, the Control Structure Diagram (CSD). The primary impetus for creation of the CSD was to improve the comprehension efficiency of Ada software and, as a result, improve reliability and reduce costs. The emphasis has been on the automatic generation of the CSD from Ada PDL or source code to support reverse engineering and maintenance. The CSD has the potential to replace traditional prettyprinted Ada Source code. A new Motif compliant graphical user interface has been developed for the GRASP/Ada prototype.

  6. Rotational structure in molecular infrared spectra

    CERN Document Server

    di Lauro, Carlo

    2013-01-01

    Recent advances in infrared molecular spectroscopy have resulted in sophisticated theoretical and laboratory methods that are difficult to grasp without a solid understanding of the basic principles and underlying theory of vibration-rotation absorption spectroscopy. Rotational Structure in Molecular Infrared Spectra fills the gap between these recent, complex topics and the most elementary methods in the field of rotational structure in the infrared spectra of gaseous molecules. There is an increasing need for people with the skills and knowledge to interpret vibration-rotation spectra in many scientific disciplines, including applications in atmospheric and planetary research. Consequently, the basic principles of vibration-rotation absorption spectroscopy are addressed for contemporary applications. In addition to covering operational quantum mechanical methods, spherical tensor algebra, and group theoretical methods applied to molecular symmetry, attention is also given to phase conventions and their effe...

  7. Control of aperture closure during reach-to-grasp movements in Parkinson's disease.

    Science.gov (United States)

    Rand, M K; Smiley-Oyen, A L; Shimansky, Y P; Bloedel, J R; Stelmach, G E

    2006-01-01

    This study examined whether the pattern of coordination between arm-reaching toward an object (hand transport) and the initiation of aperture closure for grasping is different between PD patients and healthy individuals, and whether that pattern is affected by the necessity to quickly adjust the reach-to-grasp movement in response to an unexpected shift of target location. Subjects reached for and grasped a vertical dowel, the location of which was indicated by illuminating one of the three dowels placed on a horizontal plane. In control conditions, target location was fixed during the trial. In perturbation conditions, target location was shifted instantaneously by switching the illumination to a different dowel during the reach. The hand distance from the target at which the subject initiated aperture closure (aperture closure distance) was similar for both the control and perturbation conditions within each group of subjects. However, that distance was significantly closer to the target in the PD group than in the control group. The timing of aperture closure initiation varied considerably across the trials in both groups of subjects. In contrast, aperture closure distance was relatively invariant, suggesting that aperture closure initiation was determined by spatial parameters of arm kinematics rather than temporal parameters. The linear regression analysis of aperture closure distance showed that the distance was highly predictable based on the following three parameters: the amplitude of maximum grip aperture, hand velocity, and hand acceleration. This result implies that a control law, the arguments of which include the above parameters, governs the initiation of aperture closure. Further analysis revealed that the control law was very similar between the subject groups under each condition as well as between the control and perturbation conditions for each group. Consequently, the shorter aperture closure distance observed in PD patients apparently is a

  8. Control of aperture closure during reach-to-grasp movements in parkinson’s disease

    Science.gov (United States)

    Rand, M. K.; Smiley-Oyen, A. L.; Shimansky, Y. P.; Bloedel, J. R.; Stelmach, G. E.

    2007-01-01

    This study examined whether the pattern of coordination between arm-reaching toward an object (hand transport) and the initiation of aperture closure for grasping is different between PD patients and healthy individuals, and whether that pattern is affected by the necessity to quickly adjust the reach-to-grasp movement in response to an unexpected shift of target location. Subjects reached for and grasped a vertical dowel, the location of which was indicated by illuminating one of the three dowels placed on a horizontal plane. In control conditions, target location was fixed during the trial. In perturbation conditions, target location was shifted instantaneously by switching the illumination to a different dowel during the reach. The hand distance from the target at which the subject initiated aperture closure (aperture closure distance) was similar for both the control and perturbation conditions within each group of subjects. However, that distance was significantly closer to the target in the PD group than in the control group. The timing of aperture closure initiation varied considerably across the trials in both groups of subjects. In contrast, aperture closure distance was relatively invariant, suggesting that aperture closure initiation was determined by spatial parameters of arm kinematics rather than temporal parameters. The linear regression analysis of aperture closure distance showed that the distance was highly predictable based on the following three parameters: the amplitude of maximum grip aperture, hand velocity, and hand acceleration. This result implies that a control law, the arguments of which include the above parameters, governs the initiation of aperture closure. Further analysis revealed that the control law was very similar between the subject groups under each condition as well as between the control and perturbation conditions for each group. Consequently, the shorter aperture closure distance observed in PD patients apparently is a

  9. GRASP/Ada: Graphical Representations of Algorithms, Structures, and Processes for Ada. The development of a program analysis environment for Ada: Reverse engineering tools for Ada, task 2, phase 3

    Science.gov (United States)

    Cross, James H., II

    1991-01-01

    The main objective is the investigation, formulation, and generation of graphical representations of algorithms, structures, and processes for Ada (GRASP/Ada). The presented task, in which various graphical representations that can be extracted or generated from source code are described and categorized, is focused on reverse engineering. The following subject areas are covered: the system model; control structure diagram generator; object oriented design diagram generator; user interface; and the GRASP library.

  10. Age-related loss of early grasp affordance when viewing a safety handle

    OpenAIRE

    McDannald, Doug

    2018-01-01

    Age-related loss of early grasp affordance when viewing a safety handle Author: D.W. McDannald1, , M. Mansour2, G. Rydalch3, D.A.E. Bolton1 Mere observation of objects in our surroundings can potentiate movement, a fact reflected by visually-primed activation of motor cortical networks. This mechanism holds potential value for reactive balance control where recovery actions of the arms or legs must be targeted to a new support base to avoid a fall. The present study was conducted to test if t...

  11. A GRASP model in network design for two-stage supply chain

    Directory of Open Access Journals (Sweden)

    Hassan Javanshir

    2011-04-01

    Full Text Available We consider a capacitated facility location problem (CFLP which contains a production facility and distribution centers (DCs supplying retailers' demand. The primary purpose is to locate distribution centres in the network and the objective is the minimization of the sum of fixed facility location, pipeline inventory, safety stock and lost sales. We use Greedy randomized adaptive search procedures (GRASP to solve the model. The preliminary results indicate that the proposed method of this paper could provide competitive results in reasonable amount time.

  12. Coordination of Reach-to-Grasp Kinematics in Individuals With Childhood-Onset Dystonia Due to Hemiplegic Cerebral Palsy.

    Science.gov (United States)

    Kukke, Sahana N; Curatalo, Lindsey A; de Campos, Ana Carolina; Hallett, Mark; Alter, Katharine E; Damiano, Diane L

    2016-05-01

    Functional reaching is impaired in dystonia. Here, we analyze upper extremity kinematics to quantify timing and coordination abnormalities during unimanual reach-to-grasp movements in individuals with childhood-onset unilateral wrist dystonia. Kinematics were measured during movements of both upper limbs in a patient group ( n = 11, age = 17.5 ±5 years), and a typically developing control group ( n = 9, age = 16.6 ±5 years). Hand aperture was computed to study the coordination of reach and grasp. Time-varying joint synergies within one upper limb were calculated using a novel technique based on principal component analysis to study intra-limb coordination. In the non-dominant arm, results indicate reduced coordination between reach and grasp in patients who could not lift the grasped object compared to those who could lift it. Lifters exhibit incoordination in distal upper extremity joints later in the movement and non-lifters lacked coordination throughout the movement and in the whole upper limb. The amount of atypical coordination correlates with dystonia severity in patients. Reduced coordination during movement may reflect deficits in the execution of simultaneous movements, motor planning, or muscle activation. Rehabilitation efforts can focus on particular time points when kinematic patterns deviate abnormally to improve functional reaching in individuals with childhood-onset dystonia.

  13. TMS over the supramarginal gyrus delays selection of appropriate grasp orientation during reaching and grasping tools for use.

    Science.gov (United States)

    McDowell, Tomás; Holmes, Nicholas P; Sunderland, Alan; Schürmann, Martin

    2018-03-09

    Tool use, a ubiquitous part of human behaviour, requires manipulation control and knowledge of tool purpose. Neuroimaging and neuropsychological research posit that these two processes are supported by separate brain regions, ventral premotor and inferior parietal for manipulation control, and posterior middle temporal cortex for tool knowledge, lateralised to the left hemisphere. Action plans for tool use need to integrate these two separate processes, which is likely supported by the left supramarginal gyrus (SMG). However, whether this integration occurs during action execution is not known. To clarify the role of the SMG we conducted two experiments in which healthy participants reached to grasp everyday tools with the explicit instruction to use them directly following their grasp. To study the integration of manipulation control and tool knowledge within a narrow time window we mechanically perturbed the orientation of the tool to force participants to correct grasp orientation 'on-line' during the reaching movement. In experiment 1, twenty healthy participants reached with their left hand to grasp a tool. Double-pulse transcranial magnetic stimulation (TMS) was applied, in different blocks over left or right SMG at the onset of perturbation. Kinematic data revealed delayed and erroneous online correction after TMS over left and right SMG. In Experiment 2 twelve participants reached, in different blocks, with their left or right hand and TMS was applied over SMG ipsilateral to the reaching hand. A similar effect on correction was observed for ipsilateral stimulation when reaching with the left and right hands, and no effect of or interaction with hemisphere was observed. Our findings implicate a bilateral role of the SMG in correcting movements and selection of appropriate grasp orientation during reaching to grasp tools for use. Copyright © 2018 Elsevier Ltd. All rights reserved.

  14. Rotating flow

    CERN Document Server

    Childs, Peter R N

    2010-01-01

    Rotating flow is critically important across a wide range of scientific, engineering and product applications, providing design and modeling capability for diverse products such as jet engines, pumps and vacuum cleaners, as well as geophysical flows. Developed over the course of 20 years' research into rotating fluids and associated heat transfer at the University of Sussex Thermo-Fluid Mechanics Research Centre (TFMRC), Rotating Flow is an indispensable reference and resource for all those working within the gas turbine and rotating machinery industries. Traditional fluid and flow dynamics titles offer the essential background but generally include very sparse coverage of rotating flows-which is where this book comes in. Beginning with an accessible introduction to rotating flow, recognized expert Peter Childs takes you through fundamental equations, vorticity and vortices, rotating disc flow, flow around rotating cylinders and flow in rotating cavities, with an introduction to atmospheric and oceanic circul...

  15. Rotational seismology

    Science.gov (United States)

    Lee, William H K.

    2016-01-01

    Rotational seismology is an emerging study of all aspects of rotational motions induced by earthquakes, explosions, and ambient vibrations. It is of interest to several disciplines, including seismology, earthquake engineering, geodesy, and earth-based detection of Einstein’s gravitation waves.Rotational effects of seismic waves, together with rotations caused by soil–structure interaction, have been observed for centuries (e.g., rotated chimneys, monuments, and tombstones). Figure 1a shows the rotated monument to George Inglis observed after the 1897 Great Shillong earthquake. This monument had the form of an obelisk rising over 19 metres high from a 4 metre base. During the earthquake, the top part broke off and the remnant of some 6 metres rotated about 15° relative to the base. The study of rotational seismology began only recently when sensitive rotational sensors became available due to advances in aeronautical and astronomical instrumentations.

  16. Development of prosthesis grasp control systems on a robotic testbed

    NARCIS (Netherlands)

    Peerdeman, B.; Fabrizi, Ugo; Palli, Gianluca; Melchiorri, Claudio; Stramigioli, Stefano; Misra, Sarthak

    2012-01-01

    Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand

  17. Hand Preference for Precision Grasping Predicts Language Lateralization

    Science.gov (United States)

    Gonzalez, Claudia L. R.; Goodale, Melvyn A.

    2009-01-01

    We investigated whether or not there is a relationship between hand preference for grasping and hemispheric dominance for language--and how each of these is related to other traditional measures of handedness. To do this we asked right- and left-handed participants to put together two different sets of 3D puzzles made out of big or very small…

  18. A thick-walled sphere rotating in a uniform magnetic field: The next step to de-spin a space object

    Science.gov (United States)

    Nurge, Mark A.; Youngquist, Robert C.; Caracciolo, Ryan A.; Peck, Mason; Leve, Frederick A.

    2017-08-01

    Modeling the interaction between a moving conductor and a static magnetic field is critical to understanding the operation of induction motors, eddy current braking, and the dynamics of satellites moving through Earth's magnetic field. Here, we develop the case of a thick-walled sphere rotating in a uniform magnetic field, which is the simplest, non-trivial, magneto-statics problem that leads to complete closed-form expressions for the resulting potentials, fields, and currents. This solution requires knowledge of all of Maxwell's time independent equations, scalar and vector potential equations, and the Lorentz force law. The paper presents four cases and their associated experimental results, making this topic appropriate for an advanced student lab project.

  19. Different strategies do not moderate primary motor cortex involvement in mental rotation: a TMS study

    Directory of Open Access Journals (Sweden)

    Koeneke Susan

    2007-08-01

    Full Text Available Abstract Background Regions of the dorsal visual stream are known to play an essential role during the process of mental rotation. The functional role of the primary motor cortex (M1 in mental rotation is however less clear. It has been suggested that the strategy used to mentally rotate objects determines M1 involvement. Based on the strategy hypothesis that distinguishes between an internal and an external strategy, our study was designed to specifically test the relation between strategy and M1 activity. Methods Twenty-two subjects were asked to participate in a standard mental rotation task. We used specific picture stimuli that were supposed to trigger either the internal (e.g. pictures of hands or tools or the external strategy (e.g. pictures of houses or abstract figures. The strategy hypothesis predicts an involvement of M1 only in case of stimuli triggering the internal strategy (imagine grasping and rotating the object by oneself. Single-pulse Transcranial Magnetic Stimulation (TMS was employed to quantify M1 activity during task performance by measuring Motor Evoked Potentials (MEPs at the right hand muscle. Results Contrary to the strategy hypothesis, we found no interaction between stimulus category and corticospinal excitability. Instead, corticospinal excitability was generally increased compared with a resting baseline although subjects indicated more frequent use of the external strategy for all object categories. Conclusion This finding suggests that M1 involvement is not exclusively linked with the use of the internal strategy but rather directly with the process of mental rotation. Alternatively, our results might support the hypothesis that M1 is active due to a 'spill-over' effect from adjacent brain regions.

  20. Different strategies do not moderate primary motor cortex involvement in mental rotation: a TMS study.

    Science.gov (United States)

    Bode, Stefan; Koeneke, Susan; Jäncke, Lutz

    2007-08-07

    Regions of the dorsal visual stream are known to play an essential role during the process of mental rotation. The functional role of the primary motor cortex (M1) in mental rotation is however less clear. It has been suggested that the strategy used to mentally rotate objects determines M1 involvement. Based on the strategy hypothesis that distinguishes between an internal and an external strategy, our study was designed to specifically test the relation between strategy and M1 activity. Twenty-two subjects were asked to participate in a standard mental rotation task. We used specific picture stimuli that were supposed to trigger either the internal (e.g. pictures of hands or tools) or the external strategy (e.g. pictures of houses or abstract figures). The strategy hypothesis predicts an involvement of M1 only in case of stimuli triggering the internal strategy (imagine grasping and rotating the object by oneself). Single-pulse Transcranial Magnetic Stimulation (TMS) was employed to quantify M1 activity during task performance by measuring Motor Evoked Potentials (MEPs) at the right hand muscle. Contrary to the strategy hypothesis, we found no interaction between stimulus category and corticospinal excitability. Instead, corticospinal excitability was generally increased compared with a resting baseline although subjects indicated more frequent use of the external strategy for all object categories. This finding suggests that M1 involvement is not exclusively linked with the use of the internal strategy but rather directly with the process of mental rotation. Alternatively, our results might support the hypothesis that M1 is active due to a 'spill-over' effect from adjacent brain regions.

  1. Bimanual reach to grasp movements after cervical spinal cord injury.

    Directory of Open Access Journals (Sweden)

    Laura Britten

    Full Text Available Injury to the cervical spinal cord results in bilateral deficits in arm/hand function reducing functional independence and quality of life. To date little research has been undertaken to investigate control strategies of arm/hand movements following cervical spinal cord injury (cSCI. This study aimed to investigate unimanual and bimanual coordination in patients with acute cSCI using 3D kinematic analysis as they performed naturalistic reach to grasp actions with one hand, or with both hands together (symmetrical task, and compare this to the movement patterns of uninjured younger and older adults. Eighteen adults with a cSCI (mean 61.61 years with lesions at C4-C8, with an American Spinal Injury Association (ASIA grade B to D and 16 uninjured younger adults (mean 23.68 years and sixteen uninjured older adults (mean 70.92 years were recruited. Participants with a cSCI produced reach-to-grasp actions which took longer, were slower, and had longer deceleration phases than uninjured participants. These differences were exacerbated during bimanual reach-to-grasp tasks. Maximal grasp aperture was no different between groups, but reached earlier by people with cSCI. Participants with a cSCI were less synchronous than younger and older adults but all groups used the deceleration phase for error correction to end the movement in a synchronous fashion. Overall, this study suggests that after cSCI a level of bimanual coordination is retained. While there seems to be a greater reliance on feedback to produce both the reach to grasp, we observed minimal disruption of the more impaired limb on the less impaired limb. This suggests that bimanual movements should be integrated into therapy.

  2. Sequential phosphorylation of GRASP65 during mitotic Golgi disassembly

    Directory of Open Access Journals (Sweden)

    Danming Tang

    2012-09-01

    GRASP65 phosphorylation during mitosis and dephosphorylation after mitosis are required for Golgi disassembly and reassembly during the cell cycle. At least eight phosphorylation sites on GRASP65 have been identified, but whether they are modified in a coordinated fashion during mitosis is so far unknown. In this study, we raised phospho-specific antibodies that recognize phosphorylated T220/T224, S277 and S376 residues of GRASP65, respectively. Biochemical analysis showed that cdc2 phosphorylates all three sites, while plk1 enhances the phosphorylation. Microscopic studies using these antibodies for double and triple labeling demonstrate sequential phosphorylation and dephosphorylation during the cell cycle. S277 and S376 are phosphorylated from late G2 phase through metaphase until telophase when the new Golgi is reassembled. T220/224 is not modified until prophase, but is highly modified from prometaphase to anaphase. In metaphase, phospho-T220/224 signal localizes on both Golgi haze and mitotic Golgi clusters that represent dispersed Golgi vesicles and Golgi remnants, respectively, while phospho-S277 and S376 labeling is more concentrated on mitotic Golgi clusters. Expression of a phosphorylation-resistant GRASP65 mutant T220A/T224A inhibited mitotic Golgi fragmentation to a much larger extent than the expression of the S277A and S376A mutants. In cytokinesis, T220/224 dephosphorylation occurs prior to that of S277, but after S376. This study provides evidence that GRASP65 is sequentially phosphorylated and dephosphorylated during mitosis at different sites to orchestrate Golgi disassembly and reassembly during cell division, with phosphorylation of the T220/224 site being most critical in the process.

  3. Global rotation

    International Nuclear Information System (INIS)

    Rosquist, K.

    1980-01-01

    Global rotation in cosmological models is defined on an observational basis. A theorem is proved saying that, for rigid motion, the global rotation is equal to the ordinary local vorticity. The global rotation is calculated in the space-time homogeneous class III models, with Godel's model as a special case. It is shown that, with the exception of Godel's model, the rotation in these models becomes infinite for finite affine parameter values. In some directions the rotation changes sign and becomes infinite in a direction opposite to the local vorticity. The points of infinite rotation are identified as conjugate points along the null geodesics. The physical interpretation of the infinite rotation is discussed, and a comparison with the behaviour of the area distance at conjugate points is given. (author)

  4. Rotating stars in relativity.

    Science.gov (United States)

    Paschalidis, Vasileios; Stergioulas, Nikolaos

    2017-01-01

    Rotating relativistic stars have been studied extensively in recent years, both theoretically and observationally, because of the information they might yield about the equation of state of matter at extremely high densities and because they are considered to be promising sources of gravitational waves. The latest theoretical understanding of rotating stars in relativity is reviewed in this updated article. The sections on equilibrium properties and on nonaxisymmetric oscillations and instabilities in f -modes and r -modes have been updated. Several new sections have been added on equilibria in modified theories of gravity, approximate universal relationships, the one-arm spiral instability, on analytic solutions for the exterior spacetime, rotating stars in LMXBs, rotating strange stars, and on rotating stars in numerical relativity including both hydrodynamic and magnetohydrodynamic studies of these objects.

  5. An Aircraft Service Staff Rostering using a Hybrid GRASP Algorithm

    Directory of Open Access Journals (Sweden)

    W.H. Ip

    2009-10-01

    Full Text Available The aircraft ground service company is responsible for carrying out the regular tasks to aircraft maintenace between their arrival at and departure from the airport. This paper presents the application of a hybrid approach based upon greedy randomized adaptive search procedure (GRASP for rostering technical staff such that they are assigned predefined shift patterns. The rostering of staff is posed as an optimization problem with an aim of minimizing the violations of hard and soft constraints. The proposed algorithm iteratively constructs a set of solutions by GRASP. Furthermore, with multi-agent techniques, we efficiently identify an optimal roster with minimal constraint violations and fair to employees. Experimental results are included to demonstrate the effectiveness of the proposed algorithm.

  6. The Synthesis of Force Closure Grasps in the Plane.

    Science.gov (United States)

    1985-09-01

    TASK U Artificial Inteligence Laboratory AREA A WORK UN IT "NMUIERS ~( 545 Technology Square Cambridge, MA 02139 SI. CONTROLLING OFICE NAME ANO... ARTIFICIAL INThLLIX’ ENCE LABORATORY A. 1. Memo 861 September, 1985 The Synthesis of Force-Closure Grasps In the Plane DTIC ’VeL% ,#ECTE 1 VnDcNguyenU Abstract... Artificial In- telligenmcc Liabomatory of thle Massachuset Is hInsttute of Teclhnolog3 . Support for the Lahoratot * s Artificial Intelligence research is

  7. An Aircraft Service Staff Rostering using a Hybrid GRASP Algorithm

    OpenAIRE

    Cho, Vincent; Wu, Gene Pak Kit; Ip, W.H.

    2009-01-01

    The aircraft ground service company is responsible for carrying out the regular tasks to aircraft maintenace between their arrival at and departure from the airport. This paper presents the application of a hybrid approach based upon greedy randomized adaptive search procedure (GRASP) for rostering technical staff such that they are assigned predefined shift patterns. The rostering of staff is posed as an optimization problem with an aim of minimizing the violations of hard and soft constrain...

  8. Influence of non-spatial working memory demands on reach-grasp responses to loss of balance: Effects of age and fall risk.

    Science.gov (United States)

    Westlake, Kelly P; Johnson, Brian P; Creath, Robert A; Neff, Rachel M; Rogers, Mark W

    2016-03-01

    Reactive balance recovery strategies following an unexpected loss of balance are crucial to the prevention of falls, head trauma and other major injuries in older adults. While a longstanding focus has been on understanding lower limb recovery responses, the upper limbs also play a critical role. However, when a fall occurs, little is known about the role of memory and attention shifting on the reach to grasp recovery strategy and what factors determine the speed and precision of this response beyond simple reaction time. The objective of this study was to compare response time and accuracy of a stabilizing grasp following a balance perturbation in older adult fallers compared to non-fallers and younger adults while loading the processing demands of non-spatial, verbal working memory. Working memory was engaged with a progressively challenging verb-generation task that was interrupted by an unexpected sideways platform perturbation and a pre-instructed reach to grasp response. Results revealed that the older adults, particularly those at high fall risk, demonstrated significantly increased movement time to handrail contact and grasping errors during conditions in which non-spatial memory was actively engaged. These findings provide preliminary evidence of the cognitive deficit in attention shifting away from an ongoing working memory task that underlies delayed and inaccurate protective reach to grasp responses in older adult fallers. Copyright © 2016 Elsevier B.V. All rights reserved.

  9. Grasp frequency and usage in daily household and machine shop tasks.

    Science.gov (United States)

    Bullock, Ian M; Zheng, Joshua Z; De La Rosa, Sara; Guertler, Charlotte; Dollar, Aaron M

    2013-01-01

    In this paper, we present results from a study of prehensile human hand use during the daily work activities of four subjects: two housekeepers and two machinists. Subjects wore a head-mounted camera that recorded their hand usage during their daily work activities in their typical place of work. For each subject, 7.45 hours of video was analyzed, recording the type of grasp being used and its duration. From this data, we extracted overall grasp frequency, duration distributions for each grasp, and common transitions between grasps. The results show that for 80 percent of the study duration the housekeepers used just five grasps and the machinists used 10. The grasping patterns for the different subjects were compared, and the overall top 10 grasps are discussed in detail. The results of this study not only lend insight into how people use their hands during daily tasks, but can also inform the design of effective robotic and prosthetic hands.

  10. Limited Fine Motor and Grasping Skills in Six-month-old Infants at High Risk for Autism

    Science.gov (United States)

    Libertus, Klaus; Sheperd, Kelly A.; Ross, Samuel W.; Landa, Rebecca J.

    2014-01-01

    Atypical motor behaviors are common among children with Autism Spectrum Disorders (ASD). However, little is known about onset and functional implications of differences in early motor development among infants later diagnosed with ASD. Two prospective experiments were conducted to investigate motor skills among six-month-olds at increased risk (high-risk) for ASD (N1 = 129; N2 = 46). Infants were assessed using the Mullen Scales of Early Learning (MSEL) and during toy play. Across both experiments, high-risk infants exhibited less mature object manipulation in a highly structured (MSEL) context and reduced grasping activity in an unstructured (free play) context than infants with no family history of ASD. Longitudinal assessments suggest that between six and ten months, grasping activity increases in high-risk infants. PMID:24978128

  11. Limited fine motor and grasping skills in 6-month-old infants at high risk for autism.

    Science.gov (United States)

    Libertus, Klaus; Sheperd, Kelly A; Ross, Samuel W; Landa, Rebecca J

    2014-01-01

    Atypical motor behaviors are common among children with autism spectrum disorders (ASD). However, little is known about onset and functional implications of differences in early motor development among infants later diagnosed with ASD. Two prospective experiments were conducted to investigate motor skills among 6-month-olds at increased risk (high risk) for ASD (N1  = 129; N2  = 46). Infants were assessed using the Mullen Scales of Early Learning (MSEL) and during toy play. Across both experiments, high-risk infants exhibited less mature object manipulation in a highly structured (MSEL) context and reduced grasping activity in an unstructured (free-play) context than infants with no family history of ASD. Longitudinal assessments suggest that between 6 and 10 months, grasping activity increases in high-risk infants. © 2014 The Authors. Child Development © 2014 Society for Research in Child Development, Inc.

  12. G3DB: A database of successful and failed grasps with RGB-D images, point clouds, mesh models and gripper parameters

    CSIR Research Space (South Africa)

    Kleinhans, A

    2015-05-01

    Full Text Available likely values for them, and adapt to actual object properties during the grasp. Another key piece of information that is missing is the object’s 3D shape. Humans and mobile robots perceive the world from a single viewpoint, making the back and often...

  13. A fingertip force prediction model for grasp patterns characterised from the chaotic behaviour of EEG.

    Science.gov (United States)

    Roy, Rinku; Sikdar, Debdeep; Mahadevappa, Manjunatha; Kumar, C S

    2018-05-19

    A stable grasp is attained through appropriate hand preshaping and precise fingertip forces. Here, we have proposed a method to decode grasp patterns from motor imagery and subsequent fingertip force estimation model with a slippage avoidance strategy. We have developed a feature-based classification of electroencephalography (EEG) associated with imagination of the grasping postures. Chaotic behaviour of EEG for different grasping patterns has been utilised to capture the dynamics of associated motor activities. We have computed correlation dimension (CD) as the feature and classified with "one against one" multiclass support vector machine (SVM) to discriminate between different grasping patterns. The result of the analysis showed varying classification accuracies at different subband levels. Broad categories of grasping patterns, namely, power grasp and precision grasp, were classified at a 96.0% accuracy rate in the alpha subband. Furthermore, power grasp subtypes were classified with an accuracy of 97.2% in the upper beta subband, whereas precision grasp subtypes showed relatively lower 75.0% accuracy in the alpha subband. Following assessment of fingertip force distributions while grasping, a nonlinear autoregressive (NAR) model with proper prediction of fingertip forces was proposed for each grasp pattern. A slippage detection strategy has been incorporated with automatic recalibration of the regripping force. Intention of each grasp pattern associated with corresponding fingertip force model was virtualised in this work. This integrated system can be utilised as the control strategy for prosthetic hand in the future. The model to virtualise motor imagery based fingertip force prediction with inherent slippage correction for different grasp types ᅟ.

  14. On Job Rotation

    OpenAIRE

    Metin M. Cosgel; Thomas J. Miceli

    1998-01-01

    A fundamental principle of economics with which Adam Smith begins The Wealth of Nations is the division of labor. Some firms, however, have been pursuing a practice called job rotation, which assigns each worker not to a single and specific task but to a set of several tasks among which he or she rotates with some frequency. We examine the practice of job rotation as a serious alternative to specialization, with three objectives. The first is to consider current and historical examples of job...

  15. Effects of object shape on the visual guidance of action.

    Science.gov (United States)

    Eloka, Owino; Franz, Volker H

    2011-04-22

    Little is known of how visual coding of the shape of an object affects grasping movements. We addressed this issue by investigating the influence of shape perturbations on grasping. Twenty-six participants grasped a disc or a bar that were chosen such that they could in principle be grasped with identical movements (i.e., relevant sizes were identical such that the final grips consisted of identical separations of the fingers and no parts of the objects constituted obstacles for the movement). Nevertheless, participants took object shape into account and grasped the bar with a larger maximum grip aperture and a different hand angle than the disc. In 20% of the trials, the object changed its shape from bar to disc or vice versa early or late during the movement. If there was enough time (early perturbations), grasps were often adapted in flight to the new shape. These results show that the motor system takes into account even small and seemingly irrelevant changes of object shape and adapts the movement in a fine-grained manner. Although this adaptation might seem computationally expensive, we presume that its benefits (e.g., a more comfortable and more accurate movement) outweigh the costs. Copyright © 2011 Elsevier Ltd. All rights reserved.

  16. Rotating Wavepackets

    Science.gov (United States)

    Lekner, John

    2008-01-01

    Any free-particle wavepacket solution of Schrodinger's equation can be converted by differentiations to wavepackets rotating about the original direction of motion. The angular momentum component along the motion associated with this rotation is an integral multiple of [h-bar]. It is an "intrinsic" angular momentum: independent of origin and…

  17. Rotating dryer

    International Nuclear Information System (INIS)

    Noe, C.

    1984-01-01

    Products to dry are introduced inside a rotating tube placed in an oven, the cross section of the tube is an arc of spiral. During clockwise rotation of the tube products are maintained inside and mixed, during anticlockwise products are removed. Application is made to drying of radioactive wastes [fr

  18. Grasping and Placing Operation for Labware Transportation in Life Science Laboratories using Mobile Robots

    Directory of Open Access Journals (Sweden)

    Mohammed Myasar Ali

    2017-07-01

    Full Text Available In automated working environments, mobile robots can be used for different purposes such as material handling, domestic services, and objects transportation. This work presents a grasping and placing operation for multiple labware and tube racks in life science laboratories using the H20 mobile robots. The H20 robot has dual arms where each arm consists of 6 revolute joints with 6-DOF and 2-DOF grippers. The labware, which have to be manipulated and transported, contain chemical and biological components. Therefore, an accurate approach for object recognition and position estimation is required. The recognition and pose estimation of the desired objects are very essential to guide the robotic arm in the manipulation tasks. In this work, the problem statement of H20 transportation system with the proposed methodology are presented. Different strategies (visual and non-visual of labware manipulation using mobile robots are described. The H20 robot is equipped with a Kinect V2 sensor to identify and estimate the position of the target. The local features recognition based on SURF algorithm (Speeded-Up Robust Features is used. The recognition process is performed for the required labware and holder to perform the grasping and placing operation. A strategy is proposed to find the required holder and to check its emptiness for the placing tasks. Different styles of grippers and labware containers are used to manipulate different weights of labware and to realize a safe transportation. The parts of mobile robot transportation system are communicated with each other using Asynchronous socket Channels.

  19. Classification of Anticipatory Signals for Grasp and Release from Surface Electromyography

    Science.gov (United States)

    Siu, Ho Chit; Shah, Julie A.; Stirling, Leia A.

    2016-01-01

    Surface electromyography (sEMG) is a technique for recording natural muscle activation signals, which can serve as control inputs for exoskeletons and prosthetic devices. Previous experiments have incorporated these signals using both classical and pattern-recognition control methods in order to actuate such devices. We used the results of an experiment incorporating grasp and release actions with object contact to develop an intent-recognition system based on Gaussian mixture models (GMM) and continuous-emission hidden Markov models (HMM) of sEMG data. We tested this system with data collected from 16 individuals using a forearm band with distributed sEMG sensors. The data contain trials with shifted band alignments to assess robustness to sensor placement. This study evaluated and found that pattern-recognition-based methods could classify transient anticipatory sEMG signals in the presence of shifted sensor placement and object contact. With the best-performing classifier, the effect of label lengths in the training data was also examined. A mean classification accuracy of 75.96% was achieved through a unigram HMM method with five mixture components. Classification accuracy on different sub-movements was found to be limited by the length of the shortest sub-movement, which means that shorter sub-movements within dynamic sequences require larger training sets to be classified correctly. This classification of user intent is a potential control mechanism for a dynamic grasping task involving user contact with external objects and noise. Further work is required to test its performance as part of an exoskeleton controller, which involves contact with actuated external surfaces. PMID:27792155

  20. ANALYSIS of Control Force Grasping for a Multifunctional Five Fingered Robot to Pick-up Various of Components

    Directory of Open Access Journals (Sweden)

    Widhiada W.

    2016-01-01

    Full Text Available Multi-fingered robot gripper has become popular in the major research topics as grasping an object in robotic systems. The author considers a matter of style-based control model for a multi-fingered robot hand grasping an object with a known geometric characteristics. This paper introduces design process and analysis of contact force the five fingered gripper suitable to handle several of objects. The author applied Simulink/SimMechanics, Support package Arduino and Inventor software packages to facilatate and integrated the design of contact force gripper systems. The advance of PID control is used to control dynamics motions of the five fingered gripper systems. The multifunction finger’s gripper is developed to handle the various components. Contact force between fingertips and object surface is computed using the Hooke law concept. The analysis of experiment result shows the optimum of contact forces are achieved to hold the object. The spring and damper algorithm is used to compute the interaction of force between fingertips and object surface.

  1. SEOM's Sentinel-3/OLCI' project CAWA: advanced GRASP aerosol retrieval

    Science.gov (United States)

    Dubovik, Oleg; litvinov, Pavel; Huang, Xin; Aspetsberger, Michael; Fuertes, David; Brockmann, Carsten; Fischer, Jürgen; Bojkov, Bojan

    2016-04-01

    The CAWA "Advanced Clouds, Aerosols and WAter vapour products for Sentinel-3/OLCI" ESA-SEOM project aims on the development of advanced atmospheric retrieval algorithms for the Sentinel-3/OLCI mission, and is prepared using Envisat/MERIS and Aqua/MODIS datasets. This presentation discusses mainly CAWA aerosol product developments and results. CAWA aerosol retrieval uses recently developed GRASP algorithm (Generalized Retrieval of Aerosol and Surface Properties) algorithm described by Dubovik et al. (2014). GRASP derives extended set of atmospheric parameters using multi-pixel concept - a simultaneous fitting of a large group of pixels under additional a priori constraints limiting the time variability of surface properties and spatial variability of aerosol properties. Over land GRASP simultaneously retrieves properties of both aerosol and underlying surface even over bright surfaces. GRAPS doesn't use traditional look-up-tables and performs retrieval as search in continuous space of solution. All radiative transfer calculations are performed as part of the retrieval. The results of comprehensive sensitivity tests, as well as results obtained from real Envisat/MERIS data will be presented. The tests analyze various aspects of aerosol and surface reflectance retrieval accuracy. In addition, the possibilities of retrieval improvement by means of implementing synergetic inversion of a combination of OLCI data with observations by SLSTR are explored. Both the results of numerical tests, as well as the results of processing several years of Envisat/MERIS data illustrate demonstrate reliable retrieval of AOD (Aerosol Optical Depth) and surface BRDF. Observed retrieval issues and advancements will be discussed. For example, for some situations we illustrate possibilities of retrieving aerosol absorption - property that hardly accessible from satellite observations with no multi-angular and polarimetric capabilities.

  2. Aircraft Route Recovery Based on An Improved GRASP Method

    Directory of Open Access Journals (Sweden)

    Yang He

    2017-01-01

    Full Text Available Aircrafts maintenance, temporary airport closures are common factors that disrupt normal flight schedule. The aircraft route recovery aims to recover original schedules by some strategies, including flights swaps, and cancellations, which is a NP-hard problem. This paper proposes an improved heuristic procedure based on Greedy Random Adaptive Search Procedure (GRASP to solve this problem. The effectiveness and high global optimization capability of the heuristic is illustrated through experiments based on large-scale problems. Compared to the original one, it is shown that the improved procedure can find feasible flight recovered schedules with lower cost in a short time.

  3. Control of aperture closure initiation during reach-to-grasp movements under manipulations of visual feedback and trunk involvement in Parkinson's disease.

    Science.gov (United States)

    Rand, Miya Kato; Lemay, Martin; Squire, Linda M; Shimansky, Yury P; Stelmach, George E

    2010-03-01

    The present project was aimed at investigating how two distinct and important difficulties (coordination difficulty and pronounced dependency on visual feedback) in Parkinson's disease (PD) affect each other for the coordination between hand transport toward an object and the initiation of finger closure during reach-to-grasp movement. Subjects with PD and age-matched healthy subjects made reach-to-grasp movements to a dowel under conditions in which the target object and/or the hand were either visible or not visible. The involvement of the trunk in task performance was manipulated by positioning the target object within or beyond the participant's outstretched arm to evaluate the effects of increasing the complexity of intersegmental coordination under different conditions related to the availability of visual feedback in subjects with PD. General kinematic characteristics of the reach-to-grasp movements of the subjects with PD were altered substantially by the removal of target object visibility. Compared with the controls, the subjects with PD considerably lengthened transport time, especially during the aperture closure period, and decreased peak velocity of wrist and trunk movement without target object visibility. Most of these differences were accentuated when the trunk was involved. In contrast, these kinematic parameters did not change depending on the visibility of the hand for both groups. The transport-aperture coordination was assessed in terms of the control law according to which the initiation of aperture closure during the reach occurred when the hand distance-to-target crossed a hand-target distance threshold for grasp initiation that is a function of peak aperture, hand velocity and acceleration, trunk velocity and acceleration, and trunk-target distance at the time of aperture closure initiation. When the hand or the target object was not visible, both groups increased the hand-target distance threshold for grasp initiation compared to its

  4. Structural and functional anatomy of the palmaris brevis: grasping for answers.

    Science.gov (United States)

    Moore, Colin W; Rice, Charles L

    2017-12-01

    The palmaris brevis (PB) is a small cutaneous hand muscle that has been described as the most mysterious muscle from a functional and developmental perspective [Kaplan () Kaplan's Functional and Surgical Anatomy of the Hand]. Functionally, the PB is considered to deepen the hollow of the palm and to protect the neurovasculature of the ulnar canal. Although the function of the PB has been inferred from cadaveric observations, the electromyographic (EMG) activity of this muscle has not been explored systematically during specific movements of the hand. The purpose of this study was to record PB intramuscular EMG activity during dynamic grasping tasks, and to quantify the change in PB muscle length (M L ) and thickness (M T ) incurred during maximal contraction using ultrasound imaging. Intramuscular EMG was recorded from the PB in the dominant hands of 12 healthy participants (11 males, one female; age: 27 ± 4 years) during maximal abduction, flexion and opposition of the 5th digit, and two grasping tasks. Abduction of the 5th digit yielded the greatest EMG activity in most individuals (seven out of 11), and produced significantly less PB EMG activity when compared with grasping a cylindrical-shaped object (P = 0.003) but not a spherical-shaped object (P = 0.130). During maximal abduction of the 5th digit, PB M L decreased in both the left (28 ± 11%; P = 0.002) and right (32 ± 5%; P = 0.002) hands. Similarly, a concomitant increase in PB M T was observed in the left (68 ± 30%; P = 0.002) and right (85 ± 44%; P = 0.002) hands during the same contraction. These EMG results indicate that the PB is voluntarily activated during prehensile and non-prehensile movements of the hand with significant changes in muscle architecture. The study supports the preservation of the PB in surgical procedures based on its proposed protective role as a muscular barrier to the neurovasculature within the ulnar canal. © 2017 Anatomical Society.

  5. Seamless Control of Multi-Fingered Robot Hands Based on Grasp Polyhedrons

    Science.gov (United States)

    Nagase, Kenji; Shirai, Satoshi; Hayashi, Tsuyoshi

    This paper is concerned with a new feedback control design methodology for multi-fingered robot hands applicable to multiple contact situations. As a first step, we especially consider the situations where all the fingers are in contact or not in contact with an object, considering the tasks of catching and releasing the object preceding to or followed by grasping/manipulating the object. Main features of the proposed method are: (1) the direction of the fingertip motion in the non-contact situation is selected to be directly linked to the direction of the object motion and the internal force in the contact situation; (2) by introducing a unified system description for multiple contact situations, a linearizing compensator applicable to multiple contact situations is designed. The controller can handle the tasks with the multiple contact situations by choosing appropriate desired trajectories for the linearizing compensator without switching control architecture. In addition, owing to the selection of the motion in the non-contact situation, all the fingers can approach to the object synchronously along the directions of the object motion and the internal force in the contact situation. A numerical example is shown to prove effectiveness of the proposed method.

  6. Heuristic methods using grasp, path relinking and variable neighborhood search for the clustered traveling salesman problem

    Directory of Open Access Journals (Sweden)

    Mário Mestria

    2013-08-01

    Full Text Available The Clustered Traveling Salesman Problem (CTSP is a generalization of the Traveling Salesman Problem (TSP in which the set of vertices is partitioned into disjoint clusters and objective is to find a minimum cost Hamiltonian cycle such that the vertices of each cluster are visited contiguously. The CTSP is NP-hard and, in this context, we are proposed heuristic methods for the CTSP using GRASP, Path Relinking and Variable Neighborhood Descent (VND. The heuristic methods were tested using Euclidean instances with up to 2000 vertices and clusters varying between 4 to 150 vertices. The computational tests were performed to compare the performance of the heuristic methods with an exact algorithm using the Parallel CPLEX software. The computational results showed that the hybrid heuristic method using VND outperforms other heuristic methods.

  7. GRASP with path-relinking for the selective pickup and delivery problem

    DEFF Research Database (Denmark)

    Ho, Sin C.; Szeto, W. Y.

    2016-01-01

    Bike sharing systems are very popular nowadays. One of the characteristics is that bikes are picked up from some surplus bike stations and transported to all deficit bike stations by a repositioning vehicle with limited capacity to satisfy the demand of deficit bike stations. Motivated by this real...... world bicycle repositioning problem, we study the selective pickup and delivery problem, where demand at every delivery node has to be satisfied by the supply collected from a subset of pickup nodes. The objective is to minimize the total travel cost incurred from visiting the nodes. We present a GRASP...... with path-relinking for solving the described problem. Experimental results show that this simple heuristic improves the existing results in the literature with an average improvement of 5.72% using small computing times. The proposed heuristic can contribute to the development of effective and efficient...

  8. Mena-GRASP65 interaction couples actin polymerization to Golgi ribbon linking.

    Science.gov (United States)

    Tang, Danming; Zhang, Xiaoyan; Huang, Shijiao; Yuan, Hebao; Li, Jie; Wang, Yanzhuang

    2016-01-01

    In mammalian cells, the Golgi reassembly stacking protein 65 (GRASP65) has been implicated in both Golgi stacking and ribbon linking by forming trans-oligomers through the N-terminal GRASP domain. Because the GRASP domain is globular and relatively small, but the gaps between stacks are large and heterogeneous, it remains puzzling how GRASP65 physically links Golgi stacks into a ribbon. To explore the possibility that other proteins may help GRASP65 in ribbon linking, we used biochemical methods and identified the actin elongation factor Mena as a novel GRASP65-binding protein. Mena is recruited onto the Golgi membranes through interaction with GRASP65. Depleting Mena or disrupting actin polymerization resulted in Golgi fragmentation. In cells, Mena and actin were required for Golgi ribbon formation after nocodazole washout; in vitro, Mena and microfilaments enhanced GRASP65 oligomerization and Golgi membrane fusion. Thus Mena interacts with GRASP65 to promote local actin polymerization, which facilitates Golgi ribbon linking. © 2016 Tang et al. This article is distributed by The American Society for Cell Biology under license from the author(s). Two months after publication it is available to the public under an Attribution–Noncommercial–Share Alike 3.0 Unported Creative Commons License (http://creativecommons.org/licenses/by-nc-sa/3.0).

  9. Grasping objects from a user’s hand using time-of-flight camera data

    CSIR Research Space (South Africa)

    Govender, N

    2010-11-01

    Full Text Available F camera emits an infrared pulse and measures return phase change at every pixel to estimate depth over an image. We used a Mesa Imaging SR4000 which, if conditions are right, provides impressively accurate point cloud data with associated intensities...

  10. Human Hand Motion Analysis and Synthesis of Optimal Power Grasps for a Robotic Hand

    Directory of Open Access Journals (Sweden)

    Francesca Cordella

    2014-03-01

    Full Text Available Biologically inspired robotic systems can find important applications in biomedical robotics, since studying and replicating human behaviour can provide new insights into motor recovery, functional substitution and human-robot interaction. The analysis of human hand motion is essential for collecting information about human hand movements useful for generalizing reaching and grasping actions on a robotic system. This paper focuses on the definition and extraction of quantitative indicators for describing optimal hand grasping postures and replicating them on an anthropomorphic robotic hand. A motion analysis has been carried out on six healthy human subjects performing a transverse volar grasp. The extracted indicators point to invariant grasping behaviours between the involved subjects, thus providing some constraints for identifying the optimal grasping configuration. Hence, an optimization algorithm based on the Nelder-Mead simplex method has been developed for determining the optimal grasp configuration of a robotic hand, grounded on the aforementioned constraints. It is characterized by a reduced computational cost. The grasp stability has been tested by introducing a quality index that satisfies the form-closure property. The grasping strategy has been validated by means of simulation tests and experimental trials on an arm-hand robotic system. The obtained results have shown the effectiveness of the extracted indicators to reduce the non-linear optimization problem complexity and lead to the synthesis of a grasping posture able to replicate the human behaviour while ensuring grasp stability. The experimental results have also highlighted the limitations of the adopted robotic platform (mainly due to the mechanical structure to achieve the optimal grasp configuration.

  11. GRASP/Ada 95: Reverse Engineering Tools for Ada

    Science.gov (United States)

    Cross, James H., II

    1996-01-01

    The GRASP/Ada project (Graphical Representations of Algorithms, Structures, and Processes for Ada) has successfully created and prototyped an algorithmic level graphical representation for Ada software, the Control Structure Diagram (CSD), and a new visualization for a fine-grained complexity metric called the Complexity Profile Graph (CPG). By synchronizing the CSD and the CPG, the CSD view of control structure, nesting, and source code is directly linked to the corresponding visualization of statement level complexity in the CPG. GRASP has been integrated with GNAT, the GNU Ada 95 Translator to provide a comprehensive graphical user interface and development environment for Ada 95. The user may view, edit, print, and compile source code as a CSD with no discernible addition to storage or computational overhead. The primary impetus for creation of the CSD was to improve the comprehension efficiency of Ada software and, as a result, improve reliability and reduce costs. The emphasis has been on the automatic generation of the CSD from Ada 95 source code to support reverse engineering and maintenance. The CSD has the potential to replace traditional prettyprinted Ada source code. The current update has focused on the design and implementation of a new Motif compliant user interface, and a new CSD generator consisting of a tagger and renderer. The Complexity Profile Graph (CPG) is based on a set of functions that describes the context, content, and the scaling for complexity on a statement by statement basis. When combined graphicafly, the result is a composite profile of complexity for the program unit. Ongoing research includes the development and refinement of the associated functions, and the development of the CPG generator prototype. The current Version 5.0 prototype provides the capability for the user to generate CSDs and CPGs from Ada 95 source code in a reverse engineering as well as forward engineering mode with a level of flexibility suitable for

  12. Update of GRASP/Ada reverse engineering tools for Ada

    Science.gov (United States)

    Cross, James H., II

    1993-01-01

    The GRASP/Ada project (Graphical Representations of Algorithms, Structures, and Processes for Ada) successfully created and prototyped a new algorithmic level graphical representation for Ada software, the Control Structure Diagram (CSD). The primary impetus for creation of the CSD was to improve the comprehension efficiency of Ada software and, as a result, improve reliability and reduce costs. The emphasis was on the automatic generation of the CSD from Ada PDL or source code to support reverse engineering and maintenance. The CSD has the potential to replace traditional pretty printed Ada source code. In Phase 1 of the GRASP/Ada project, the CSD graphical constructs were created and applied manually to several small Ada programs. A prototype CSD generator (Version 1) was designed and implemented using FLEX and BISON running under VMS on a VAX 11-780. In Phase 2, the prototype was improved and ported to the Sun 4 platform under UNIX. A user interface was designed and partially implemented using the HP widget toolkit and the X Windows System. In Phase 3, the user interface was extensively reworked using the Athena widget toolkit and X Windows. The prototype was applied successfully to numerous Ada programs ranging in size from several hundred to several thousand lines of source code. Following Phase 3,e two update phases were completed. Update'92 focused on the initial analysis of evaluation data collected from software engineering students at Auburn University and the addition of significant enhancements to the user interface. Update'93 (the current update) focused on the statistical analysis of the data collected in the previous update and preparation of Version 3.4 of the prototype for limited distribution to facilitate further evaluation. The current prototype provides the capability for the user to generate CSD's from Ada PDL or source code in a reverse engineering as well as forward engineering mode with a level of flexibility suitable for practical

  13. Rotating preventers

    International Nuclear Information System (INIS)

    Tangedahl, M.J.; Stone, C.R.

    1992-01-01

    This paper reports that recent changes in the oil and gas industry and ongoing developments in horizontal and underbalanced drilling necessitated development of a better rotating head. A new device called the rotating blowout preventer (RBOP) was developed by Seal-Tech. It is designed to replace the conventional rotating control head on top of BOP stacks and allows drilling operations to continue even on live (underbalanced) wells. Its low wear characteristics and high working pressure (1,500 psi) allow drilling rig crews to drill safely in slightly underbalanced conditions or handle severe well control problems during the time required to actuate other BOPs in the stack. Drilling with a RBOP allows wellbores to be completely closed in tat the drill floor rather than open as with conventional BOPs

  14. Short-Term Plasticity of the Visuomotor Map during Grasping Movements in Humans

    Science.gov (United States)

    Safstrom, Daniel; Edin, Benoni B.

    2005-01-01

    During visually guided grasping movements, visual information is transformed into motor commands. This transformation is known as the "visuomotor map." To investigate limitations in the short-term plasticity of the visuomotor map in normal humans, we studied the maximum grip aperture (MGA) during the reaching phase while subjects grasped objects…

  15. Development of Reaching and Grasping Skills in Infants with Down Syndrome

    Science.gov (United States)

    de Campos, Ana Carolina; Rocha, Nelci Adriana Cicuto Ferreira; Savelsbergh, Geert J. P.

    2010-01-01

    Reaching and grasping skills have been described to emerge from a dynamic interaction between intrinsic and extrinsic factors. The aims of the study were to investigate the effect of such intrinsic factors as age and Down syndrome on the development of reaching and grasping skills and on overall gross motor skill, and to test the influence of the…

  16. GRASP55 Senses Glucose Deprivation through O-GlcNAcylation to Promote Autophagosome-Lysosome Fusion.

    Science.gov (United States)

    Zhang, Xiaoyan; Wang, Leibin; Lak, Behnam; Li, Jie; Jokitalo, Eija; Wang, Yanzhuang

    2018-04-23

    The Golgi apparatus is the central hub for protein trafficking and glycosylation in the secretory pathway. However, how the Golgi responds to glucose deprivation is so far unknown. Here, we report that GRASP55, the Golgi stacking protein located in medial- and trans-Golgi cisternae, is O-GlcNAcylated by the O-GlcNAc transferase OGT under growth conditions. Glucose deprivation reduces GRASP55 O-GlcNAcylation. De-O-GlcNAcylated GRASP55 forms puncta outside of the Golgi area, which co-localize with autophagosomes and late endosomes/lysosomes. GRASP55 depletion reduces autophagic flux and results in autophagosome accumulation, while expression of an O-GlcNAcylation-deficient mutant of GRASP55 accelerates autophagic flux. Biochemically, GRASP55 interacts with LC3-II on the autophagosomes and LAMP2 on late endosomes/lysosomes and functions as a bridge between LC3-II and LAMP2 for autophagosome and lysosome fusion; this function is negatively regulated by GRASP55 O-GlcNAcylation. Therefore, GRASP55 senses glucose levels through O-GlcNAcylation and acts as a tether to facilitate autophagosome maturation. Copyright © 2018 Elsevier Inc. All rights reserved.

  17. Development of Reaching and Grasping skills in infants with Down syndrome

    NARCIS (Netherlands)

    de Campos, A.C.; Rocha, N.A.C.F.; Savelsbergh, G.J.P.

    2010-01-01

    Reaching and grasping skills have been described to emerge from a dynamic interaction between intrinsic and extrinsic factors. The aims of the study were to investigate the effect of such intrinsic factors as age and Down syndrome on the development of reaching and grasping skills and on overall

  18. A GRASP algorithm for the container stowage slot planning problem

    DEFF Research Database (Denmark)

    Parreno, Francisco; Pacino, Dario; Alvarez-Valdes, Ramon

    2016-01-01

    in clusters along the vessel. For each of those clusters a specific position for each container must be found. Compared to previous studies, we have introduced two new features: the explicit handling of rolled out containers and the inclusion of separations rules for dangerous cargo. We present a novel......This work presents a generalization of the Slot Planning Problem which raises when the liner shipping industry needs to plan the placement of containers within a vessel (stowage planning). State-of-the-art stowage planning relies on a heuristic decomposition where containers are first distributed...... integer programming formulation and a Greedy Randomized Adaptive Search Procedure (GRASP) to solve the problem. The approach is able to find high-quality solution within 1 s. We also provide comparison with the state-of-the-art on an existing and a new set of benchmark instances. (C) 2016 Elsevier Ltd...

  19. Grasp Assist Device with Shared Tendon Actuator Assembly

    Science.gov (United States)

    Ihrke, Chris A. (Inventor); Bergelin, Bryan J. (Inventor); Bridgwater, Lyndon (Inventor)

    2015-01-01

    A grasp assist device includes a glove with first and second tendon-driven fingers, a tendon, and a sleeve with a shared tendon actuator assembly. Tendon ends are connected to the respective first and second fingers. The actuator assembly includes a drive assembly having a drive axis and a tendon hook. The tendon hook, which defines an arcuate surface slot, is linearly translatable along the drive axis via the drive assembly, e.g., a servo motor thereof. The flexible tendon is routed through the surface slot such that the surface slot divides the flexible tendon into two portions each terminating in a respective one of the first and second ends. The drive assembly may include a ball screw and nut. An end cap of the actuator assembly may define two channels through which the respective tendon portions pass. The servo motor may be positioned off-axis with respect to the drive axis.

  20. Managing distributed dynamic systems with spatial grasp technology

    CERN Document Server

    Sapaty, Peter Simon

    2017-01-01

    The book describes a novel ideology and supporting information technology for integral management of both civil and defence-orientated large, distributed dynamic systems. The approach is based on a high-level Spatial Grasp Language, SGL, expressing solutions in physical, virtual, executive and combined environments in the form of active self-evolving and self-propagating patterns spatially matching the systems to be created, modified and controlled. The communicating interpreters of SGL can be installed in key system points, which may be in large numbers (up to millions and billions) and represent equipped humans, robots, laptops, smartphones, smart sensors, etc. Operating under gestalt-inspired scenarios in SGL initially injected from any points, these systems can be effectively converted into goal-driven spatial machines (rather than computers as dealing with physical matter too) capable of responding to numerous challenges caused by growing world dynamics in the 21st century. Including numerous practical e...

  1. Functional dissociation between action and perception of object shape in developmental visual object agnosia.

    Science.gov (United States)

    Freud, Erez; Ganel, Tzvi; Avidan, Galia; Gilaie-Dotan, Sharon

    2016-03-01

    According to the two visual systems model, the cortical visual system is segregated into a ventral pathway mediating object recognition, and a dorsal pathway mediating visuomotor control. In the present study we examined whether the visual control of action could develop normally even when visual perceptual abilities are compromised from early childhood onward. Using his fingers, LG, an individual with a rare developmental visual object agnosia, manually estimated (perceptual condition) the width of blocks that varied in width and length (but not in overall size), or simply picked them up across their width (grasping condition). LG's perceptual sensitivity to target width was profoundly impaired in the manual estimation task compared to matched controls. In contrast, the sensitivity to object shape during grasping, as measured by maximum grip aperture (MGA), the time to reach the MGA, the reaction time and the total movement time were all normal in LG. Further analysis, however, revealed that LG's sensitivity to object shape during grasping emerged at a later time stage during the movement compared to controls. Taken together, these results demonstrate a dissociation between action and perception of object shape, and also point to a distinction between different stages of the grasping movement, namely planning versus online control. Moreover, the present study implies that visuomotor abilities can develop normally even when perceptual abilities developed in a profoundly impaired fashion. Copyright © 2016 Elsevier Ltd. All rights reserved.

  2. Virtual Control of Prosthetic Hand Based on Grasping Patterns and Estimated Force from Semg

    Directory of Open Access Journals (Sweden)

    Zhu Gao-Ke

    2016-01-01

    Full Text Available Myoelectric prosthetic hands aim to serve upper limb amputees. The myoelectric control of the hand grasp action is a kind of real-time or online method. Thus it is of great necessity to carry on a study of online prosthetic hand electrical control. In this paper, the strategy of simultaneous EMG decoding of grasping patterns and grasping force was realized by controlling a virtual multi-degree-freedom prosthetic hand and a real one-degree-freedom prosthetic hand simultaneously. The former realized the grasping patterns from the recognition of the sEMG pattern. The other implemented the grasping force from sEMG force decoding. The results show that the control method is effective and feasible.

  3. Complex modulation of fingertip forces during precision grasp and lift after theta burst stimulation over the dorsal premotor cortex

    Directory of Open Access Journals (Sweden)

    Drljačić Dragana

    2017-01-01

    Full Text Available Background/Aim. Adaptive control and fingertip force synchronization of precise grasp stability during unimanual manipulation of small objects represents an illustrative example of highly fractionated movements that are foundation of fine motor control. It is assumed that this process is controlled by several motor areas of the frontal lobe, particularly applicable to the primary motor (M-1 and dorsal premotor cortex (PMd. Aiming to examine the role of PMd during fine coordination of fingertip forces we applied theta burst repetitive magnetic stimulation (TBS to disrupt neural processing in that cortical area. Methods. Using a single-blind, randomized, crossover design, 10 healthy subjects (29 ± 3.9 years received single sessions of continuous TBS (cTBS600, intermittent TBS (iTBS600, or sham stimulation, separate from one another at least one week, over the PMd region of dominant hemisphere. Precision grasp and lift were assessed by instrumented device, recording grip (G and load (L forces, during three manipulation tasks (ramp-and-hold, oscillation force producing and simple lifting tasks, with each hand separately, before and after interventions. Results. We observed the improvement of task performance related to constant error (CE in oscillation task with the dominant hand (DH after the iTBS (p = 0.009. On the contrary, the cTBS reduced variable error (VE for non-dominant hand (NH, p = 0.005. Considering force coordination we found that iTBS worsened variables for NH (G/L ratio, p = 0.017; cross-correlation of the G and L, p = 0.047; Gain, p = 0.047. Conclusion. These results demonstrate the ability of TBS to modulate fingertip forces during precision grasping and lifting, when applied over PMd. These findings support the role of PMd in human motor control and forces generation required to hold small objects stable in our hands.

  4. The modulation of the motor resonance triggered by reach-to-grasp movements: No role of human physical similarity as conveyed by age.

    Science.gov (United States)

    Marino, Barbara F M; Ricciardelli, Paola

    2017-07-01

    The activation of the mirror-neuron circuit during the observation of motor acts is thought to be the basis of human capacity to read the intentions behind the behavior of others. Growing empirical evidence shows a different activation of the mirror-neuron resonance mechanism depending on how much the observer and the observed agent share their motor repertoires. Here, the possible modulatory effect of physical similarity between the observer and the agent was investigated in three studies. We used a visuo-motor priming task in which participants were asked to categorize manipulable and non-manipulable objects into natural or man-made kinds after having watched precision and power reach-to-grasp movements. Physical similarity was manipulated by presenting reach-to-grasp movements performed by the hands of actors of three different age ranges that are adults of the same age as the participants, children, and elderly. Faster responses were observed in trials where power grip movements were performed by the adults and precision grip movements were performed by the elderly (Main Study). This finding is not in keeping with the idea that physical similarity shapes the mirror-neuron resonance. Instead, it suggests an effect of the kinematic organization of the reach-to-grasp movements, which systematically changed with the actor age as revealed by a kinematic analysis. The differential effect played by adult and elderly actor primes was lost when static grasping hands (Control Study 1) and reach-to-grasp movements with uniform kinematic profiles (Control Study 2) were used. Therefore, we found preliminary evidence that mirror-neuron resonance is not shaped by physical similarity but by the kinematics of the observed action. This finding is novel as it suggests that human ability to read the intentions behind the behavior of others may benefit from a mere visual processing of spatiotemporal patterns.

  5. Grasps Recognition and Evaluation of Stroke Patients for Supporting Rehabilitation Therapy

    Directory of Open Access Journals (Sweden)

    Beatriz Leon

    2014-01-01

    Full Text Available Stroke survivors often suffer impairments on their wrist and hand. Robot-mediated rehabilitation techniques have been proposed as a way to enhance conventional therapy, based on intensive repeated movements. Amongst the set of activities of daily living, grasping is one of the most recurrent. Our aim is to incorporate the detection of grasps in the machine-mediated rehabilitation framework so that they can be incorporated into interactive therapeutic games. In this study, we developed and tested a method based on support vector machines for recognizing various grasp postures wearing a passive exoskeleton for hand and wrist rehabilitation after stroke. The experiment was conducted with ten healthy subjects and eight stroke patients performing the grasping gestures. The method was tested in terms of accuracy and robustness with respect to intersubjects’ variability and differences between different grasps. Our results show reliable recognition while also indicating that the recognition accuracy can be used to assess the patients’ ability to consistently repeat the gestures. Additionally, a grasp quality measure was proposed to measure the capabilities of the stroke patients to perform grasp postures in a similar way than healthy people. These two measures can be potentially used as complementary measures to other upper limb motion tests.

  6. Motivational state, reward value, and Pavlovian cues differentially affect skilled forelimb grasping in rats

    Science.gov (United States)

    de Clauser, Larissa; Kasper, Hansjörg; Schwab, Martin E.

    2016-01-01

    Motor skills represent high-precision movements performed at optimal speed and accuracy. Such motor skills are learned with practice over time. Besides practice, effects of motivation have also been shown to influence speed and accuracy of movements, suggesting that fast movements are performed to maximize gained reward over time as noted in previous studies. In rodents, skilled motor performance has been successfully modeled with the skilled grasping task, in which animals use their forepaw to grasp for sugar pellet rewards through a narrow window. Using sugar pellets, the skilled grasping task is inherently tied to motivation processes. In the present study, we performed three experiments modulating animals’ motivation during skilled grasping by changing the motivational state, presenting different reward value ratios, and displaying Pavlovian stimuli. We found in all three studies that motivation affected the speed of skilled grasping movements, with the strongest effects seen due to motivational state and reward value. Furthermore, accuracy of the movement, measured in success rate, showed a strong dependence on motivational state as well. Pavlovian cues had only minor effects on skilled grasping, but results indicate an inverse Pavlovian-instrumental transfer effect on movement speed. These findings have broad implications considering the increasing use of skilled grasping in studies of motor system structure, function, and recovery after injuries. PMID:27194796

  7. Emergent coordination underlying learning to reach to grasp with a brain-machine interface.

    Science.gov (United States)

    Vaidya, Mukta; Balasubramanian, Karthikeyan; Southerland, Joshua; Badreldin, Islam; Eleryan, Ahmed; Shattuck, Kelsey; Gururangan, Suchin; Slutzky, Marc; Osborne, Leslie; Fagg, Andrew; Oweiss, Karim; Hatsopoulos, Nicholas G

    2018-04-01

    The development of coordinated reach-to-grasp movement has been well studied in infants and children. However, the role of motor cortex during this development is unclear because it is difficult to study in humans. We took the approach of using a brain-machine interface (BMI) paradigm in rhesus macaques with prior therapeutic amputations to examine the emergence of novel, coordinated reach to grasp. Previous research has shown that after amputation, the cortical area previously involved in the control of the lost limb undergoes reorganization, but prior BMI work has largely relied on finding neurons that already encode specific movement-related information. In this study, we taught macaques to cortically control a robotic arm and hand through operant conditioning, using neurons that were not explicitly reach or grasp related. Over the course of training, stereotypical patterns emerged and stabilized in the cross-covariance between the reaching and grasping velocity profiles, between pairs of neurons involved in controlling reach and grasp, and to a comparable, but lesser, extent between other stable neurons in the network. In fact, we found evidence of this structured coordination between pairs composed of all combinations of neurons decoding reach or grasp and other stable neurons in the network. The degree of and participation in coordination was highly correlated across all pair types. Our approach provides a unique model for studying the development of novel, coordinated reach-to-grasp movement at the behavioral and cortical levels. NEW & NOTEWORTHY Given that motor cortex undergoes reorganization after amputation, our work focuses on training nonhuman primates with chronic amputations to use neurons that are not reach or grasp related to control a robotic arm to reach to grasp through the use of operant conditioning, mimicking early development. We studied the development of a novel, coordinated behavior at the behavioral and cortical level, and the neural

  8. Radial force distribution changes associated with tangential force production in cylindrical grasping, and the importance of anatomical registration.

    Science.gov (United States)

    Pataky, Todd C; Slota, Gregory P; Latash, Mark L; Zatsiorsky, Vladimir M

    2012-01-10

    Radial force (F(r)) distributions describe grip force coordination about a cylindrical object. Recent studies have employed only explicit F(r) tasks, and have not normalized for anatomical variance when considering F(r) distributions. The goals of the present study were (i) to explore F(r) during tangential force production tasks, and (ii) to examine the extent to which anatomical registration (i.e. spatial normalization of anatomically analogous structures) could improve signal detectability in F(r) data. Twelve subjects grasped a vertically oriented cylindrical handle (diameter=6 cm) and matched target upward tangential forces of 10, 20, and 30 N. F(r) data were measured using a flexible pressure mat with an angular resolution of 4.8°, and were registered using piecewise-linear interpolation between five manually identified points-of-interest. Results indicate that F(r) was primarily limited to three contact regions: the distal thumb, the distal fingers, and the fingers' metatacarpal heads, and that, while increases in tangential force caused significant increases in F(r) for these regions, they did not significantly affect the F(r) distribution across the hand. Registration was found to substantially reduce between-subject variability, as indicated by both accentuated F(r) trends, and amplification of the test statistic. These results imply that, while subjects focus F(r) primarily on three anatomical regions during cylindrical grasp, inter-subject anatomical differences introduce a variability that, if not corrected for via registration, may compromise one's ability to draw anatomically relevant conclusions from grasping force data. Copyright © 2011 Elsevier Ltd. All rights reserved.

  9. The Spatiale Rotator

    DEFF Research Database (Denmark)

    Rasmusson, Allan

    2009-01-01

    it is embedded and sectioned. This has the unfortunate side effect that all information about positioning within the object is lost for blocks and sections. For complex tissue, like the mammalian brain, this information is of utmost importance to ensure measurements are performed in the correct region......The inherent demand for unbiasedness for some stereological estimators imposes a demand of not only positional uniform randomness but also isotropic randomness, i.e. directional uniform randomness. In order to comply with isotropy, one must perform a random rotation of the object of interest before...... is obeyed by randomizing the orientation of the virtual probe itself within the thick section. Overall, the benefit is that positional information is kept for any block and section of the specimen. As the Spatial Rotator is a 3D probe, data must be gathered from sections thicker than 25 micro meters to form...

  10. Noninvasive Electroencephalogram Based Control of a Robotic Arm for Reach and Grasp Tasks

    Science.gov (United States)

    Meng, Jianjun; Zhang, Shuying; Bekyo, Angeliki; Olsoe, Jaron; Baxter, Bryan; He, Bin

    2016-01-01

    Brain-computer interface (BCI) technologies aim to provide a bridge between the human brain and external devices. Prior research using non-invasive BCI to control virtual objects, such as computer cursors and virtual helicopters, and real-world objects, such as wheelchairs and quadcopters, has demonstrated the promise of BCI technologies. However, controlling a robotic arm to complete reach-and-grasp tasks efficiently using non-invasive BCI has yet to be shown. In this study, we found that a group of 13 human subjects could willingly modulate brain activity to control a robotic arm with high accuracy for performing tasks requiring multiple degrees of freedom by combination of two sequential low dimensional controls. Subjects were able to effectively control reaching of the robotic arm through modulation of their brain rhythms within the span of only a few training sessions and maintained the ability to control the robotic arm over multiple months. Our results demonstrate the viability of human operation of prosthetic limbs using non-invasive BCI technology. PMID:27966546

  11. Statistical Identification of Composed Visual Features Indicating High Likelihood of Grasp Success

    DEFF Research Database (Denmark)

    Thomsen, Mikkel Tang; Bodenhagen, Leon; Krüger, Norbert

    2013-01-01

    configurations of three 3D surface features that predict grasping actions with a high success probability. The strategy is based on first computing spatial relations between visual entities and secondly, exploring the cross-space of these relational feature space and grasping actions. The data foundation...... for identifying such indicative feature constellations is generated in a simulated environment wherein visual features are extracted and a large amount of grasping actions are evaluated through dynamic simulation. Based on the identified feature constellations, we validate by applying the acquired knowledge...

  12. GRASP [GRound-Water Adjunct Sensitivity Program]: A computer code to perform post-SWENT [simulator for water, energy, and nuclide transport] adjoint sensitivity analysis of steady-state ground-water flow: Technical report

    International Nuclear Information System (INIS)

    Wilson, J.L.; RamaRao, B.S.; McNeish, J.A.

    1986-11-01

    GRASP (GRound-Water Adjunct Senstivity Program) computes measures of the behavior of a ground-water system and the system's performance for waste isolation, and estimates the sensitivities of these measures to system parameters. The computed measures are referred to as ''performance measures'' and include weighted squared deviations of computed and observed pressures or heads, local Darcy velocity components and magnitudes, boundary fluxes, and travel distance and time along travel paths. The sensitivities are computed by the adjoint method and are exact derivatives of the performance measures with respect to the parameters for the modeled system, taken about the assumed parameter values. GRASP presumes steady-state, saturated grondwater flow, and post-processes the results of a multidimensional (1-D, 2-D, 3-D) finite-difference flow code. This document describes the mathematical basis for the model, the algorithms and solution techniques used, and the computer code design. The implementation of GRASP is verified with simple one- and two-dimensional flow problems, for which analytical expressions of performance measures and sensitivities are derived. The linkage between GRASP and multidimensional finite-difference flow codes is described. This document also contains a detailed user's manual. The use of GRASP to evaluate nuclear waste disposal issues has been emphasized throughout the report. The performance measures and their sensitivities can be employed to assist in directing data collection programs, expedite model calibration, and objectively determine the sensitivity of projected system performance to parameters

  13. Closed-loop control of grasping with a myoelectric hand prosthesis: which are the relevant feedback variables for force control?

    Science.gov (United States)

    Ninu, Andrei; Dosen, Strahinja; Muceli, Silvia; Rattay, Frank; Dietl, Hans; Farina, Dario

    2014-09-01

    In closed-loop control of grasping by hand prostheses, the feedback information sent to the user is usually the actual controlled variable, i.e., the grasp force. Although this choice is intuitive and logical, the force production is only the last step in the process of grasping. Therefore, this study evaluated the performance in controlling grasp strength using a hand prosthesis operated through a complete grasping sequence while varying the feedback variables (e.g., closing velocity, grasping force), which were provided to the user visually or through vibrotactile stimulation. The experiments were conducted on 13 volunteers who controlled the Otto Bock Sensor Hand Speed prosthesis. Results showed that vibrotactile patterns were able to replace the visual feedback. Interestingly, the experiments demonstrated that direct force feedback was not essential for the control of grasping force. The subjects were indeed able to control the grip strength, predictively, by estimating the grasping force from the prosthesis velocity of closing. Therefore, grasping without explicit force feedback is not completely blind, contrary to what is usually assumed. In our study we analyzed grasping with a specific prosthetic device, but the outcomes are also applicable for other devices, with one or more degrees-of-freedom. The necessary condition is that the electromyography (EMG) signal directly and proportionally controls the velocity/grasp force of the hand, which is a common approach among EMG controlled prosthetic devices. The results provide important indications on the design of closed-loop EMG controlled prosthetic systems.

  14. Passive reach and grasp with functional electrical stimulation and robotic arm support

    NARCIS (Netherlands)

    Westerveld, Ard J.; Schouten, Alfred C.; Veltink, Peter H.; van der Kooij, Herman

    2014-01-01

    Rehabilitation of arm and hand function is crucial to increase functional independence of stroke subjects. Here, we investigate the technical feasibility of an integrated training system combining robotics and functional electrical stimulation (FES) to support reach and grasp during functional

  15. Controlling Sample Rotation in Acoustic Levitation

    Science.gov (United States)

    Barmatz, M. B.; Stoneburner, J. D.

    1985-01-01

    Rotation of acoustically levitated object stopped or controlled according to phase-shift monitoring and control concept. Principle applies to square-cross-section levitation chamber with two perpendicular acoustic drivers operating at same frequency. Phase difference between X and Y acoustic excitation measured at one corner by measuring variation of acoustic amplitude sensed by microphone. Phase of driver adjusted to value that produces no rotation or controlled rotation of levitated object.

  16. Human grasping database for activities of daily living with depth, color and kinematic data streams.

    Science.gov (United States)

    Saudabayev, Artur; Rysbek, Zhanibek; Khassenova, Raykhan; Varol, Huseyin Atakan

    2018-05-29

    This paper presents a grasping database collected from multiple human subjects for activities of daily living in unstructured environments. The main strength of this database is the use of three different sensing modalities: color images from a head-mounted action camera, distance data from a depth sensor on the dominant arm and upper body kinematic data acquired from an inertial motion capture suit. 3826 grasps were identified in the data collected during 9-hours of experiments. The grasps were grouped according to a hierarchical taxonomy into 35 different grasp types. The database contains information related to each grasp and associated sensor data acquired from the three sensor modalities. We also provide our data annotation software written in Matlab as an open-source tool. The size of the database is 172 GB. We believe this database can be used as a stepping stone to develop big data and machine learning techniques for grasping and manipulation with potential applications in rehabilitation robotics and intelligent automation.

  17. Functional morphology of the hallucal metatarsal with implications for inferring grasping ability in extinct primates.

    Science.gov (United States)

    Goodenberger, Katherine E; Boyer, Doug M; Orr, Caley M; Jacobs, Rachel L; Femiani, John C; Patel, Biren A

    2015-03-01

    Primate evolutionary morphologists have argued that selection for life in a fine branch niche resulted in grasping specializations that are reflected in the hallucal metatarsal (Mt1) morphology of extant "prosimians", while a transition to use of relatively larger, horizontal substrates explains the apparent loss of such characters in anthropoids. Accordingly, these morphological characters-Mt1 torsion, peroneal process length and thickness, and physiological abduction angle-have been used to reconstruct grasping ability and locomotor mode in the earliest fossil primates. Although these characters are prominently featured in debates on the origin and subsequent radiation of Primates, questions remain about their functional significance. This study examines the relationship between these morphological characters of the Mt1 and a novel metric of pedal grasping ability for a large number of extant taxa in a phylogenetic framework. Results indicate greater Mt1 torsion in taxa that engage in hallucal grasping and in those that utilize relatively small substrates more frequently. This study provides evidence that Carpolestes simpsoni has a torsion value more similar to grasping primates than to any scandentian. The results also show that taxa that habitually grasp vertical substrates are distinguished from other taxa in having relatively longer peroneal processes. Furthermore, a longer peroneal process is also correlated with calcaneal elongation, a metric previously found to reflect leaping proclivity. A more refined understanding of the functional associations between Mt1 morphology and behavior in extant primates enhances the potential for using these morphological characters to comprehend primate (locomotor) evolution. © 2014 Wiley Periodicals, Inc.

  18. New version: GRASP2K relativistic atomic structure package

    Science.gov (United States)

    Jönsson, P.; Gaigalas, G.; Bieroń, J.; Fischer, C. Froese; Grant, I. P.

    2013-09-01

    A revised version of GRASP2K [P. Jönsson, X. He, C. Froese Fischer, I.P. Grant, Comput. Phys. Commun. 177 (2007) 597] is presented. It supports earlier non-block and block versions of codes as well as a new block version in which the njgraf library module [A. Bar-Shalom, M. Klapisch, Comput. Phys. Commun. 50 (1988) 375] has been replaced by the librang angular package developed by Gaigalas based on the theory of [G. Gaigalas, Z.B. Rudzikas, C. Froese Fischer, J. Phys. B: At. Mol. Phys. 30 (1997) 3747, G. Gaigalas, S. Fritzsche, I.P. Grant, Comput. Phys. Commun. 139 (2001) 263]. Tests have shown that errors encountered by njgraf do not occur with the new angular package. The three versions are denoted v1, v2, and v3, respectively. In addition, in v3, the coefficients of fractional parentage have been extended to j=9/2, making calculations feasible for the lanthanides and actinides. Changes in v2 include minor improvements. For example, the new version of rci2 may be used to compute quantum electrodynamic (QED) corrections only from selected orbitals. In v3, a new program, jj2lsj, reports the percentage composition of the wave function in LSJ and the program rlevels has been modified to report the configuration state function (CSF) with the largest coefficient of an LSJ expansion. The bioscl2 and bioscl3 application programs have been modified to produce a file of transition data with one record for each transition in the same format as in ATSP2K [C. Froese Fischer, G. Tachiev, G. Gaigalas, M.R. Godefroid, Comput. Phys. Commun. 176 (2007) 559], which identifies each atomic state by the total energy and a label for the CSF with the largest expansion coefficient in LSJ intermediate coupling. All versions of the codes have been adapted for 64-bit computer architecture. Program SummaryProgram title: GRASP2K, version 1_1 Catalogue identifier: ADZL_v1_1 Program summary URL: http://cpc.cs.qub.ac.uk/summaries/ADZL_v1_1.html Program obtainable from: CPC Program Library

  19. A fully rotational joint underactuated finger mechanism and its kinematics analysis

    Directory of Open Access Journals (Sweden)

    Wu Licheng

    2016-09-01

    Full Text Available The characteristic features of underactuated finger are compact structure, large grasping force, and simple operation. It has a wide application prospect in the fields of industrial robot, humanoid robot, human artificial limb, and space robot. A new type of fully rotating joint linkage-based underactuated mechanism is proposed, and a new method based on the law of minimum resistance is presented to realize the equivalent mechanism at different contact conditions of the finger and the kinematical analysis based on the equivalent mechanism. The kinematic equations and the limit moving position of the mechanism are derived using the proposed method. Finally, the numerical simulation is carried out by MATLAB program. The correctness and effectiveness of the proposed method are verified. The simulation results show that the proposed mechanism has a large grasp space and can achieve good grasp trajectory.

  20. Concatenation of observed grasp phases with observer's distal movements: a behavioural and TMS study.

    Directory of Open Access Journals (Sweden)

    Elisa De Stefani

    Full Text Available The present study aimed at determining how actions executed by two conspecifics can be coordinated with each other, or more specifically, how the observation of different phases of a reaching-grasping action is temporary related to the execution of a movement of the observer. Participants observed postures of initial finger opening, maximal finger aperture, and final finger closing of grasp after observation of an initial hand posture. Then, they opened or closed their right thumb and index finger (experiments 1, 2 and 3. Response times decreased, whereas acceleration and velocity of actual finger movements increased when observing the two late phases of grasp. In addition, the results ruled out the possibility that this effect was due to salience of the visual stimulus when the hand was close to the target and confirmed an effect of even hand postures in addition to hand apparent motion due to the succession of initial hand posture and grasp phase. In experiments 4 and 5, the observation of grasp phases modulated even foot movements and pronunciation of syllables. Finally, in experiment 6, transcranial magnetic stimulation applied to primary motor cortex 300 ms post-stimulus induced an increase in hand motor evoked potentials of opponens pollicis muscle when observing the two late phases of grasp. These data suggest that the observation of grasp phases induced simulation which was stronger during observation of finger closing. This produced shorter response times, greater acceleration and velocity of the successive movement. In general, our data suggest best concatenation between two movements (one observed and the other executed when the observed (and simulated movement was to be accomplished. The mechanism joining the observation of a conspecific's action with our own movement may be precursor of social functions. It may be at the basis for interactions between conspecifics, and related to communication between individuals.

  1. Concatenation of observed grasp phases with observer's distal movements: a behavioural and TMS study.

    Science.gov (United States)

    De Stefani, Elisa; Innocenti, Alessandro; De Marco, Doriana; Gentilucci, Maurizio

    2013-01-01

    The present study aimed at determining how actions executed by two conspecifics can be coordinated with each other, or more specifically, how the observation of different phases of a reaching-grasping action is temporary related to the execution of a movement of the observer. Participants observed postures of initial finger opening, maximal finger aperture, and final finger closing of grasp after observation of an initial hand posture. Then, they opened or closed their right thumb and index finger (experiments 1, 2 and 3). Response times decreased, whereas acceleration and velocity of actual finger movements increased when observing the two late phases of grasp. In addition, the results ruled out the possibility that this effect was due to salience of the visual stimulus when the hand was close to the target and confirmed an effect of even hand postures in addition to hand apparent motion due to the succession of initial hand posture and grasp phase. In experiments 4 and 5, the observation of grasp phases modulated even foot movements and pronunciation of syllables. Finally, in experiment 6, transcranial magnetic stimulation applied to primary motor cortex 300 ms post-stimulus induced an increase in hand motor evoked potentials of opponens pollicis muscle when observing the two late phases of grasp. These data suggest that the observation of grasp phases induced simulation which was stronger during observation of finger closing. This produced shorter response times, greater acceleration and velocity of the successive movement. In general, our data suggest best concatenation between two movements (one observed and the other executed) when the observed (and simulated) movement was to be accomplished. The mechanism joining the observation of a conspecific's action with our own movement may be precursor of social functions. It may be at the basis for interactions between conspecifics, and related to communication between individuals.

  2. Concatenation of Observed Grasp Phases with Observer’s Distal Movements: A Behavioural and TMS Study

    Science.gov (United States)

    De Stefani, Elisa; Innocenti, Alessandro; De Marco, Doriana; Gentilucci, Maurizio

    2013-01-01

    The present study aimed at determining how actions executed by two conspecifics can be coordinated with each other, or more specifically, how the observation of different phases of a reaching-grasping action is temporary related to the execution of a movement of the observer. Participants observed postures of initial finger opening, maximal finger aperture, and final finger closing of grasp after observation of an initial hand posture. Then, they opened or closed their right thumb and index finger (experiments 1, 2 and 3). Response times decreased, whereas acceleration and velocity of actual finger movements increased when observing the two late phases of grasp. In addition, the results ruled out the possibility that this effect was due to salience of the visual stimulus when the hand was close to the target and confirmed an effect of even hand postures in addition to hand apparent motion due to the succession of initial hand posture and grasp phase. In experiments 4 and 5, the observation of grasp phases modulated even foot movements and pronunciation of syllables. Finally, in experiment 6, transcranial magnetic stimulation applied to primary motor cortex 300 ms post-stimulus induced an increase in hand motor evoked potentials of opponens pollicis muscle when observing the two late phases of grasp. These data suggest that the observation of grasp phases induced simulation which was stronger during observation of finger closing. This produced shorter response times, greater acceleration and velocity of the successive movement. In general, our data suggest best concatenation between two movements (one observed and the other executed) when the observed (and simulated) movement was to be accomplished. The mechanism joining the observation of a conspecific’s action with our own movement may be precursor of social functions. It may be at the basis for interactions between conspecifics, and related to communication between individuals. PMID:24278395

  3. Object and Objective Lost?

    DEFF Research Database (Denmark)

    Lopdrup-Hjorth, Thomas

    2015-01-01

    This paper explores the erosion and problematization of ‘the organization’ as a demarcated entity. Utilizing Foucault's reflections on ‘state-phobia’ as a source of inspiration, I show how an organization-phobia has gained a hold within Organization Theory (OT). By attending to the history...... of this organization-phobia, the paper argues that OT has become increasingly incapable of speaking about its core object. I show how organizations went from being conceptualized as entities of major importance to becoming theoretically deconstructed and associated with all kinds of ills. Through this history......, organizations as distinct entities have been rendered so problematic that they have gradually come to be removed from the center of OT. The costs of this have been rather significant. Besides undermining the grounds that gave OT intellectual credibility and legitimacy to begin with, the organization-phobia...

  4. Rotator cuff exercises

    Science.gov (United States)

    ... 25560729 . Read More Frozen shoulder Rotator cuff problems Rotator cuff repair Shoulder arthroscopy Shoulder CT scan Shoulder MRI scan Shoulder pain Patient Instructions Rotator cuff - self-care Shoulder surgery - discharge Using your ...

  5. GRASP2: visualization, surface properties, and electrostatics of macromolecular structures and sequences.

    Science.gov (United States)

    Petrey, Donald; Honig, Barry

    2003-01-01

    The widespread use of the original version of GRASP revealed the importance of the visualization of physicochemical and structural properties on the molecular surface. This chapter describes a new version of GRASP that contains many new capabilities. In terms of analysis tools, the most notable new features are sequence and structure analysis and alignment tools and the graphical integration of sequence and structural information. Not all the new GRASP2 could be described here and more capabilities are continually being added. An on-line manual, details on obtaining the software, and technical notes about the program and the Troll software library can be found at the Honig laboratory Web site (http://trantor.bioc.columbia.edu).

  6. From a meso- to micro-scale connectome: Array Tomography and mGRASP

    Directory of Open Access Journals (Sweden)

    Jinhyun eKim

    2015-06-01

    Full Text Available Mapping mammalian synaptic connectivity has long been an important goal of neuroscience because knowing how neurons and brain areas are connected underpins an understanding of brain function. Meeting this goal requires advanced techniques with single synapse resolution and large-scale capacity, especially at multiple scales tethering the meso- and micro-scale connectome. Among several advanced LM-based connectome technologies, Array Tomography (AT and mammalian GFP-Reconstitution Across Synaptic Partners (mGRASP can provide relatively high-throughput mapping synaptic connectivity at multiple scales. AT- and mGRASP-assisted circuit mapping (ATing and mGRASPing, combined with techniques such as retrograde virus, brain clearing techniques, and activity indicators will help unlock the secrets of complex neural circuits. Here, we discuss these useful new tools to enable mapping of brain circuits at multiple scales, some functional implications of spatial synaptic distribution, and future challenges and directions of these endeavors.

  7. A circular feature-based pose measurement method for metal part grasping

    International Nuclear Information System (INIS)

    Wu, Chenrui; He, Zaixing; Zhang, Shuyou; Zhao, Xinyue

    2017-01-01

    The grasping of circular metal parts such as bearings and flanges is a common task in industry. Limited by low texture and repeated features, the point-feature-based method is not applicable in pose measurement of these parts. In this paper, we propose a novel pose measurement method for grasping circular metal parts. This method is based on cone degradation and involves a monocular camera. To achieve higher measurement accuracy, a position-based visual servoing method is presented to continuously control an eye-in-hand, six-degrees-of-freedom robot arm to grasp the part. The uncertainty of the part’s coordinate frame during the control process is solved by defining a fixed virtual coordinate frame. Experimental results are provided to illustrate the effectiveness of the proposed method and the factors that affect measurement accuracy are analyzed. (paper)

  8. Restoring voluntary grasping function in individuals with incomplete chronic spinal cord injury: pilot study.

    Science.gov (United States)

    Kapadia, Naaz; Zivanovic, Vera; Popovic, Milos R

    2013-01-01

    Functional electrical stimulation (FES) therapy has been shown to be one of the most promising approaches for improving voluntary grasping function in individuals with subacute cervical spinal cord injury (SCI). To determine the effectiveness of FES therapy, as compared to conventional occupational therapy (COT), in improving voluntary hand function in individuals with chronic (≥24 months post injury), incomplete (American Spinal Injury Association Impairment Scale [AIS] B-D), C4 to C7 SCI. Eight participants were randomized to the intervention group (FES therapy; n = 5) or the control group (COT; n = 3). Both groups received 39 hours of therapy over 13 to 16 weeks. The primary outcome measure was the Toronto Rehabilitation Institute-Hand Function Test (TRI-HFT), and the secondary outcome measures were Graded Redefined Assessment of Strength Sensibility and Prehension (GRASSP), Functional Independence Measure (FIM) self-care subscore, and Spinal Cord Independence Measure (SCIM) self-care subscore. Outcome assessments were performed at baseline, after 39 sessions of therapy, and at 6 months following the baseline assessment. After 39 sessions of therapy, the intervention group improved by 5.8 points on the TRI-HFT's Object Manipulation Task, whereas the control group changed by only 1.17 points. Similarly, after 39 sessions of therapy, the intervention group improved by 4.6 points on the FIM self-care subscore, whereas the control group did not change at all. The results of the pilot data justify a clinical trial to compare FES therapy and COT alone to improve voluntary hand function in individuals with chronic incomplete tetraplegia.

  9. Tactile Gloves for Autonomous Grasping With the NASA/DARPA Robonaut

    Science.gov (United States)

    Martin, T. B.; Ambrose, R. O.; Diftler, M. A.; Platt, R., Jr.; Butzer, M. J.

    2004-01-01

    Tactile data from rugged gloves are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. These custom gloves compliment the human like dexterity available in the Robonaut hands. Multiple versions of the gloves are discussed, showing a progression in using advanced materials and construction techniques to enhance sensitivity and overall sensor coverage. The force data provided by the gloves can be used to improve dexterous, tool and power grasping primitives. Experiments with the latest gloves focus on the use of tools, specifically a power drill used to approximate an astronaut's torque tool.

  10. Rotational motion in nuclei

    International Nuclear Information System (INIS)

    Bohr, A.

    1977-01-01

    History is surveyed of the development of the theory of rotational states in nuclei. The situation in the 40's when ideas formed of the collective states of a nucleus is evoked. The general rotation theory and the relation between the single-particle and rotational motion are briefly discussed. Future prospects of the rotation theory development are indicated. (I.W.)

  11. Off-Resonance Acoustic Levitation Without Rotation

    Science.gov (United States)

    Barmatz, M. B.; Allen, J. L.

    1984-01-01

    Orthogonal acoustic-levitation modes excited at slightly different frequencies to control rotation. Rotation of object in square cross-section acoustic-levitation chamber stopped by detuning two orthogonal (x and y) excitation drivers in plane of square cross section. Detuning done using fundamental degenerate modes or odd harmonic modes.

  12. Rotational motion in nuclei

    International Nuclear Information System (INIS)

    Bohr, A.

    1976-01-01

    Nuclear structure theories are reviewed concerned with nuclei rotational motion. The development of the deformed nucleus model facilitated a discovery of rotational spectra of nuclei. Comprehensive verification of the rotational scheme and a successful classification of corresponding spectra stimulated investigations of the rotational movement dynamics. Values of nuclear moments of inertia proved to fall between two marginal values corresponding to rotation of a solid and hydrodynamic pattern of an unrotating flow, respectively. The discovery of governing role of the deformation and a degree of a symmetry violence for determining rotational degrees of freedon is pointed out to pave the way for generalization of the rotational spectra

  13. Muscle Activation During Grasping With and Without Motor Imagery in Healthy Volunteers and Patients After Stroke or With Parkinson's Disease

    Directory of Open Access Journals (Sweden)

    Manuela Kobelt

    2018-04-01

    Full Text Available Introduction: The present study assessed whether motor imagery (MI produces electromyographic activation in specific muscles of the upper limb during a hand grasping and arm-lifting task in healthy volunteers, patients after stroke, or with Parkinson's disease. Electromyographic (EMG activation was compared under three conditions: MI, physical execution (PE, and rest. The task is clinically relevant unilateral executed movement using open muscle chains.Methods: In a cross-sectional study EMG activation was measured in four muscles: M. deltoideus pars clavicularis, M. biceps brachii, M. extensor digitorum, M. flexor carpi radialis. MI ability was evaluated with mental rotation, mental chronometry and the Kinaesthetic and Visual Imagery Questionnaire. Cognitive performance was screened with the Mini-Mental State Examination.Results: Twenty-two participants (11 females, age 52.6 ±15.8, age range 21 to 72 were included: ten healthy volunteers, seven patients after stroke (time after stroke onset 16.3 ± 24.8 months, and five patients with Parkinson's disease (disease duration 60.4 ± 24.5 months. Overall Mini-Mental State Examination scores ranged between 27 and 30. An increased EMG activation during MI compared to rest condition was observed in M. deltoideus pars clavicularis and M. biceps brachii across all participants (p-value = 0.001, p = 0.007. Seven participants (two healthy volunteers, three patients after stroke and two patients with Parkinson's disease showed a EMG activation during MI of the hand grasping and arm-lifting task in at least one of the target muscles. No correlation between EMG activation during MI and scores of three MI ability assessments were found.Conclusions: The findings suggest that MI can yield subliminal EMG activation. However, that might vary on individual basis. It remains unclear what parameters contribute to or inhibit an EMG activation during MI. Future investigations should determine factors that influence

  14. Classification of right-hand grasp movement based on EMOTIV Epoc+

    Science.gov (United States)

    Tobing, T. A. M. L.; Prawito, Wijaya, S. K.

    2017-07-01

    Combinations of BCT elements for right-hand grasp movement have been obtained, providing the average value of their classification accuracy. The aim of this study is to find a suitable combination for best classification accuracy of right-hand grasp movement based on EEG headset, EMOTIV Epoc+. There are three movement classifications: grasping hand, relax, and opening hand. These classifications take advantage of Event-Related Desynchronization (ERD) phenomenon that makes it possible to differ relaxation, imagery, and movement state from each other. The combinations of elements are the usage of Independent Component Analysis (ICA), spectrum analysis by Fast Fourier Transform (FFT), maximum mu and beta power with their frequency as features, and also classifier Probabilistic Neural Network (PNN) and Radial Basis Function (RBF). The average values of classification accuracy are ± 83% for training and ± 57% for testing. To have a better understanding of the signal quality recorded by EMOTIV Epoc+, the result of classification accuracy of left or right-hand grasping movement EEG signal (provided by Physionet) also be given, i.e.± 85% for training and ± 70% for testing. The comparison of accuracy value from each combination, experiment condition, and external EEG data are provided for the purpose of value analysis of classification accuracy.

  15. Electrotactile feedback improves performance and facilitates learning in the routine grasping task

    Directory of Open Access Journals (Sweden)

    Milica Isaković

    2016-06-01

    Full Text Available Aim of this study was to investigate the feasibility of electrotactile feedback in closed loop training of force control during the routine grasping task. The feedback was provided using an array electrode and a simple six-level spatial coding, and the experiment was conducted in three amputee subjects. The psychometric tests confirmed that the subjects could perceive and interpret the electrotactile feedback with a high success rate. The subjects performed the routine grasping task comprising 4 blocks of 60 grasping trials. In each trial, the subjects employed feedforward control to close the hand and produce the desired grasping force (four levels. First (baseline and the last (validation session were performed in open loop, while the second and the third session (training included electrotactile feedback. The obtained results confirmed that using the feedback improved the accuracy and precision of the force control. In addition, the subjects performed significantly better in the validation vs. baseline session, therefore suggesting that electrotactile feedback can be used for learning and training of myoelectric control.

  16. Electrotactile Feedback Improves Performance and Facilitates Learning in the Routine Grasping Task.

    Science.gov (United States)

    Isaković, Milica; Belić, Minja; Štrbac, Matija; Popović, Igor; Došen, Strahinja; Farina, Dario; Keller, Thierry

    2016-06-13

    Aim of this study was to investigate the feasibility of electrotactile feedback in closed loop training of force control during the routine grasping task. The feedback was provided using an array electrode and a simple six-level spatial coding, and the experiment was conducted in three amputee subjects. The psychometric tests confirmed that the subjects could perceive and interpret the electrotactile feedback with a high success rate. The subjects performed the routine grasping task comprising 4 blocks of 60 grasping trials. In each trial, the subjects employed feedforward control to close the hand and produce the desired grasping force (four levels). First (baseline) and the last (validation) session were performed in open loop, while the second and the third session (training) included electrotactile feedback. The obtained results confirmed that using the feedback improved the accuracy and precision of the force control. In addition, the subjects performed significantly better in the validation vs. baseline session, therefore suggesting that electrotactile feedback can be used for learning and training of myoelectric control.

  17. Utilization of old vibro-acoustic measuring equipment to grasp basic concepts of vibration measurements

    DEFF Research Database (Denmark)

    Darula, Radoslav

    2013-01-01

    The aim of the paper is to show that even old vibro-acoustic (analog) equipment can be used as a very suitable teaching equipment to grasp basic principles of measurements in an era, when measurement equipments are more-or-less treated as ‘black-boxes’, i.e. the user cannot see directly how...

  18. TRANSGENIC STRATEGY FOR IDENTIFYING SYNAPTIC CONNECTIONS IN MICE BY FLUORESCENCE COMPLEMENTATION (GRASP

    Directory of Open Access Journals (Sweden)

    Masahito eYamagata

    2012-02-01

    Full Text Available In the "GFP reconstitution across synaptic partners" (GRASP method, non-fluorescent fragments of GFP are expressed in two different neurons; the fragments self-assemble at synapses between the two to form a fluorophore. GRASP has proven useful for light microscopic identification of synapses in two invertebrate species, Caenorhabditis elegans and Drosophila melanogaster, but has not yet been applied to vertebrates. Here, we describe GRASP constructs that function in mammalian cells and implement a transgenic strategy in which a Cre-dependent gene switch leads to expression of the two fragments in mutually exclusive neuronal subsets in mice. Using a transgenic line that expresses Cre selectively in rod photoreceptors, we demonstrate labeling of synapses in the outer plexiform layer of the retina. Labeling is specific, in that synapses made by rods remain labeled for at least 6 months whereas nearby synapses made by intercalated cone photoreceptors on many of the same interneurons remain unlabeled. We also generated antisera that label reconstituted GFP but neither fragment in order to amplify the GRASP signal and thereby increase the sensitivity of the method.

  19. A Sense of Touch in Laparoscopy : Using Augmented Haptic Feedback to Improve Grasp Control

    NARCIS (Netherlands)

    Westebring-van der Putten, E.P.

    2011-01-01

    Laparoscopy is Minimally Invasive Surgery (MIS) that is conducted in the belly alcove and which enables instruments, which enter the body through small incisions, to manipulate tissue. The possible complications arising during laparoscopic surgery are partly caused by improper grasp control on the

  20. Testing of Visual Field with Virtual Reality Goggles in Manual and Visual Grasp Modes

    Directory of Open Access Journals (Sweden)

    Dariusz Wroblewski

    2014-01-01

    Full Text Available Automated perimetry is used for the assessment of visual function in a variety of ophthalmic and neurologic diseases. We report development and clinical testing of a compact, head-mounted, and eye-tracking perimeter (VirtualEye that provides a more comfortable test environment than the standard instrumentation. VirtualEye performs the equivalent of a full threshold 24-2 visual field in two modes: (1 manual, with patient response registered with a mouse click, and (2 visual grasp, where the eye tracker senses change in gaze direction as evidence of target acquisition. 59 patients successfully completed the test in manual mode and 40 in visual grasp mode, with 59 undergoing the standard Humphrey field analyzer (HFA testing. Large visual field defects were reliably detected by VirtualEye. Point-by-point comparison between the results obtained with the different modalities indicates: (1 minimal systematic differences between measurements taken in visual grasp and manual modes, (2 the average standard deviation of the difference distributions of about 5 dB, and (3 a systematic shift (of 4–6 dB to lower sensitivities for VirtualEye device, observed mostly in high dB range. The usability survey suggested patients’ acceptance of the head-mounted device. The study appears to validate the concepts of a head-mounted perimeter and the visual grasp mode.

  1. Testing of visual field with virtual reality goggles in manual and visual grasp modes.

    Science.gov (United States)

    Wroblewski, Dariusz; Francis, Brian A; Sadun, Alfredo; Vakili, Ghazal; Chopra, Vikas

    2014-01-01

    Automated perimetry is used for the assessment of visual function in a variety of ophthalmic and neurologic diseases. We report development and clinical testing of a compact, head-mounted, and eye-tracking perimeter (VirtualEye) that provides a more comfortable test environment than the standard instrumentation. VirtualEye performs the equivalent of a full threshold 24-2 visual field in two modes: (1) manual, with patient response registered with a mouse click, and (2) visual grasp, where the eye tracker senses change in gaze direction as evidence of target acquisition. 59 patients successfully completed the test in manual mode and 40 in visual grasp mode, with 59 undergoing the standard Humphrey field analyzer (HFA) testing. Large visual field defects were reliably detected by VirtualEye. Point-by-point comparison between the results obtained with the different modalities indicates: (1) minimal systematic differences between measurements taken in visual grasp and manual modes, (2) the average standard deviation of the difference distributions of about 5 dB, and (3) a systematic shift (of 4-6 dB) to lower sensitivities for VirtualEye device, observed mostly in high dB range. The usability survey suggested patients' acceptance of the head-mounted device. The study appears to validate the concepts of a head-mounted perimeter and the visual grasp mode.

  2. The Grasp of Physics Concepts of Motion: Identifying Particular Patterns in Students' Thinking

    Science.gov (United States)

    Obaidat, Ihab; Malkawi, Ehab

    2009-01-01

    We have investigated the grasp of some of the basic concepts of motion by students taking the introductory physics course in Mechanics at United Arab Emirates University (UAEU). We have developed a short research-based multiple-choice test where we were able to extract some information about the state of knowledge of the students. In general, the…

  3. Exploration of Hand Grasp Patterns Elicitable Through Non-Invasive Proximal Nerve Stimulation.

    Science.gov (United States)

    Shin, Henry; Watkins, Zach; Hu, Xiaogang

    2017-11-29

    Various neurological conditions, such as stroke or spinal cord injury, result in an impaired control of the hand. One method of restoring this impairment is through functional electrical stimulation (FES). However, traditional FES techniques often lead to quick fatigue and unnatural ballistic movements. In this study, we sought to explore the capabilities of a non-invasive proximal nerve stimulation technique in eliciting various hand grasp patterns. The ulnar and median nerves proximal to the elbow joint were activated transcutanously using a programmable stimulator, and the resultant finger flexion joint angles were recorded using a motion capture system. The individual finger motions averaged across the three joints were analyzed using a cluster analysis, in order to classify the different hand grasp patterns. With low current intensity (grasp patterns including single finger movement and coordinated multi-finger movements. This study provides initial evidence on the feasibility of a proximal nerve stimulation technique in controlling a variety of finger movements and grasp patterns. Our approach could also be developed into a rehabilitative/assistive tool that can result in flexible movements of the fingers.

  4. Capacity of small groups of muscles to accomplish precision grasping tasks.

    Science.gov (United States)

    Towles, Joseph D; Valero-Cuevas, Francisco J; Hentz, Vincent R

    2013-01-01

    An understanding of the capacity or ability of various muscle groups to generate endpoint forces that enable grasping tasks could provide a stronger biomechanical basis for the design of reconstructive surgery or rehabilitation for the treatment of the paralyzed or paretic hand. We quantified two-dimensional endpoint force distributions for every combination of the muscles of the index finger, in cadaveric specimens, to understand the capability of muscle groups to produce endpoint forces that accomplish three common types of grasps-tripod, tip and lateral pinch-characterized by a representative level of Coulomb friction. We found that muscle groups of 4 or fewer muscles were capable of generating endpoint forces that enabled performance of each of the grasping tasks examined. We also found that flexor muscles were crucial to accomplish tripod pinch; intrinsic muscles, tip pinch; and the dorsal interosseus muscle, lateral pinch. The results of this study provide a basis for decision making in the design of reconstructive surgeries and rehabilitation approaches that attempt to restore the ability to perform grasping tasks with small groups of muscles.

  5. Grasp: Tracing, visualizing and measuring the behavior of real-time systems

    NARCIS (Netherlands)

    Holenderski, M.J.; Heuvel, van den M.M.H.P.; Bril, R.J.; Lukkien, J.J.; Lipari, G.; Cucinotta, T.

    2010-01-01

    Understanding and validating the timing behavior of real-time systems is not trivial. Many real-time operating systems and their development environments do not provide tracing support, and provide only limited visualization, measurements and analysis tools. This paper presents Grasp, a tool for

  6. The GRASP 3: Graphical Reliability Analysis Simulation Program. Version 3: A users' manual and modelling guide

    Science.gov (United States)

    Phillips, D. T.; Manseur, B.; Foster, J. W.

    1982-01-01

    Alternate definitions of system failure create complex analysis for which analytic solutions are available only for simple, special cases. The GRASP methodology is a computer simulation approach for solving all classes of problems in which both failure and repair events are modeled according to the probability laws of the individual components of the system.

  7. Object Recognition via Information-Theoretic Measures/Metrics

    National Research Council Canada - National Science Library

    Repperger, Daniel W; Pinkus, Alan R; Skipper, Julie A; Schrider, Christian D

    2006-01-01

    .... In aerial military images, objects with different orientation can be reasonably approximated by a single identification signature consisting of the average histogram of the object under rotations...

  8. Compensatory Motor Control After Stroke: An Alternative Joint Strategy for Object-Dependent Shaping of Hand Posture

    OpenAIRE

    Raghavan, Preeti; Santello, Marco; Gordon, Andrew M.; Krakauer, John W.

    2010-01-01

    Efficient grasping requires planned and accurate coordination of finger movements to approximate the shape of an object before contact. In healthy subjects, hand shaping is known to occur early in reach under predominantly feedforward control. In patients with hemiparesis after stroke, execution of coordinated digit motion during grasping is impaired as a result of damage to the corticospinal tract. The question addressed here is whether patients with hemiparesis are able to compensate for th...

  9. Pantomime-grasping: Advance knowledge of haptic feedback availability supports an absolute visuo-haptic calibration

    Directory of Open Access Journals (Sweden)

    Shirin eDavarpanah Jazi

    2016-05-01

    Full Text Available An emerging issue in movement neurosciences is whether haptic feedback influences the nature of the information supporting a simulated grasping response (i.e., pantomime-grasping. In particular, recent work by our group contrasted pantomime-grasping responses performed with (i.e., PH+ trials and without (i.e., PH- trials terminal haptic feedback in separate blocks of trials. Results showed that PH- trials were mediated via relative visual information. In contrast, PH+ trials showed evidence of an absolute visuo-haptic calibration – a finding attributed to an error signal derived from a comparison between expected and actual haptic feedback (i.e., an internal forward model. The present study examined whether advanced knowledge of haptic feedback availability influences the aforementioned calibration process. To that end, PH- and PH+ trials were completed in separate blocks (i.e., the feedback schedule used in our group’s previous study and a block wherein PH- and PH+ trials were randomly interleaved on a trial-by-trial basis (i.e., random feedback schedule. In other words, the random feedback schedule precluded participants from predicting whether haptic feedback would be available at the movement goal location. We computed just-noticeable-difference (JND values to determine whether responses adhered to, or violated, the relative psychophysical principles of Weber’s law. Results for the blocked feedback schedule replicated our group’s previous work, whereas in the random feedback schedule PH- and PH+ trials were supported via relative visual information. Accordingly, we propose that a priori knowledge of haptic feedback is necessary to support an absolute visuo-haptic calibration. Moreover, our results demonstrate that the presence and expectancy of haptic feedback is an important consideration in contrasting the behavioral and neural properties of natural and stimulated (i.e., pantomime-grasping grasping.

  10. Local-learning-based neuron selection for grasping gesture prediction in motor brain machine interfaces

    Science.gov (United States)

    Xu, Kai; Wang, Yiwen; Wang, Yueming; Wang, Fang; Hao, Yaoyao; Zhang, Shaomin; Zhang, Qiaosheng; Chen, Weidong; Zheng, Xiaoxiang

    2013-04-01

    Objective. The high-dimensional neural recordings bring computational challenges to movement decoding in motor brain machine interfaces (mBMI), especially for portable applications. However, not all recorded neural activities relate to the execution of a certain movement task. This paper proposes to use a local-learning-based method to perform neuron selection for the gesture prediction in a reaching and grasping task. Approach. Nonlinear neural activities are decomposed into a set of linear ones in a weighted feature space. A margin is defined to measure the distance between inter-class and intra-class neural patterns. The weights, reflecting the importance of neurons, are obtained by minimizing a margin-based exponential error function. To find the most dominant neurons in the task, 1-norm regularization is introduced to the objective function for sparse weights, where near-zero weights indicate irrelevant neurons. Main results. The signals of only 10 neurons out of 70 selected by the proposed method could achieve over 95% of the full recording's decoding accuracy of gesture predictions, no matter which different decoding methods are used (support vector machine and K-nearest neighbor). The temporal activities of the selected neurons show visually distinguishable patterns associated with various hand states. Compared with other algorithms, the proposed method can better eliminate the irrelevant neurons with near-zero weights and provides the important neuron subset with the best decoding performance in statistics. The weights of important neurons converge usually within 10-20 iterations. In addition, we study the temporal and spatial variation of neuron importance along a period of one and a half months in the same task. A high decoding performance can be maintained by updating the neuron subset. Significance. The proposed algorithm effectively ascertains the neuronal importance without assuming any coding model and provides a high performance with different

  11. Magnetic De-spinning of Space Objects

    Data.gov (United States)

    National Aeronautics and Space Administration — Objects in orbit about the earth rotate such that a service spacecraft cannot grapple to them. There are few techniques available to despin a space object without...

  12. Rotationally invariant correlation filtering

    International Nuclear Information System (INIS)

    Schils, G.F.; Sweeney, D.W.

    1985-01-01

    A method is presented for analyzing and designing optical correlation filters that have tailored rotational invariance properties. The concept of a correlation of an image with a rotation of itself is introduced. A unified theory of rotation-invariant filtering is then formulated. The unified approach describes matched filters (with no rotation invariance) and circular-harmonic filters (with full rotation invariance) as special cases. The continuum of intermediate cases is described in terms of a cyclic convolution operation over angle. The angular filtering approach allows an exact choice for the continuous trade-off between loss of the correlation energy (or specificity regarding the image) and the amount of rotational invariance desired

  13. Picture this! grasping the dimensions of time and space

    CERN Document Server

    Carroll, Michael

    2016-01-01

    Astronomical concepts can be truly hard to comprehend, especially those of planetary sizes and distances from Earth and from each other. These concepts are made more comprehensible by the group of illustrations in this book, which put, in scale, side by side extraterrestrial objects with objects on Earth we can more easily relate to. For example, study the pictures of Earth floating above Jupiter’s Great Red Spot and the asteroid Itokawa resting beside Toronto’s CN Tower. These mind-bending images bring things better into perspective and will help you understand the size and scale of our Solar System. In later chapters, you will be told how close the visionaries of the past came to guessing what today’s explorers would find. Astronomer/painter Lucien Rudaux’s masterpieces of Mars dust storms anticipated Viking and Mars rover images by nearly a century. Space artist Ludek Pesek envisioned astronauts setting up camp on the lunar surface in scenes hauntingly similar to photos taken by Apollo a...

  14. The influence of visual feedback from the recent past on the programming of grip aperture is grasp-specific, shared between hands, and mediated by sensorimotor memory not task set.

    Science.gov (United States)

    Tang, Rixin; Whitwell, Robert L; Goodale, Melvyn A

    2015-05-01

    Goal-directed movements, such as reaching out to grasp an object, are necessarily constrained by the spatial properties of the target such as its size, shape, and position. For example, during a reach-to-grasp movement, the peak width of the aperture formed by the thumb and fingers in flight (peak grip aperture, PGA) is linearly related to the target's size. Suppressing vision throughout the movement (visual open loop) has a small though significant effect on this relationship. Visual open loop conditions also produce a large increase in the PGA compared to when vision is available throughout the movement (visual closed loop). Curiously, this differential effect of the availability of visual feedback is influenced by the presentation order: the difference in PGA between closed- and open-loop trials is smaller when these trials are intermixed (an effect we have called 'homogenization'). Thus, grasping movements are affected not only by the availability of visual feedback (closed loop or open loop) but also by what happened on the previous trial. It is not clear, however, whether this carry-over effect is mediated through motor (or sensorimotor) memory or through the interference of different task sets for closed-loop and open-loop feedback that determine when the movements are fully specified. We reasoned that sensorimotor memory, but not a task set for closed and open loop feedback, would be specific to the type of response. We tested this prediction in a condition in which pointing to targets was alternated with grasping those same targets. Critically, in this condition, when pointing was performed in open loop, grasping was always performed in closed loop (and vice versa). Despite the fact that closed- and open-loop trials were alternating in this condition, we found no evidence for homogenization of the PGA. Homogenization did occur, however, in a follow-up experiment in which grasping movements and visual feedback were alternated between the left and the right

  15. Physically coupling two objects in a bimanual task alters kinematics but not end-state comfort.

    Science.gov (United States)

    Hughes, Charmayne M L; Haddad, Jeffrey M; Franz, Elizabeth A; Zelaznik, Howard N; Ryu, Joong Hyun

    2011-06-01

    People often grasp objects with an awkward grip to ensure a comfortable hand posture at the end of the movement. This end-state comfort effect is a predominant constraint during unimanual movements. However, during bimanual movements the tendency for both hands to satisfy end-state comfort is affected by factors such as end-orientation congruency and task context. Although bimanual end-state comfort has been examined when the hands manipulate two independent objects, no research has examined end-state comfort when the hands are required to manipulate two physically-coupled objects. In the present experiment, kinematics and grasp behavior during a unimanual and bimanual reaching and placing tasks were examined, when the hands manipulate two physically-connected objects. Forty-five participants were assigned to one of three groups; unimanual, bimanual no-spring (the objects were not physically connected), and bimanual spring (the objects were connected by a spring), and instructed to grasp and place objects in various end-orientations, depending on condition. Physically connecting the objects did not affect end-state comfort prevalence. However, it resulted in decreased interlimb coupling. This finding supports the notion of a flexible constraint hierarchy, in which action goals guide the selection of lower level action features (i.e., hand grip used for grasping), and the particular movements used to accomplish that goal (i.e., interlimb coupling) are controlled throughout the movement.

  16. Infants with Down Syndrome and Their Interactions with Objects: Development of Exploratory Actions after Reaching Onset

    Science.gov (United States)

    de Campos, Ana Carolina; da Costa, Carolina Souza Neves; Savelsbergh, Geert J. P.; Rocha, Nelci Adriana Cicuto Ferreira

    2013-01-01

    During infant development, objects and their functions are learned by means of active exploration. Factors that may influence exploration include reaching and grasping ability, object properties and the presence of developmental disorders. We assessed the development of exploratory actions in 16 typically-developing (TD) infants and 9 infants with…

  17. Quantitative model of transport-aperture coordination during reach-to-grasp movements.

    Science.gov (United States)

    Rand, Miya K; Shimansky, Y P; Hossain, Abul B M I; Stelmach, George E

    2008-06-01

    It has been found in our previous studies that the initiation of aperture closure during reach-to-grasp movements occurs when the hand distance to target crosses a threshold that is a function of peak aperture amplitude, hand velocity, and hand acceleration. Thus, a stable relationship between those four movement parameters is observed at the moment of aperture closure initiation. Based on the concept of optimal control of movements (Naslin 1969) and its application for reach-to-grasp movement regulation (Hoff and Arbib 1993), it was hypothesized that the mathematical equation expressing that relationship can be generalized to describe coordination between hand transport and finger aperture during the entire reach-to-grasp movement by adding aperture velocity and acceleration to the above four movement parameters. The present study examines whether this hypothesis is supported by the data obtained in experiments in which young adults performed reach-to-grasp movements in eight combinations of two reach-amplitude conditions and four movement-speed conditions. It was found that linear approximation of the mathematical model described the relationship among the six movement parameters for the entire aperture-closure phase with very high precision for each condition, thus supporting the hypothesis for that phase. Testing whether one mathematical model could approximate the data across all the experimental conditions revealed that it was possible to achieve the same high level of data-fitting precision only by including in the model two additional, condition-encoding parameters and using a nonlinear, artificial neural network-based approximator with two hidden layers comprising three and two neurons, respectively. This result indicates that transport-aperture coordination, as a specific relationship between the parameters of hand transport and finger aperture, significantly depends on the condition-encoding variables. The data from the aperture-opening phase also fit a

  18. Rotation Frequencies of Small Jovian Trojan Asteroids: An Excess of Slow Rotators

    Science.gov (United States)

    French, Linda M.; Stephens, Robert D.; James, David J.; Coley, Daniel; Connour, Kyle

    2015-11-01

    Several lines of evidence support a common origin for, and possible hereditary link between, cometary nuclei and jovian Trojan asteroids. Due to their distance and low albedos, few comet-sized Trojans have been studied. We discuss the rotation properties of Jovian Trojan asteroids less than 30 km in diameter. Approximately half the 131 objects discussed here were studied using densely sampled lightcurves (French et al. 2015a, b); Stephens et al. 2015), and the other half were sparse lightcurves obtained by the Palomar Transient Factory (PTF; Waszcazk et al. 2015).A significant fraction (~40%) of the objects in the ground-based sample rotate slowly (P > 24h), with measured periods as long as 375 h (Warner and Stephens 2011). The PTF data show a similar excess of slow rotators. Only 5 objects in the combined data set have rotation periods of less than six hours. Three of these fast rotators were contained in the data set of French et al. these three had a geometric mean rotation period of 5.29 hours. A prolate spheroid held together by gravity rotating with this period would have a critical density of 0.43 gm/cm3, a density similar to that of comets (Lamy et al. 2004).Harris et al. (2012) and Warner et al. (2011) have explored the possible effects on asteroid rotational statistics with the results from wide-field surveys. We will examine Trojan rotation statistics with and without the results from the PTF.

  19. Parameterization of rotational spectra

    International Nuclear Information System (INIS)

    Zhou Chunmei; Liu Tong

    1992-01-01

    The rotational spectra of the strongly deformed nuclei with low rotational frequencies and weak band mixture are analyzed. The strongly deformed nuclei are commonly encountered in the rare-earth region (e. g., 150 220). A lot of rotational band knowledge are presented

  20. Rotating reactors : a review

    NARCIS (Netherlands)

    Visscher, F.; Schaaf, van der J.; Nijhuis, T.A.; Schouten, J.C.

    2013-01-01

    This review-perspective paper describes the current state-of-the-art in the field of rotating reactors. The paper has a focus on rotating reactor technology with applications at lab scale, pilot scale and industrial scale. Rotating reactors are classified and discussed according to their geometry:

  1. Coordination of intrinsic and extrinsic hand muscle activity as a function of wrist joint angle during two-digit grasping.

    Science.gov (United States)

    Johnston, Jamie A; Bobich, Lisa R; Santello, Marco

    2010-04-26

    Fingertip forces result from the activation of muscles that cross the wrist and muscles whose origins and insertions reside within the hand (extrinsic and intrinsic hand muscles, respectively). Thus, tasks that involve changes in wrist angle affect the moment arm and length, hence the force-producing capabilities, of extrinsic muscles only. If a grasping task requires the exertion of constant fingertip forces, the Central Nervous System (CNS) may respond to changes in wrist angle by modulating the neural drive to extrinsic or intrinsic muscles only or by co-activating both sets of muscles. To distinguish between these scenarios, we recorded electromyographic (EMG) activity of intrinsic and extrinsic muscles of the thumb and index finger as a function of wrist angle during a two-digit object hold task. We hypothesized that changes in wrist angle would elicit EMG amplitude modulation of the extrinsic and intrinsic hand muscles. In one experimental condition we asked subjects to exert the same digit forces at each wrist angle, whereas in a second condition subjects could choose digit forces for holding the object. EMG activity was significantly modulated in both extrinsic and intrinsic muscles as a function of wrist angle (both pextrinsic and intrinsic muscles as a muscle synergy. These findings are discussed within the theoretical frameworks of synergies and common neural input across motor nuclei of hand muscles. Copyright 2010 Elsevier Ireland Ltd. All rights reserved.

  2. Explicit knowledge about the availability of visual feedback affects grasping with the left but not the right hand.

    Science.gov (United States)

    Tang, Rixin; Whitwell, Robert L; Goodale, Melvyn A

    2014-01-01

    Previous research (Whitwell et al. in Exp Brain Res 188:603-611, 2008; Whitwell and Goodale in Exp Brain Res 194:619-629, 2009) has shown that trial history, but not anticipatory knowledge about the presence or absence of visual feedback on an upcoming trial, plays a vital role in determining how that feedback is exploited when grasping with the right hand. Nothing is known about how the non-dominant left hand behaves under the same feedback regimens. In present study, therefore, we compared peak grip aperture (PGA) for left- and right-hand grasps executed with and without visual feedback (i.e., closed- vs. open-loop conditions) in right-handed individuals under three different trial schedules: the feedback conditions were blocked separately, they were randomly interleaved, or they were alternated. When feedback conditions were blocked, the PGA was much larger for open-loop trials as compared to closed-loop trials, although this difference was more pronounced for right-hand grasps than left-hand grasps. Like Whitwell et al., we found that mixing open- and closed-loop trials together, compared to blocking them separately, homogenized the PGA for open- and closed-loop grasping in the right hand (i.e., the PGAs became smaller on open-loop trials and larger on closed-loop trials). In addition, the PGAs for right-hand grasps were entirely determined by trial history and not by knowledge of whether or not visual feedback would be available on an upcoming trial. In contrast to grasps made with the right hand, grasps made by the left hand were affected both by trial history and by anticipatory knowledge of the upcoming visual feedback condition. But these effects were observed only on closed-loop trials, i.e., the PGAs of grasps made with the left hand on closed-loop trials were smaller when participants could anticipate the availability of feedback on an upcoming trial (alternating trials) than when they could not (randomized trials). In contrast, grasps made with the

  3. Keeping It in Three Dimensions: Measuring the Development of Mental Rotation in Children with the Rotated Colour Cube Test (RCCT)

    Science.gov (United States)

    Lutke, Nikolay; Lange-Kuttner, Christiane

    2015-01-01

    This study introduces the new Rotated Colour Cube Test (RCCT) as a measure of object identification and mental rotation using single 3D colour cube images in a matching-to-sample procedure. One hundred 7- to 11-year-old children were tested with aligned or rotated cube models, distracters and targets. While different orientations of distracters…

  4. Polio Eradication and Endgame Plan - Victory within Grasp.

    Science.gov (United States)

    Patel, Manish; Menning, Lisa; Bhatnagar, Pankaj

    2016-08-07

    Since the launch of the Global Polio Eradication Initiative (GPEI) by the World Health Assembly (WHA) in 1988, the number of polio-endemic countries has decreased from 125 to 2 (Afghanistan and Pakistan). To secure the gains and to address the remaining challenges, the GPEI developed the Polio Eradication and Endgame Strategic Plan, 2013-2018 (the Plan), endorsed by all Member States at the WHA in May 2013. One of the major elements that distinguishes this Plan from previous GPEI strategies is the approach to ending all polioviruses, both wild and vaccine-derived. Overall, the Plan outlines four main objectives: (1) to stop all wild poliovirus (WPV) transmission; (2) to introduce inactivated polio vaccine (IPV), withdraw all oral polio vaccines (OPV), and strengthen immunization systems in countries with weak immunization systems and strong polio infrastructure; (3) to certify all regions as polio-free and safely contain all poliovirus stocks; (4) and to mainstream the investment in polio eradication to benefit other priority public health initiatives for years to come. Implementing the Plan and meeting the milestones in a timely manner will help to ensure that that the world remains permanently polio-free.

  5. Rotating Stars in Relativity

    Directory of Open Access Journals (Sweden)

    Stergioulas Nikolaos

    2003-01-01

    Full Text Available Rotating relativistic stars have been studied extensively in recent years, both theoretically and observationally, because of the information they might yield about the equation of state of matter at extremely high densities and because they are considered to be promising sources of gravitational waves. The latest theoretical understanding of rotating stars in relativity is reviewed in this updated article. The sections on the equilibrium properties and on the nonaxisymmetric instabilities in f-modes and r-modes have been updated and several new sections have been added on analytic solutions for the exterior spacetime, rotating stars in LMXBs, rotating strange stars, and on rotating stars in numerical relativity.

  6. Adding randomness controlling parameters in GRASP method applied in school timetabling problem

    Directory of Open Access Journals (Sweden)

    Renato Santos Pereira

    2017-09-01

    Full Text Available This paper studies the influence of randomness controlling parameters (RCP in first stage GRASP method applied in graph coloring problem, specifically school timetabling problems in a public high school. The algorithm (with the inclusion of RCP was based on critical variables identified through focus groups, whose weights can be adjusted by the user in order to meet the institutional needs. The results of the computational experiment, with 11-year-old data (66 observations processed at the same high school show that the inclusion of RCP leads to significantly lowering the distance between initial solutions and local minima. The acceptance and the use of the solutions found allow us to conclude that the modified GRASP, as has been constructed, can make a positive contribution to this timetabling problem of the school in question.

  7. Immediate movement history influences reach-to-grasp action selection in children and adults.

    Science.gov (United States)

    Kent, Samuel W; Wilson, Andrew D; Plumb, Mandy S; Williams, Justin H G; Mon-Williams, Mark

    2009-01-01

    Action selection is subject to many biases. Immediate movement history is one such bias seen in young infants. Is this bias strong enough to affect adult behavior? Adult participants reached and grasped a cylinder positioned to require either pronation or supination of the hand. Successive cylinder positions changed either randomly or systematically between trials. Random positioning led to optimized economy of movement. In contrast, systematic changes in position biased action selection toward previously selected actions at the expense of movement economy. Thus, one switches to a new movement only when the savings outweigh the costs of the switch. Immediate movement history had an even larger influence on children aged 7-15 years. This suggests that switching costs are greater in children, which is consistent with their reduced grasping experience. The presence of this effect in adults suggests that immediate movement history exerts a more widespread and pervasive influence on patterns of action selection than researchers had previously recognized.

  8. The GRASP project - a multidisciplinary study of hydrology and biogeochemistry in a periglacial catchment area

    Science.gov (United States)

    Johansson, Emma; Lindborg, Tobias

    2017-04-01

    The Arctic region is sensitive to global warming, and permafrost thaw and release of old carbon are examples of processes that may have a positive feedback effect to the global climate system. Quantification and assumptions on future change are often based on model predictions. Such models require cross-disciplinary data of high quality that often is lacking. Biogeochemical processes in the landscape are highly influenced by the hydrology, which in turn is intimately related to permafrost processes. Thus, a multidisciplinary approach is needed when collecting data and setting up field experiments aiming at increase the understanding of these processes. Here we summarize and present data collected in the GRASP, Greenland Analogue Surface Project. GRASP is a catchment-scale field study of the periglacial area in the Kangerlussuaq region, West Greenland, focusing on hydrological and biogeochemical processes in the landscape. The site investigations were initiated in 2010 and have since then resulted in three separate data sets published in ESSD (Earth system and Science Data) each one focusing on i) meteorological data and hydrology, ii) biogeochemistry and iii) geometries of sediments and the active layer. The three data-sets, which are freely available via the PANGAEA data base, enable conceptual and coupled numerical modeling of hydrological and biogeochemical processes. An important strength with the GRASP data is that all data is collected within the same, relatively small, catchment area. This implies that measurements are more easily linked to the right source area or process. Despite the small catchment area it includes the major units of the periglacial hydrological system; a lake, a talik, a supra- and subpermafrost aquifer and, consequently, biogeochemical processes in each of these units may be studied. The new data from GRASP is both used with the aim to increase the knowledge of present day periglacial hydrology and biogeochemistry but also in order to

  9. The origins of thalamic inputs to grasp zones in frontal cortex of macaque monkeys

    OpenAIRE

    Gharbawie, Omar A.; Stepniewska, Iwona; Kaas, Jon H.

    2015-01-01

    The hand representation in primary motor cortex (M1) is instrumental to manual dexterity in primates. In Old World monkeys, rostral and caudal aspects of the hand representation are located in the precentral gyrus and the anterior bank of the central sulcus, respectively. We previously reported the organization of the cortico-cortical connections of the grasp zone in rostral M1. Here we describe the organization of thalamocortical connections that were labeled from the same tracer injections....

  10. Exploration of Hand Grasp Patterns Elicitable Through Non-Invasive Proximal Nerve Stimulation

    OpenAIRE

    Shin, Henry; Watkins, Zach; Hu, Xiaogang

    2017-01-01

    Various neurological conditions, such as stroke or spinal cord injury, result in an impaired control of the hand. One method of restoring this impairment is through functional electrical stimulation (FES). However, traditional FES techniques often lead to quick fatigue and unnatural ballistic movements. In this study, we sought to explore the capabilities of a non-invasive proximal nerve stimulation technique in eliciting various hand grasp patterns. The ulnar and median nerves proximal to th...

  11. Role of vision in aperture closure control during reach-to-grasp movements.

    Science.gov (United States)

    Rand, Miya K; Lemay, Martin; Squire, Linda M; Shimansky, Yury P; Stelmach, George E

    2007-08-01

    We have previously shown that the distance from the hand to the target at which finger closure is initiated during the reach (aperture closure distance) depends on the amplitude of peak aperture, as well as hand velocity and acceleration. This dependence suggests the existence of a control law according to which a decision to initiate finger closure during the reach is made when the hand distance to target crosses a threshold that is a function of the above movement-related parameters. The present study examined whether the control law is affected by manipulating the visibility of the hand and the target. Young adults made reach-to-grasp movements to a dowel under conditions in which the target or the hand or both were either visible or not visible. Reaching for and grasping a target when the hand and/or target were not visible significantly increased transport time and widened peak aperture. Aperture closure distance was significantly lengthened and wrist peak velocity was decreased only when the target was not visible. Further analysis showed that the control law was significantly different between the visibility-related conditions. When either the hand or target was not visible, the aperture closure distance systematically increased compared to its value for the same amplitude of peak aperture, hand velocity, and acceleration under full visibility. This implies an increase in the distance-related safety margin for grasping when the hand or target is not visible. It has been also found that the same control law can be applied to all conditions, if variables describing hand and target visibility were included in the control law model, as the parameters of the task-related environmental context, in addition to the above movement-related parameters. This suggests that that the CNS utilizes those variables for controlling grasp initiation based on a general control law.

  12. Connections of Grasping and Horizontal Hand Movements with Articulation in Czech Speakers

    Czech Academy of Sciences Publication Activity Database

    Tiainen, M.; Lukavský, Jiří; Tiippana, K.; Vainio, M.; Šimko, J.; Felisberti, F.; Vainio, L.

    2017-01-01

    Roč. 8, duben (2017), s. 1-10, č. článku 516. ISSN 1664-1078 Grant - others:AV ČR(CZ) StrategieAV21/14 Program:StrategieAV Institutional support: RVO:68081740 Keywords : articulation * motor actions * language * grasping * manual gestures * speech * manual actions Subject RIV: AN - Psychology OBOR OECD: Cognitive sciences Impact factor: 2.323, year: 2016

  13. On Averaging Rotations

    DEFF Research Database (Denmark)

    Gramkow, Claus

    1999-01-01

    In this article two common approaches to averaging rotations are compared to a more advanced approach based on a Riemannian metric. Very offten the barycenter of the quaternions or matrices that represent the rotations are used as an estimate of the mean. These methods neglect that rotations belo...... approximations to the Riemannian metric, and that the subsequent corrections are inherient in the least squares estimation. Keywords: averaging rotations, Riemannian metric, matrix, quaternion......In this article two common approaches to averaging rotations are compared to a more advanced approach based on a Riemannian metric. Very offten the barycenter of the quaternions or matrices that represent the rotations are used as an estimate of the mean. These methods neglect that rotations belong...

  14. For your eyes only: Effect of confederate's eye level on reach-to-grasp action

    Directory of Open Access Journals (Sweden)

    Francois eQuesque

    2014-12-01

    Full Text Available Previous studies have shown that the spatio-temporal parameters of reach-to-grasp movement are influenced by the social context in which the motor action is performed. In particular, when interacting with a confederate, movements are slower, with longer initiation times and more ample trajectories, which has been interpreted as implicit communicative information emerging through voluntary movement to catch the partner’s attention and optimize cooperation (Quesque et al., 2013. Because gaze is a crucial component of social interactions, the present study evaluated the role of a confederate's eye level on the social modulation of trajectory curvature. An actor and a partner facing each other took part in a cooperative task consisting, for one of them, of grasping and moving a wooden dowel under time constraints. Before this Main action, the actor performed a Preparatory action, which consisted of placing the wooden dowel on a central marking. The partner's eye level was unnoticeably varied using an adjustable seat that matched or was higher than the actor’s seat. Our data confirmed the previous effects of social intention on motor responses. Furthermore, we observed an effect of the partner's eye level on the Preparatory action, leading the actors to exaggerate unconsciously the trajectory curvature in relation to their partner's eye level. No interaction was found between the actor's social intention and their partner's eye level. These results suggest that other bodies are implicitly taken into account when a reach-to-grasp movement is produced in a social context.

  15. Using an accelerometer for analyzing a reach-to-grasp movement after stroke

    Directory of Open Access Journals (Sweden)

    Stella Maris Michaelsen

    2013-12-01

    Full Text Available The purpose of this study was using an accelerometer to access the kinematics of reach-to-grasp movements in subjects with hemiparesis. Eight subjects (59.4 ± 6.9 years old with chronic hemiparesis (50.9 ± 25.8 months post-stroke participated in this study. Kinematic assessment was performed using a triaxial accelerometer (EMG Systems, Brazil attached to the subjects' forearm. Ten reach-to-grasp movements of grabbing a 500ml-size bottle were performed by the subjects with the paretic and the non-paretic upper limbs (ULs. The following space-temporal variables were calculated and used to compare the paretic and non-paretic ULs: movement time (MT, time to reach the peak velocity, absolute and relative (TPV and TPV%MT, relative deceleration duration (DEC%MT, time to peak acceleration (TPA and peak hand acceleration (PA. Movements were slower in the paretic UL with increased MT, TPA and DEC. The accelerometer allowed to identify of changes in reaching-to-grasp movements of subjects with hemiparesis. When complex systems are not available, accelerometers can be an alternative to measure UL movements.

  16. From grasp to language: embodied concepts and the challenge of abstraction.

    Science.gov (United States)

    Arbib, Michael A

    2008-01-01

    The discovery of mirror neurons in the macaque monkey and the discovery of a homologous "mirror system for grasping" in Broca's area in the human brain has revived the gestural origins theory of the evolution of the human capability for language, enriching it with the suggestion that mirror neurons provide the neurological core for this evolution. However, this notion of "mirror neuron support for the transition from grasp to language" has been worked out in very different ways in the Mirror System Hypothesis model [Arbib, M.A., 2005a. From monkey-like action recognition to human language: an evolutionary framework for neurolinguistics (with commentaries and author's response). Behavioral and Brain Sciences 28, 105-167; Rizzolatti, G., Arbib, M.A., 1998. Language within our grasp. Trends in Neuroscience 21(5), 188-194] and the Embodied Concept model [Gallese, V., Lakoff, G., 2005. The brain's concepts: the role of the sensory-motor system in reason and language. Cognitive Neuropsychology 22, 455-479]. The present paper provides a critique of the latter to enrich analysis of the former, developing the role of schema theory [Arbib, M.A., 1981. Perceptual structures and distributed motor control. In: Brooks, V.B. (Ed.), Handbook of Physiology--The Nervous System II. Motor Control. American Physiological Society, pp. 1449-1480].

  17. Changes in gross grasp strength and fine motor skills in adolescents with pediatric multiple sclerosis.

    Science.gov (United States)

    Squillace, Mary; Ray, Sharon; Milazzo, Maria

    2015-01-01

    This study examined the gross grasp strength and fine motor dexterity of adolescents, who are diagnosed with multiple sclerosis (MS). A total sample size of 72 participants between the ages of 13 to 17 was studied. Thirty six with a diagnosis of pediatric relapse remitting MS and 36 matched control participants were selected from various local youth groups. Data on hand strength and dexterity was collected using a dynamometer, nine hole peg board and Purdue pegboard on both groups. Utilizing ANCOVA to describe the differences across the two groups by diagnosis, controlling for age and gender, it was found that the MS group demonstrated significantly decreased dexterity when compared to age and gender matched controls. There was no significant difference in gross grasp strength by diagnostic group. This preliminary study showed that children with a diagnosis of pediatric MS may have differences in fine motor dexterity, but not gross grasp strength from their peers who do not have the diagnosis. Further study is indicated to examine this phenomenon.

  18. Proteomics perspectives in rotator cuff research

    DEFF Research Database (Denmark)

    Sejersen, Maria Hee Jung; Frost, Poul; Hansen, Torben Bæk

    2015-01-01

    Background Rotator cuff tendinopathy including tears is a cause of significant morbidity. The molecular pathogenesis of the disorder is largely unknown. This review aimed to present an overview of the literature on gene expression and protein composition in human rotator cuff tendinopathy and other...... studies on objectively quantified differential gene expression and/or protein composition in human rotator cuff tendinopathy and other tendinopathies as compared to control tissue. Results We identified 2199 studies, of which 54 were included; 25 studies focussed on rotator cuff or biceps tendinopathy......, which only allowed simultaneous quantification of a limited number of prespecified mRNA molecules or proteins, several proteins appeared to be differentially expressed/represented in rotator cuff tendinopathy and other tendinopathies. No proteomics studies fulfilled our inclusion criteria, although...

  19. MULTIPLE OBJECTS

    Directory of Open Access Journals (Sweden)

    A. A. Bosov

    2015-04-01

    Full Text Available Purpose. The development of complicated techniques of production and management processes, information systems, computer science, applied objects of systems theory and others requires improvement of mathematical methods, new approaches for researches of application systems. And the variety and diversity of subject systems makes necessary the development of a model that generalizes the classical sets and their development – sets of sets. Multiple objects unlike sets are constructed by multiple structures and represented by the structure and content. The aim of the work is the analysis of multiple structures, generating multiple objects, the further development of operations on these objects in application systems. Methodology. To achieve the objectives of the researches, the structure of multiple objects represents as constructive trio, consisting of media, signatures and axiomatic. Multiple object is determined by the structure and content, as well as represented by hybrid superposition, composed of sets, multi-sets, ordered sets (lists and heterogeneous sets (sequences, corteges. Findings. In this paper we study the properties and characteristics of the components of hybrid multiple objects of complex systems, proposed assessments of their complexity, shown the rules of internal and external operations on objects of implementation. We introduce the relation of arbitrary order over multiple objects, we define the description of functions and display on objects of multiple structures. Originality.In this paper we consider the development of multiple structures, generating multiple objects.Practical value. The transition from the abstract to the subject of multiple structures requires the transformation of the system and multiple objects. Transformation involves three successive stages: specification (binding to the domain, interpretation (multiple sites and particularization (goals. The proposed describe systems approach based on hybrid sets

  20. Non-contact measurement of rotation angle with solo camera

    Science.gov (United States)

    Gan, Xiaochuan; Sun, Anbin; Ye, Xin; Ma, Liqun

    2015-02-01

    For the purpose to measure a rotation angle around the axis of an object, a non-contact rotation angle measurement method based on solo camera was promoted. The intrinsic parameters of camera were calibrated using chessboard on principle of plane calibration theory. The translation matrix and rotation matrix between the object coordinate and the camera coordinate were calculated according to the relationship between the corners' position on object and their coordinates on image. Then the rotation angle between the measured object and the camera could be resolved from the rotation matrix. A precise angle dividing table (PADT) was chosen as the reference to verify the angle measurement error of this method. Test results indicated that the rotation angle measurement error of this method did not exceed +/- 0.01 degree.

  1. Dynamics of Tidally Locked, Ultrafast Rotating Atmospheres

    Science.gov (United States)

    Tan, Xianyu; Showman, Adam P.

    2017-10-01

    Tidally locked gas giants, which exhibit a novel regime of day-night thermal forcing and extreme stellar irradiation, are typically in several-day orbits, implying slow rotation and a modest role for rotation in the atmospheric circulation. Nevertheless, there exist a class of gas-giant, highly irradiated objects - brown dwarfs orbiting white dwarfs in extremely tight orbits - whose orbital and hence rotation periods are as short as 1-2 hours. Spitzer phase curves and other observations have already been obtained for this fascinating class of objects, which raise fundamental questions about the role of rotation in controlling the circulation. So far, most modeling studies have investigated rotation periods exceeding a day, as appropriate for typical hot Jupiters. In this work we investigate the dynamics of tidally locked atmospheres in shorter rotation periods down to about two hours. With increasing rotation rate (decreasing rotation period), we show that the width of the equatorial eastward jet decreases, consistent with the narrowing of wave-mean-flow interacting region due to decrease of the equatorial deformation radius. The eastward-shifted equatorial hot spot offset decreases accordingly, and the westward-shifted hot regions poleward of the equatorial jet associated with Rossby gyres become increasingly distinctive. At high latitudes, winds becomes weaker and more geostrophic. The day-night temperature contrast becomes larger due to the stronger influence of rotation. Our simulated atmospheres exhibit small-scale variability, presumably caused by shear instability. Unlike typical hot Jupiters, phase curves of fast-rotating models show an alignment of peak flux to secondary eclipse. Our results have important implications for phase curve observations of brown dwarfs orbiting white dwarfs in ultra tight orbits.

  2. 2D XD-GRASP provides better image quality than conventional 2D cardiac cine MRI for patients who cannot suspend respiration

    Science.gov (United States)

    Piekarski, Eve; Chitiboi, Teodora; Ramb, Rebecca; Latson, Larry A; Bhatla, Puneet; Feng, Li; Axel, Leon

    2017-01-01

    Object Residual respiratory motion degrades image quality in conventional cardiac cine MRI (CCMR). We evaluated whether a free-breathing (FB) radial imaging CCMR sequence with compressed sensing reconstruction (eXtra-Dimension (e.g. cardiac and respiratory phases) Golden-angle RAdial Sparse Parallel, or XD-GRASP) could provide better image quality than a conventional Cartesian breath-held (BH) sequence, in an unselected population of patients undergoing clinical CCMR. Material and Methods 101 patients who underwent BH and FB imaging in a mid-ventricular short-axis plane at a matching location were included. Visual and quantitative image analysis was performed by two blinded experienced readers, using a 5-point qualitative scale to score overall image quality and visual signal-to-noise ratio (SNR) grade, with measures of noise and sharpness. End-diastole (ED) and end-systole (ES) left-ventricular areas were also measured and compared for both BH and FB images. Results Image quality was generally better with the BH cines (overall quality grade BH vs FB: 4 vs 2.9, pXD-GRASP CCMR was visually inferior to conventional BH cardiac cine in general, it provided improved image quality in the subgroup of patients presenting respiratory motion-induced artifacts on breath-held images. PMID:29067539

  3. An investigation of the neural circuits underlying reaching and reach-to-grasp movements: from planning to execution.

    Directory of Open Access Journals (Sweden)

    Chiara eBegliomini

    2014-09-01

    Full Text Available Experimental evidence suggests the existence of a sophisticated brain circuit specifically dedicated to reach-to-grasp planning and execution, both in human and non human primates (Castiello, 2005. Studies accomplished by means of neuroimaging techniques suggest the hypothesis of a dichotomy between a reach-to-grasp circuit, involving the intraparietal area (AIP, the dorsal and ventral premotor cortices (PMd and PMv - Castiello and Begliomini, 2008; Filimon, 2010 and a reaching circuit involving the medial intraparietal area (mIP and the Superior Parieto-Occipital Cortex (SPOC (Culham et al., 2006. However, the time course characterizing the involvement of these regions during the planning and execution of these two types of movements has yet to be delineated. A functional magnetic resonance imaging (fMRI study has been conducted, including reach-to grasp and reaching only movements, performed towards either a small or a large stimulus, and Finite Impulse Response model (FIR - Henson, 2003 was adopted to monitor activation patterns from stimulus onset for a time window of 10 seconds duration. Data analysis focused on brain regions belonging either to the reaching or to the grasping network, as suggested by Castiello & Begliomini (2008.Results suggest that reaching and grasping movements planning and execution might share a common brain network, providing further confirmation to the idea that the neural underpinnings of reaching and grasping may overlap in both spatial and temporal terms (Verhagen et al., 2013.

  4. Compensatory motor control after stroke: an alternative joint strategy for object-dependent shaping of hand posture.

    Science.gov (United States)

    Raghavan, Preeti; Santello, Marco; Gordon, Andrew M; Krakauer, John W

    2010-06-01

    Efficient grasping requires planned and accurate coordination of finger movements to approximate the shape of an object before contact. In healthy subjects, hand shaping is known to occur early in reach under predominantly feedforward control. In patients with hemiparesis after stroke, execution of coordinated digit motion during grasping is impaired as a result of damage to the corticospinal tract. The question addressed here is whether patients with hemiparesis are able to compensate for their execution deficit with a qualitatively different grasp strategy that still allows them to differentiate hand posture to object shape. Subjects grasped a rectangular, concave, and convex object while wearing an instrumented glove. Reach-to-grasp was divided into three phases based on wrist kinematics: reach acceleration (reach onset to peak horizontal wrist velocity), reach deceleration (peak horizontal wrist velocity to reach offset), and grasp (reach offset to lift-off). Patients showed reduced finger abduction, proximal interphalangeal joint (PIP) flexion, and metacarpophalangeal joint (MCP) extension at object grasp across all three shapes compared with controls; however, they were able to partially differentiate hand posture for the convex and concave shapes using a compensatory strategy that involved increased MCP flexion rather than the PIP flexion seen in controls. Interestingly, shape-specific hand postures did not unfold initially during reach acceleration as seen in controls, but instead evolved later during reach deceleration, which suggests increased reliance on sensory feedback. These results indicate that kinematic analysis can identify and quantify within-limb compensatory motor control strategies after stroke. From a clinical perspective, quantitative study of compensation is important to better understand the process of recovery from brain injury. From a motor control perspective, compensation can be considered a model for how joint redundancy is exploited

  5. Identifying Broadband Rotational Spectra with Neural Networks

    Science.gov (United States)

    Zaleski, Daniel P.; Prozument, Kirill

    2017-06-01

    A typical broadband rotational spectrum may contain several thousand observable transitions, spanning many species. Identifying the individual spectra, particularly when the dynamic range reaches 1,000:1 or even 10,000:1, can be challenging. One approach is to apply automated fitting routines. In this approach, combinations of 3 transitions can be created to form a "triple", which allows fitting of the A, B, and C rotational constants in a Watson-type Hamiltonian. On a standard desktop computer, with a target molecule of interest, a typical AUTOFIT routine takes 2-12 hours depending on the spectral density. A new approach is to utilize machine learning to train a computer to recognize the patterns (frequency spacing and relative intensities) inherit in rotational spectra and to identify the individual spectra in a raw broadband rotational spectrum. Here, recurrent neural networks have been trained to identify different types of rotational spectra and classify them accordingly. Furthermore, early results in applying convolutional neural networks for spectral object recognition in broadband rotational spectra appear promising. Perez et al. "Broadband Fourier transform rotational spectroscopy for structure determination: The water heptamer." Chem. Phys. Lett., 2013, 571, 1-15. Seifert et al. "AUTOFIT, an Automated Fitting Tool for Broadband Rotational Spectra, and Applications to 1-Hexanal." J. Mol. Spectrosc., 2015, 312, 13-21. Bishop. "Neural networks for pattern recognition." Oxford university press, 1995.

  6. CENTRAL ROTATIONS OF MILKY WAY GLOBULAR CLUSTERS

    International Nuclear Information System (INIS)

    Fabricius, Maximilian H.; Rukdee, Surangkhana; Saglia, Roberto P.; Bender, Ralf; Hopp, Ulrich; Thomas, Jens; Williams, Michael J.; Noyola, Eva; Opitsch, Michael

    2014-01-01

    Most Milky Way globular clusters (GCs) exhibit measurable flattening, even if on a very low level. Both cluster rotation and tidal fields are thought to cause this flattening. Nevertheless, rotation has only been confirmed in a handful of GCs, based mostly on individual radial velocities at large radii. We are conducting a survey of the central kinematics of Galactic GCs using the new Integral Field Unit instrument VIRUS-W. We detect rotation in all 11 GCs that we have observed so far, rendering it likely that a large majority of the Milky Way GCs rotate. We use published catalogs of GCs to derive central ellipticities and position angles. We show that in all cases where the central ellipticity permits an accurate measurement of the position angle, those angles are in excellent agreement with the kinematic position angles that we derive from the VIRUS-W velocity fields. We find an unexpected tight correlation between central rotation and outer ellipticity, indicating that rotation drives flattening for the objects in our sample. We also find a tight correlation between central rotation and published values for the central velocity dispersion, most likely due to rotation impacting the old dispersion measurements

  7. Central Rotations of Milky Way Globular Clusters

    Science.gov (United States)

    Fabricius, Maximilian H.; Noyola, Eva; Rukdee, Surangkhana; Saglia, Roberto P.; Bender, Ralf; Hopp, Ulrich; Thomas, Jens; Opitsch, Michael; Williams, Michael J.

    2014-06-01

    Most Milky Way globular clusters (GCs) exhibit measurable flattening, even if on a very low level. Both cluster rotation and tidal fields are thought to cause this flattening. Nevertheless, rotation has only been confirmed in a handful of GCs, based mostly on individual radial velocities at large radii. We are conducting a survey of the central kinematics of Galactic GCs using the new Integral Field Unit instrument VIRUS-W. We detect rotation in all 11 GCs that we have observed so far, rendering it likely that a large majority of the Milky Way GCs rotate. We use published catalogs of GCs to derive central ellipticities and position angles. We show that in all cases where the central ellipticity permits an accurate measurement of the position angle, those angles are in excellent agreement with the kinematic position angles that we derive from the VIRUS-W velocity fields. We find an unexpected tight correlation between central rotation and outer ellipticity, indicating that rotation drives flattening for the objects in our sample. We also find a tight correlation between central rotation and published values for the central velocity dispersion, most likely due to rotation impacting the old dispersion measurements. This Letter includes data taken at The McDonald Observatory of The University of Texas at Austin.

  8. Rotations with Rodrigues' vector

    International Nuclear Information System (INIS)

    Pina, E

    2011-01-01

    The rotational dynamics was studied from the point of view of Rodrigues' vector. This vector is defined here by its connection with other forms of parametrization of the rotation matrix. The rotation matrix was expressed in terms of this vector. The angular velocity was computed using the components of Rodrigues' vector as coordinates. It appears to be a fundamental matrix that is used to express the components of the angular velocity, the rotation matrix and the angular momentum vector. The Hamiltonian formalism of rotational dynamics in terms of this vector uses the same matrix. The quantization of the rotational dynamics is performed with simple rules if one uses Rodrigues' vector and similar formal expressions for the quantum operators that mimic the Hamiltonian classical dynamics.

  9. On Averaging Rotations

    DEFF Research Database (Denmark)

    Gramkow, Claus

    2001-01-01

    In this paper two common approaches to averaging rotations are compared to a more advanced approach based on a Riemannian metric. Very often the barycenter of the quaternions or matrices that represent the rotations are used as an estimate of the mean. These methods neglect that rotations belong ...... approximations to the Riemannian metric, and that the subsequent corrections are inherent in the least squares estimation.......In this paper two common approaches to averaging rotations are compared to a more advanced approach based on a Riemannian metric. Very often the barycenter of the quaternions or matrices that represent the rotations are used as an estimate of the mean. These methods neglect that rotations belong...

  10. Elegant objects

    CERN Document Server

    Bugayenko, Yegor

    2017-01-01

    There are 23 practical recommendations for object-oriented programmers. Most of them are completely against everything you've read in other books. For example, static methods, NULL references, getters, setters, and mutable classes are called evil. Compound variable names, validators, private static literals, configurable objects, inheritance, annotations, MVC, dependency injection containers, reflection, ORM and even algorithms are our enemies.

  11. Objective lens

    Science.gov (United States)

    Olczak, Eugene G. (Inventor)

    2011-01-01

    An objective lens and a method for using same. The objective lens has a first end, a second end, and a plurality of optical elements. The optical elements are positioned between the first end and the second end and are at least substantially symmetric about a plane centered between the first end and the second end.

  12. A GRASP METAHEURISTIC FOR THE ORDERED CUTTING STOCK PROBLEM UN META-HEURÍSTICO GRASP PARA EL PROBLEMA DE STOCK DE CORTE ORDENADO

    Directory of Open Access Journals (Sweden)

    Rodrigo Rabello Golfeto

    2008-12-01

    Full Text Available This study presents a new mathematical model and a Greedy Randomized Adaptive Search Procedure (GRASP meta-heuristic to solve the ordered cutting stock problem. The ordered cutting stock problem was recently introduced in literature. It is appropriate to minimize the raw material used by industries that deal with reduced product inventories, such as industries that use the just-in-time basis for their production. In such cases, classic models for solving the cutting stock problem are useless. Results obtained from computational experiments for a set of random instances demonstrate that the proposed method can be applied to large industries that process cuts on their production lines and do not stock their products.Este estudio presenta un nuevo modelo matemático y un procedimiento meta-heurístico de búsqueda voraz adaptativa y aleatoria (GRASP, por sus siglas en inglés para resolver el problema de stock de corte ordenado. Éste problema ha sido introducido recientemente en la literatura. Es apropiado minimizar la materia prima usada por las industrias que manipulan inventarios reducidos de productos, tales como las industrias que usan la base justo a tiempo para su producción. En tales casos, los modelos clásicos para resolver el problema de stock de corte ordenado son inútiles. Los resultados obtenidos, mediante experimentos computacionales para un conjunto de ejemplos aleatorios, demuestran que el método propuesto puede ser aplicado a industrias grandes que procesan cortes en sus líneas de producción y no mantienen en stock sus productos.

  13. The art of the absolute: relations, objects, and immanence

    OpenAIRE

    Noys, Benjamin

    2014-01-01

    The contemporary theorization of art can be traced in a series of interlocking and antagonistic positions: the dissolution of art into social relations, the tracking of art as the work of objects that recede from our grasp, and the practice of art as instantiating or linking to an immanent plane. I take the question of immanence as central to these debates. This is because immanence implies a superior plane that exceeds specification or determination, and it also traces the problem of capital...

  14. Translate rotate scanning method for X-ray imaging

    International Nuclear Information System (INIS)

    Eberhard, J.W.; Kwog Cheong Tam.

    1990-01-01

    Rapid x-ray inspection of objects larger than an x-ray detector array is based on a translate rotate scanning motion of the object related to the fan beam source and detector. The scan for computerized tomography imaging is accomplished by rotating the object through 360 degrees at two or more positions relative to the source and detector array, in moving to another position the object is rotated and the object or source and detector are translated. A partial set of x-ray data is acquired at every position which are combined to obtain a full data set for complete image reconstruction. X-ray data for digital radiography imaging is acquired by scanning the object vertically at a first position at one view angle, rotating and translating the object relative to the source and detector to a second position, scanning vertically, and so on to cover the object field of view, and combining the partial data sets. (author)

  15. Left, right, left, right, eyes to the front! Müller-Lyer bias in grasping is not a function of hand used, hand preferred or visual hemifield, but foveation does matter.

    Science.gov (United States)

    van der Kamp, John; de Wit, Matthieu M; Masters, Rich S W

    2012-04-01

    We investigated whether the control of movement of the left hand is more likely to involve the use of allocentric information than movements performed with the right hand. Previous studies (Gonzalez et al. in J Neurophys 95:3496-3501, 2006; De Grave et al. in Exp Br Res 193:421-427, 2009) have reported contradictory findings in this respect. In the present study, right-handed participants (N = 12) and left-handed participants (N = 12) made right- and left-handed grasps to foveated objects and peripheral, non-foveated objects that were located in the right or left visual hemifield and embedded within a Müller-Lyer illusion. They were also asked to judge the size of the object by matching their hand aperture to its length. Hand apertures did not show significant differences in illusory bias as a function of hand used, handedness or visual hemifield. However, the illusory effect was significantly larger for perception than for action, and for the non-foveated compared to foveated objects. No significant illusory biases were found for reach movement times. These findings are consistent with the two-visual system model that holds that the use of allocentric information is more prominent in perception than in movement control. We propose that the increased involvement of allocentric information in movements toward peripheral, non-foveated objects may be a consequence of more awkward, less automatized grasps of nonfoveated than foveated objects. The current study does not support the conjecture that the control of left-handed and right-handed grasps is predicated on different sources of information.

  16. Extended objects

    International Nuclear Information System (INIS)

    Creutz, M.

    1976-01-01

    After some disconnected comments on the MIT bag and string models for extended hadrons, I review current understanding of extended objects in classical conventional relativistic field theories and their quantum mechanical interpretation

  17. Trusted Objects

    International Nuclear Information System (INIS)

    CAMPBELL, PHILIP L.; PIERSON, LYNDON G.; WITZKE, EDWARD L.

    1999-01-01

    In the world of computers a trusted object is a collection of possibly-sensitive data and programs that can be allowed to reside and execute on a computer, even on an adversary's machine. Beyond the scope of one computer we believe that network-based agents in high-consequence and highly reliable applications will depend on this approach, and that the basis for such objects is what we call ''faithful execution.''

  18. INFORMATIONAL MODEL OF MENTAL ROTATION OF FIGURES

    Directory of Open Access Journals (Sweden)

    V. A. Lyakhovetskiy

    2016-01-01

    Full Text Available Subject of Study.The subject of research is the information structure of objects internal representations and operations over them, used by man to solve the problem of mental rotation of figures. To analyze this informational structure we considered not only classical dependencies of the correct answers on the angle of rotation, but also the other dependencies obtained recently in cognitive psychology. Method.The language of technical computing Matlab R2010b was used for developing information model of the mental rotation of figures. Such model parameters as the number of bits in the internal representation, an error probability in a single bit, discrete rotation angle, comparison threshold, and the degree of difference during rotation can be changed. Main Results.The model reproduces qualitatively such psychological dependencies as the linear increase of time of correct answers and the number of errors on the angle of rotation for identical figures, "flat" dependence of the time of correct answers and the number of errors on the angle of rotation for mirror-like figures. The simulation results suggest that mental rotation is an iterative process of finding a match between the two figures, each step of which can lead to a significant distortion of the internal representation of the stored objects. Matching is carried out within the internal representations that have no high invariance to rotation angle. Practical Significance.The results may be useful for understanding the role of learning (including the learning with a teacher in the development of effective information representation and operations on them in artificial intelligence systems.

  19. Self-gated fetal cardiac MRI with tiny golden angle iGRASP: A feasibility study.

    Science.gov (United States)

    Haris, Kostas; Hedström, Erik; Bidhult, Sebastian; Testud, Frederik; Maglaveras, Nicos; Heiberg, Einar; Hansson, Stefan R; Arheden, Håkan; Aletras, Anthony H

    2017-07-01

    To develop and assess a technique for self-gated fetal cardiac cine magnetic resonance imaging (MRI) using tiny golden angle radial sampling combined with iGRASP (iterative Golden-angle RAdial Sparse Parallel) for accelerated acquisition based on parallel imaging and compressed sensing. Fetal cardiac data were acquired from five volunteers in gestational week 29-37 at 1.5T using tiny golden angles for eddy currents reduction. The acquired multicoil radial projections were input to a principal component analysis-based compression stage. The cardiac self-gating (CSG) signal for cardiac gating was extracted from the acquired radial projections and the iGRASP reconstruction procedure was applied. In all acquisitions, a total of 4000 radial spokes were acquired within a breath-hold of less than 15 seconds using a balanced steady-state free precession pulse sequence. The images were qualitatively compared by two independent observers (on a scale of 1-4) to a single midventricular cine image from metric optimized gating (MOG) and real-time acquisitions. For iGRASP and MOG images, good overall image quality (2.8 ± 0.4 and 2.6 ± 1.3, respectively, for observer 1; 3.6 ± 0.5 and 3.4 ± 0.9, respectively, for observer 2) and cardiac diagnostic quality (3.8 ± 0.4 and 3.4 ± 0.9, respectively, for observer 1; 3.6 ± 0.5 and 3.6 ± 0.9, respectively, for observer 2) were obtained, with visualized myocardial thickening over the cardiac cycle and well-defined myocardial borders to ventricular lumen and liver/lung tissue. For iGRASP, MOG, and real time, left ventricular lumen diameter (14.1 ± 2.2 mm, 14.2 ± 1.9 mm, 14.7 ± 1.1 mm, respectively) and wall thickness (2.7 ± 0.3 mm, 2.6 ± 0.3 mm, 3.0 ± 0.4, respectively) showed agreement and no statistically significant difference was found (all P > 0.05). Images with iGRASP tended to have higher overall image quality scores compared with MOG and particularly

  20. Sensory and semantic activations evoked by action attributes of manipulable objects: Evidence from ERPs

    Science.gov (United States)

    Lee, Chia-lin; Huang, Hsu-Wen; Federmeier, Kara D.; Buxbaum, Laurel J.

    2018-01-01

    “Two route” theories of object-related action processing posit different temporal activation profiles of grasp-to-move actions (rapidly evoked based on object structure) versus skilled use actions (more slowly activated based on semantic knowledge). We capitalized on the exquisite temporal resolution and multidimensionality of Event-Related Potentials (ERPs) to directly test this hypothesis. Participants viewed manipulable objects (e.g., calculator) preceded by objects sharing either “grasp”, “use”, or no action attributes (e.g., bar of soap, keyboard, earring, respectively), as well as by action-unrelated but taxonomically-related objects (e.g., abacus); participants judged whether the two objects were related. The results showed more positive responses to “grasp-to-move” primed objects than “skilled use” primed objects or unprimed objects starting in the P1 (0–150 ms) time window and continuing onto the subsequent N1 and P2 components (150–300 ms), suggesting that only “grasp-to-move”, but not “skilled use”, actions may facilitate visual attention to object attributes. Furthermore, reliably reduced N400s (300–500 ms), an index of semantic processing, were observed to taxonomically primed and “skilled use” primed objects relative to unprimed objects, suggesting that “skilled use” action attributes are a component of distributed, multimodal semantic representations of objects. Together, our findings provide evidence supporting two-route theories by demonstrating that “grasp-to-move” and “skilled use” actions impact different aspects of object processing and highlight the relationship of “skilled use” information to other aspects of semantic memory. PMID:29183777

  1. Asteroid rotation rates

    International Nuclear Information System (INIS)

    Binzel, R.P.; Farinella, P.

    1989-01-01

    Within the last decade the data base of asteroid rotation parameters (rotation rates and lightcurve amplitudes) has become sufficiently large to identify some definite rends and properties which can help us to interpret asteroid collisional evolution. Many significant correlations are found between rotation parameters and diameter, with distinct changes occurring near 125 km. The size range, which is also the diameter above which self-gravity may become important, perhaps represents a division between surviving primordial asteroids and collisional fragments. A Maxwellian is able to fit the observed rotation rate distributions of asteroids with D>125 km, implying that their rotation rates may be determined by collisional evolution. Asteroids with D<125 km show an excess of slow rotators and their non-Maxwellian distributions suggests that their rotation rates are more strongly influenced by other processes, such as the distribution resulting from their formation in catastrophic disruption events. Other correlations observed in the data set include different mean rotation rates for C, S and M type asteroids implying that their surface spectra are indicative of bulk properties

  2. The spatial rotator

    DEFF Research Database (Denmark)

    Rasmusson, Allan; Hahn, Ute; Larsen, Jytte Overgaard

    2013-01-01

    This paper presents a new local volume estimator, the spatial rotator, which is based on measurements on a virtual 3D probe, using computer assisted microscopy. The basic design of the probe builds upon the rotator principle which requires only a few manual intersection markings, thus making...

  3. Superconducting rotating machines

    International Nuclear Information System (INIS)

    Smith, J.L. Jr.; Kirtley, J.L. Jr.; Thullen, P.

    1975-01-01

    The opportunities and limitations of the applications of superconductors in rotating electric machines are given. The relevant properties of superconductors and the fundamental requirements for rotating electric machines are discussed. The current state-of-the-art of superconducting machines is reviewed. Key problems, future developments and the long range potential of superconducting machines are assessed

  4. SMAP Faraday Rotation

    Science.gov (United States)

    Le Vine, David

    2016-01-01

    Faraday rotation is a change in the polarization as signal propagates through the ionosphere. At L-band it is necessary to correct for this change and measurements are made on the spacecraft of the rotation angle. These figures show that there is good agreement between the SMAP measurements (blue) and predictions based on models (red).

  5. Units of rotational information

    Science.gov (United States)

    Yang, Yuxiang; Chiribella, Giulio; Hu, Qinheping

    2017-12-01

    Entanglement in angular momentum degrees of freedom is a precious resource for quantum metrology and control. Here we study the conversions of this resource, focusing on Bell pairs of spin-J particles, where one particle is used to probe unknown rotations and the other particle is used as reference. When a large number of pairs are given, we show that every rotated spin-J Bell state can be reversibly converted into an equivalent number of rotated spin one-half Bell states, at a rate determined by the quantum Fisher information. This result provides the foundation for the definition of an elementary unit of information about rotations in space, which we call the Cartesian refbit. In the finite copy scenario, we design machines that approximately break down Bell states of higher spins into Cartesian refbits, as well as machines that approximately implement the inverse process. In addition, we establish a quantitative link between the conversion of Bell states and the simulation of unitary gates, showing that the fidelity of probabilistic state conversion provides upper and lower bounds on the fidelity of deterministic gate simulation. The result holds not only for rotation gates, but also to all sets of gates that form finite-dimensional representations of compact groups. For rotation gates, we show how rotations on a system of given spin can simulate rotations on a system of different spin.

  6. The anterior intraparietal sulcus mediates grasp execution, independent of requirement to update: new insights from transcranial magnetic stimulation.

    Science.gov (United States)

    Rice, Nichola J; Tunik, Eugene; Grafton, Scott T

    2006-08-02

    Although a role of the intraparietal sulcus (IPS) in grasping is becoming evident, the specific contribution of regions within the IPS remains undefined. In this vein, transcranial magnetic stimulation (TMS) was delivered to the anterior (aIPS), middle (mIPS), and caudal (cIPS) IPS in two tasks designed to dissociate the potential roles of the IPS in either grasp planning or execution (task 1) and its involvement in error detection or error correction (task 2). Determining the involvement of specific regions of the IPS in perceptual (planning and error detection) versus motor (execution and correction) components of grasping allowed us to assess the ecological validity of competing computational models attempting to simulate reach-to-grasp movements. In task 1, we demonstrate that, when no on-line adjustment is necessary, TMS to aIPS (but not mIPS or cIPS) disrupts grasping; this disruption is only elicited when TMS is applied during the execution (but not the planning) phase of the movement. Task 2 reveals that TMS to aIPS (but not mIPS or cIPS) disrupts grasping in the presence of a perturbation; this disruption is only elicited when TMS is applied during the error correction (but not error detection) phase of the movement. We propose that the specific contribution of the aIPS in grasping is in the on-line computation of a difference vector based on motor goal, efference copy, and sensory inputs. This computation is performed for both stable and perturbed motor goals.

  7. Imaging with rotating slit apertures and rotating collimators

    International Nuclear Information System (INIS)

    Gindi, G.R.; Arendt, J.; Barrett, H.H.; Chiu, M.Y.; Ervin, A.; Giles, C.L.; Kujoory, M.A.; Miller, E.L.; Simpson, R.G.

    1982-01-01

    The statistical quality of conventional nuclear medical imagery is limited by the small signal collect through low-efficiency conventional apertures. Coded-aperture imaging overcomes this by employing a two-step process in which the object is first efficiently detected as an ''encoded'' form which does not resemble the object, and then filtered (or ''decoded'') to form an image. We present here the imaging properties of a class of time-modulated coded apertures which, unlike most coded apertures, encode projections of the object rather than the object itself. These coded apertures can reconstruct a volume object nontomographically, tomographically (one plane focused), or three-dimensionally. We describe a new decoding algorithm that reconstructs the object from its planar projections. Results of noise calculations are given, and the noise performance of these coded-aperture systems is compared to that of conventional counterparts. A hybrid slit-pinhole system which combines the imaging advantages of a rotating slit and a pinhole is described. A new scintillation detector which accurately measures the position of an event in one dimension only is presented, and its use in our coded-aperture system is outlined. Finally, results of imaging test objects and animals are given

  8. Imaging with rotating slit apertures and rotating collimators

    International Nuclear Information System (INIS)

    Gindi, G.R.; Arendt, J.; Barrett, H.H.; Chiu, M.Y.; Ervin, A.; Giles, C.L.; Kujoory, M.A.; Miller, E.L.; Simpson, R.G.

    1982-01-01

    The statistical quality of conventional nuclear medical imagery is limited by the small signal collected through low-efficiency conventional apertures. Coded-aperture imaging overcomes this by employing a two-step process in which the object is first efficiently detected as an encoded form which does not resemble the object, and then filtered (or decoded) to form an image. We present here the imaging properties of a class of time-modulated coded apertures which, unlike most coded apertures, encode projections of the object rather than the object itself. These coded apertures can reconstruct a volume object nontomographically, tomographically (one plane focused), or three-dimensionally. We describe a new decoding algorithm that reconstructs the object from its planar projections. Results of noise calculations are given, and the noise performance of these coded-aperture systems is compared to that of conventional counterparts. A hybrid slit-pinhole system which combines the imaging advantages of a rotating slit and a pinhole is described. A new scintillation detector which accurately measures the position of an event in one dimension only is presented, and its use in our coded-aperture system is outlined. Finally, results of imaging test objects and animals are given

  9. A Language of Objects and Artifacts

    DEFF Research Database (Denmark)

    Svabo, Connie

    This is a conceptual inquiry about materiality. It gives an introductory overview to the vocabulary of materiality in a chosen selection of theories. The paper shows a language of artifacts and objects as it is used within practice-based approaches to organizational knowing. The examined...... intellectual traditions are interpretive-cultural approaches; activity theory; and sociology of translation. Similarities and differences are presented in the way these three distinct intellectual traditions conceptualize the array of material objects and artifacts which are central in the tales of practice...... concepts do the theories attempt to grasp tools and design objects – furniture, graphics, flutes-in-making and built space? The paper shows which concepts are used and it demonstrates how the interaction between social and material realities are viewed. Furthermore it highlights some of the ontological...

  10. Force-independent distribution of correlated neural inputs to hand muscles during three-digit grasping.

    Science.gov (United States)

    Poston, Brach; Danna-Dos Santos, Alessander; Jesunathadas, Mark; Hamm, Thomas M; Santello, Marco

    2010-08-01

    The ability to modulate digit forces during grasping relies on the coordination of multiple hand muscles. Because many muscles innervate each digit, the CNS can potentially choose from a large number of muscle coordination patterns to generate a given digit force. Studies of single-digit force production tasks have revealed that the electromyographic (EMG) activity scales uniformly across all muscles as a function of digit force. However, the extent to which this finding applies to the coordination of forces across multiple digits is unknown. We addressed this question by asking subjects (n = 8) to exert isometric forces using a three-digit grip (thumb, index, and middle fingers) that allowed for the quantification of hand muscle coordination within and across digits as a function of grasp force (5, 20, 40, 60, and 80% maximal voluntary force). We recorded EMG from 12 muscles (6 extrinsic and 6 intrinsic) of the three digits. Hand muscle coordination patterns were quantified in the amplitude and frequency domains (EMG-EMG coherence). EMG amplitude scaled uniformly across all hand muscles as a function of grasp force (muscle x force interaction: P = 0.997; cosines of angle between muscle activation pattern vector pairs: 0.897-0.997). Similarly, EMG-EMG coherence was not significantly affected by force (P = 0.324). However, coherence was stronger across extrinsic than that across intrinsic muscle pairs (P = 0.0039). These findings indicate that the distribution of neural drive to multiple hand muscles is force independent and may reflect the anatomical properties or functional roles of hand muscle groups.

  11. Periodic modulation of motor-unit activity in extrinsic hand muscles during multidigit grasping.

    Science.gov (United States)

    Johnston, Jamie A; Winges, Sara A; Santello, Marco

    2005-07-01

    We recently examined the extent to which motor units of digit flexor muscles receive common input during multidigit grasping. This task elicited moderate to strong motor-unit synchrony (common input strength, CIS) across muscles (flexor digitorum profundus, FDP, and flexor pollicis longus, FPL) and across FDP muscle compartments, although the strength of this common input was not uniform across digit pairs. To further characterize the neural mechanisms underlying the control of multidigit grasping, we analyzed the relationship between firing of single motor units from these hand muscles in the frequency domain by computing coherence. We report three primary findings. First, in contrast to what has been reported in intrinsic hand muscles, motor units belonging to different muscles and muscle compartments of extrinsic digit flexors exhibited significant coherence in the 0- to 5- and 5- to 10-Hz frequency ranges and much weaker coherence in the higher 10-20 Hz range (maximum 0.0025 and 0.0008, respectively, pooled across all FDP compartment pairs). Second, the strength and incidence of coherence differed considerably across digit pairs. Third, contrary to what has been reported in the literature, across-muscle coherence can be stronger and more prevalent than within-muscle coherence, as FPL-FDP2 (thumb-index digit pair) exhibited the strongest and most prevalent coherence in our data (0.010 and 43% at 3 Hz, respectively). The heterogeneous organization of common input to these muscles and muscle compartments is discussed in relation to the functional role of individual digit pairs in the coordination of multiple digit forces in grasping.

  12. The rotating universe

    International Nuclear Information System (INIS)

    Ruben, G.; Treder, H.J.

    1987-01-01

    For a long time the question whether the universe rotates or not is discussed. Aspects of Huygens, Newton, Mach and other important historical scientists in this field are reported. The investigations of the mathematician Kurt Groedel in order to prove the rotation of the universe are illustrated. Kurt Groedel has shown that Einstein's gravitational equations of general relativity theory and the cosmological postulate of global homogeneity of cosmic matter (that is the Copernical principle) are not contradictionary to a rotating universe. Abberation measurements, position determination by means of radiointerferometry and methods for the determination of the rotation of the universe from the isotropy of the background radiation are presented. From these experiments it can be concluded that the universe seems not to rotate as already Einstein expected

  13. Rotation sensor switch

    International Nuclear Information System (INIS)

    Sevec, J.B.

    1978-01-01

    A protective device to provide a warning if a piece of rotating machinery slows or stops is comprised of a pair of hinged weights disposed to rotate on a rotating shaft of the equipment. When the equipment is rotating, the weights remain in a plane essentially perpendicular to the shaft and constitute part of an electrical circuit that is open. When the shaft slows or stops, the weights are attracted to a pair of concentric electrically conducting disks disposed in a plane perpendicular to the shaft and parallel to the plane of the weights when rotating. A disk magnet attracts the weights to the electrically conducting plates and maintains the electrical contact at the plates to complete an electrical circuit that can then provide an alarm signal

  14. Adaptation of reach-to-grasp movement in response to force perturbations.

    Science.gov (United States)

    Rand, M K; Shimansky, Y; Stelmach, G E; Bloedel, J R

    2004-01-01

    This study examined how reach-to-grasp movements are modified during adaptation to external force perturbations applied on the arm during reach. Specifically, we examined whether the organization of these movements was dependent upon the condition under which the perturbation was applied. In response to an auditory signal, all subjects were asked to reach for a vertical dowel, grasp it between the index finger and thumb, and lift it a short distance off the table. The subjects were instructed to do the task as fast as possible. The perturbation was an elastic load acting on the wrist at an angle of 105 deg lateral to the reaching direction. The condition was modified by changing the predictability with which the perturbation was applied in a given trial. After recording unperturbed control trials, perturbations were applied first on successive trials (predictable perturbations) and then were applied randomly (unpredictable perturbations). In the early predictable perturbation trials, reach path length became longer and reaching duration increased. As more predictable perturbations were applied, the reach path length gradually decreased and became similar to that of control trials. Reaching duration also decreased gradually as the subjects adapted by exerting force against the perturbation. In addition, the amplitude of peak grip aperture during arm transport initially increased in response to repeated perturbations. During the course of learning, it reached its maximum and thereafter slightly decreased. However, it did not return to the normal level. The subjects also adapted to the unpredictable perturbations through changes in both arm transport and grasping components, indicating that they can compensate even when the occurrence of the perturbation cannot be predicted during the inter-trial interval. Throughout random perturbation trials, large grip aperture values were observed, suggesting that a conservative aperture level is set regardless of whether the

  15. A continuous GRASP to determine the relationship between drugs and adverse reactions

    International Nuclear Information System (INIS)

    Hirsch, Michael J.; Meneses, Claudio N.; Pardalos, Panos M.; Ragle, Michelle; Resende, Mauricio G. C.

    2007-01-01

    Adverse drag reactions (ADRs) are estimated to be one of the leading causes of death. Many national and international agencies have set up databases of ADR reports for the express purpose of determining the relationship between drugs and adverse reactions that they cause. We formulate the drug-reaction relationship problem as a continuous optimization problem and utilize C-GRASP, a new continuous global optimization heuristic, to approximately determine the relationship between drugs and adverse reactions. Our approach is compared against others in the literature and is shown to find better solutions

  16. Teaching Object-Oriented Programming is more than teaching Object-Oriented Programming Languages

    DEFF Research Database (Denmark)

    Knudsen, Jørgen Lindskov; Madsen, Ole Lehrmann

    1988-01-01

    the research area gives additional insight into the research area and its underlying theoretical foundation. In this paper we will report on our approach to teaching programming languages as a whole and especially teaching object-oriented programming. The prime message to be told is that working from...... a theoretical foundation pays off. Without a theoretical foundation, the discussions are often centered around features of different languages. With a foundation, discussions may be conducted on solid pound. Furthermore, the students have significantly fewer difficulties in grasping the concrete programming...

  17. Current Biomechanical Concepts for Rotator Cuff Repair

    Science.gov (United States)

    2013-01-01

    For the past few decades, the repair of rotator cuff tears has evolved significantly with advances in arthroscopy techniques, suture anchors and instrumentation. From the biomechanical perspective, the focus in arthroscopic repair has been on increasing fixation strength and restoration of the footprint contact characteristics to provide early rehabilitation and improve healing. To accomplish these objectives, various repair strategies and construct configurations have been developed for rotator cuff repair with the understanding that many factors contribute to the structural integrity of the repaired construct. These include repaired rotator cuff tendon-footprint motion, increased tendon-footprint contact area and pressure, and tissue quality of tendon and bone. In addition, the healing response may be compromised by intrinsic factors such as decreased vascularity, hypoxia, and fibrocartilaginous changes or aforementioned extrinsic compression factors. Furthermore, it is well documented that torn rotator cuff muscles have a tendency to atrophy and become subject to fatty infiltration which may affect the longevity of the repair. Despite all the aforementioned factors, initial fixation strength is an essential consideration in optimizing rotator cuff repair. Therefore, numerous biomechanical studies have focused on elucidating the strongest devices, knots, and repair configurations to improve contact characteristics for rotator cuff repair. In this review, the biomechanical concepts behind current rotator cuff repair techniques will be reviewed and discussed. PMID:23730471

  18. Conflict between object structural and functional affordances in peripersonal space.

    Science.gov (United States)

    Kalénine, Solène; Wamain, Yannick; Decroix, Jérémy; Coello, Yann

    2016-10-01

    Recent studies indicate that competition between conflicting action representations slows down planning of object-directed actions. The present study aims to assess whether similar conflict effects exist during manipulable object perception. Twenty-six young adults performed reach-to-grasp and semantic judgements on conflictual objects (with competing structural and functional gestures) and non-conflictual objects (with similar structural and functional gestures) presented at difference distances in a 3D virtual environment. Results highlight a space-dependent conflict between structural and functional affordances. Perceptual judgments on conflictual objects were slower that perceptual judgments on non-conflictual objects, but only when objects were presented within reach. Findings demonstrate that competition between structural and functional affordances during object perception induces a processing cost, and further show that object position in space can bias affordance competition. Copyright © 2016 Elsevier B.V. All rights reserved.

  19. Passive RFID Rotation Dimension Reduction via Aggregation

    Science.gov (United States)

    Matthews, Eric

    Radio Frequency IDentification (RFID) has applications in object identification, position, and orientation tracking. RFID technology can be applied in hospitals for patient and equipment tracking, stores and warehouses for product tracking, robots for self-localisation, tracking hazardous materials, or locating any other desired object. Efficient and accurate algorithms that perform localisation are required to extract meaningful data beyond simple identification. A Received Signal Strength Indicator (RSSI) is the strength of a received radio frequency signal used to localise passive and active RFID tags. Many factors affect RSSI such as reflections, tag rotation in 3D space, and obstacles blocking line-of-sight. LANDMARC is a statistical method for estimating tag location based on a target tag's similarity to surrounding reference tags. LANDMARC does not take into account the rotation of the target tag. By either aggregating multiple reference tag positions at various rotations, or by determining a rotation value for a newly read tag, we can perform an expected value calculation based on a comparison to the k-most similar training samples via an algorithm called K-Nearest Neighbours (KNN) more accurately. By choosing the average as the aggregation function, we improve the relative accuracy of single-rotation LANDMARC localisation by 10%, and any-rotation localisation by 20%.

  20. Neural-Network Object-Recognition Program

    Science.gov (United States)

    Spirkovska, L.; Reid, M. B.

    1993-01-01

    HONTIOR computer program implements third-order neural network exhibiting invariance under translation, change of scale, and in-plane rotation. Invariance incorporated directly into architecture of network. Only one view of each object needed to train network for two-dimensional-translation-invariant recognition of object. Also used for three-dimensional-transformation-invariant recognition by training network on only set of out-of-plane rotated views. Written in C language.

  1. Rotating Quark Stars in General Relativity

    Directory of Open Access Journals (Sweden)

    Enping Zhou

    2018-03-01

    Full Text Available We have built quasi-equilibrium models for uniformly rotating quark stars in general relativity. The conformal flatness approximation is employed and the Compact Object CALculator (cocal code is extended to treat rotating stars with surface density discontinuity. In addition to the widely used MIT bag model, we have considered a strangeon star equation of state (EoS, suggested by Lai and Xu, that is based on quark clustering and results in a stiff EoS. We have investigated the maximum mass of uniformly rotating axisymmetric quark stars. We have also built triaxially deformed solutions for extremely fast rotating quark stars and studied the possible gravitational wave emission from such configurations.

  2. Developing an Asteroid Rotational Theory

    Science.gov (United States)

    Geis, Gena; Williams, Miguel; Linder, Tyler; Pakey, Donald

    2018-01-01

    The goal of this project is to develop a theoretical asteroid rotational theory from first principles. Starting at first principles provides a firm foundation for computer simulations which can be used to analyze multiple variables at once such as size, rotation period, tensile strength, and density. The initial theory will be presented along with early models of applying the theory to the asteroid population. Early results confirm previous work by Pravec et al. (2002) that show the majority of the asteroids larger than 200m have negligible tensile strength and have spin rates close to their critical breakup point. Additionally, results show that an object with zero tensile strength has a maximum rotational rate determined by the object’s density, not size. Therefore, an iron asteroid with a density of 8000 kg/m^3 would have a minimum spin period of 1.16h if the only forces were gravitational and centrifugal. The short-term goal is to include material forces in the simulations to determine what tensile strength will allow the high spin rates of asteroids smaller than 150m.

  3. Multi-objective/loading optimization for rotating composite flexbeams

    Science.gov (United States)

    Hamilton, Brian K.; Peters, James R.

    1989-01-01

    With the evolution of advanced composites, the feasibility of designing bearingless rotor systems for high speed, demanding maneuver envelopes, and high aircraft gross weights has become a reality. These systems eliminate the need for hinges and heavily loaded bearings by incorporating a composite flexbeam structure which accommodates flapping, lead-lag, and feathering motions by bending and twisting while reacting full blade centrifugal force. The flight characteristics of a bearingless rotor system are largely dependent on hub design, and the principal element in this type of system is the composite flexbeam. As in any hub design, trade off studies must be performed in order to optimize performance, dynamics (stability), handling qualities, and stresses. However, since the flexbeam structure is the primary component which will determine the balance of these characteristics, its design and fabrication are not straightforward. It was concluded that: pitchcase and snubber damper representations are required in the flexbeam model for proper sizing resulting from dynamic requirements; optimization is necessary for flexbeam design, since it reduces the design iteration time and results in an improved design; and inclusion of multiple flight conditions and their corresponding fatigue allowables is necessary for the optimization procedure.

  4. Rotation, Stability and Transport

    Energy Technology Data Exchange (ETDEWEB)

    Connor, J. W.

    2007-07-01

    Tokamak plasmas can frequently exhibit high levels of rotation and rotation shear. This can usually be attributed to various sources: injection of momentum, e.g. through neutral beams, flows driven by plasma gradients or torques resulting from non-ambipolar particle loss; however, the source sometimes remains a mystery, such as the spontaneous rotation observed in Ohmic plasmas. The equilibrium rotation profile is given by the balance of these sources with transport and other losses; the edge boundary conditions can play an important role in determining this profile . Such plasma rotation, particularly sheared rotation, is predicted theoretically to have a significant influence on plasma behaviour. In the first place, sonic flows can significantly affect tokamak equilibria and neoclassical transport losses. However, the influence of rotation on plasma stability and turbulence is more profound. At the macroscopic level it affects the behaviour of the gross MHD modes that influence plasma operational limits. This includes sawteeth, the seeding of neoclassical tearing modes, resistive wall modes and the onset of disruptions through error fields, mode locking and reconnection. At the microscopic level it has a major effect on the stability of ballooning modes, both ideal MHD and drift wave instabilities such as ion temperature gradient (ITG) modes. In the non-linear state, as unstable drift waves evolve into turbulent structures, sheared rotation also tears apart eddies, thereby reducing the resulting transport. There is considerable experimental evidence for these effects on both MHD stability and plasma confinement. In particular, the appearance of improved confinement modes with transport barriers, such as edge H-mode barriers and internal transport barriers (ITBs) appears to correlate well with the presence of sheared plasma rotation. This talk will describe the theory underlying some of these phenomena involving plasma rotation, on both macroscopic and microscopic

  5. Repeatability of grasp recognition for robotic hand prosthesis control based on sEMG data.

    Science.gov (United States)

    Palermo, Francesca; Cognolato, Matteo; Gijsberts, Arjan; Muller, Henning; Caputo, Barbara; Atzori, Manfredo

    2017-07-01

    Control methods based on sEMG obtained promising results for hand prosthetics. Control system robustness is still often inadequate and does not allow the amputees to perform a large number of movements useful for everyday life. Only few studies analyzed the repeatability of sEMG classification of hand grasps. The main goals of this paper are to explore repeatability in sEMG data and to release a repeatability database with the recorded experiments. The data are recorded from 10 intact subjects repeating 7 grasps 12 times, twice a day for 5 days. The data are publicly available on the Ninapro web page. The analysis for the repeatability is based on the comparison of movement classification accuracy in several data acquisitions and for different subjects. The analysis is performed using mean absolute value and waveform length features and a Random Forest classifier. The accuracy obtained by training and testing on acquisitions at different times is on average 27.03% lower than training and testing on the same acquisition. The results obtained by training and testing on different acquisitions suggest that previous acquisitions can be used to train the classification algorithms. The inter-subject variability is remarkable, suggesting that specific characteristics of the subjects can affect repeatibility and sEMG classification accuracy. In conclusion, the results of this paper can contribute to develop more robust control systems for hand prostheses, while the presented data allows researchers to test repeatability in further analyses.

  6. Grasp specific and user friendly interface design for myoelectric hand prostheses.

    Science.gov (United States)

    Mohammadi, Alireza; Lavranos, Jim; Howe, Rob; Choong, Peter; Oetomo, Denny

    2017-07-01

    This paper presents the design and characterisation of a hand prosthesis and its user interface, focusing on performing the most commonly used grasps in activities of daily living (ADLs). Since the operation of a multi-articulated powered hand prosthesis is difficult to learn and master, there is a significant rate of abandonment by amputees in preference for simpler devices. In choosing so, amputees chose to live with fewer features in their prosthesis that would more reliably perform the basic operations. In this paper, we look simultaneously at a hand prosthesis design method that aims for a small number of grasps, a low complexity user interface and an alternative method to the current use of EMG as a preshape selection method through the use of a simple button; to enable amputees to get to and execute the intended hand movements intuitively, quickly and reliably. An experiment is reported at the end of the paper comparing the speed and accuracy with which able-bodied naive subjects are able to select the intended preshapes through the use of a simplified EMG method and a simple button. It is shown that the button was significantly superior in the speed of successful task completion and marginally superior in accuracy (success of first attempt).

  7. Selective interference of grasp and space representations with number magnitude and serial order processing.

    Science.gov (United States)

    van Dijck, Jean-Philippe; Fias, Wim; Andres, Michael

    2015-10-01

    It has been proposed that the metrics of space, time and other magnitudes relevant for action are coupled through a generalized magnitude system that also contribute to number representation. Several studies capitalized on stimulus-response compatibility effects to show that numbers map onto left-right representations and grasp representations as a function of their magnitude. However, the tasks typically used do not allow disentangling magnitude from serial order processing. Here, we devised a working memory (WM) task where participants had to remember random sequences of numbers and perform a precision/whole-hand grip (Experiment 1) or a uni-manual left/right button press (Experiment 2) in response to numbers presented during the retention interval. This task does allow differentiating the interference of number magnitude and serial order with each set of responses. Experiment 1 showed that precision grips were initiated faster than whole-hand grips in response to small numbers, irrespective of their serial position in WM. In contrast, Experiment 2 revealed an advantage of right over left button presses as serial position increased, without any influence of number magnitude. These findings demonstrate that grasping and left-right movements overlap with distinct dimensions of number processing. These findings are discussed in the light of different theories explaining the interactions between numbers, space and action.

  8. Classification of Hand Grasp Kinetics and Types Using Movement-Related Cortical Potentials and EEG Rhythms

    Directory of Open Access Journals (Sweden)

    Mads Jochumsen

    2017-01-01

    Full Text Available Detection of single-trial movement intentions from EEG is paramount for brain-computer interfacing in neurorehabilitation. These movement intentions contain task-related information and if this is decoded, the neurorehabilitation could potentially be optimized. The aim of this study was to classify single-trial movement intentions associated with two levels of force and speed and three different grasp types using EEG rhythms and components of the movement-related cortical potential (MRCP as features. The feature importance was used to estimate encoding of discriminative information. Two data sets were used. 29 healthy subjects executed and imagined different hand movements, while EEG was recorded over the contralateral sensorimotor cortex. The following features were extracted: delta, theta, mu/alpha, beta, and gamma rhythms, readiness potential, negative slope, and motor potential of the MRCP. Sequential forward selection was performed, and classification was performed using linear discriminant analysis and support vector machines. Limited classification accuracies were obtained from the EEG rhythms and MRCP-components: 0.48±0.05 (grasp types, 0.41±0.07 (kinetic profiles, motor execution, and 0.39±0.08 (kinetic profiles, motor imagination. Delta activity contributed the most but all features provided discriminative information. These findings suggest that information from the entire EEG spectrum is needed to discriminate between task-related parameters from single-trial movement intentions.

  9. Recognition of grasp types through principal components of DWT based EMG features.

    Science.gov (United States)

    Kakoty, Nayan M; Hazarika, Shyamanta M

    2011-01-01

    With the advancement in machine learning and signal processing techniques, electromyogram (EMG) signals have increasingly gained importance in man-machine interaction. Multifingered hand prostheses using surface EMG for control has appeared in the market. However, EMG based control is still rudimentary, being limited to a few hand postures based on higher number of EMG channels. Moreover, control is non-intuitive, in the sense that the user is required to learn to associate muscle remnants actions to unrelated posture of the prosthesis. Herein lies the promise of a low channel EMG based grasp classification architecture for development of an embedded intelligent prosthetic controller. This paper reports classification of six grasp types used during 70% of daily living activities based on two channel forearm EMG. A feature vector through principal component analysis of discrete wavelet transform coefficients based features of the EMG signal is derived. Classification is through radial basis function kernel based support vector machine following preprocessing and maximum voluntary contraction normalization of EMG signals. 10-fold cross validation is done. We have achieved an average recognition rate of 97.5%. © 2011 IEEE

  10. A multi-pad electrode based functional electrical stimulation system for restoration of grasp

    Directory of Open Access Journals (Sweden)

    Malešević Nebojša M

    2012-09-01

    Full Text Available Abstract Background Functional electrical stimulation (FES applied via transcutaneous electrodes is a common rehabilitation technique for assisting grasp in patients with central nervous system lesions. To improve the stimulation effectiveness of conventional FES, we introduce multi-pad electrodes and a new stimulation paradigm. Methods The new FES system comprises an electrode composed of small pads that can be activated individually. This electrode allows the targeting of motoneurons that activate synergistic muscles and produce a functional movement. The new stimulation paradigm allows asynchronous activation of motoneurons and provides controlled spatial distribution of the electrical charge that is delivered to the motoneurons. We developed an automated technique for the determination of the preferred electrode based on a cost function that considers the required movement of the fingers and the stabilization of the wrist joint. The data used within the cost function come from a sensorized garment that is easy to implement and does not require calibration. The design of the system also includes the possibility for fine-tuning and adaptation with a manually controllable interface. Results The device was tested on three stroke patients. The results show that the multi-pad electrodes provide the desired level of selectivity and can be used for generating a functional grasp. The results also show that the procedure, when performed on a specific user, results in the preferred electrode configuration characteristics for that patient. The findings from this study are of importance for the application of transcutaneous stimulation in the clinical and home environments.

  11. Rotator cuff - self-care

    Science.gov (United States)

    ... this page: //medlineplus.gov/ency/patientinstructions/000358.htm Rotator cuff - self-care To use the sharing features on ... and shoulder exercises may help ease your symptoms. Rotator Cuff Problems Common rotator cuff problems include: Tendinitis , which ...

  12. Rotating relativistic neutron stars

    Energy Technology Data Exchange (ETDEWEB)

    Weber, F.; Glendenning, N.K.

    1991-07-21

    Models of rotating neutron stars are constructed in the framework of Einstein's theory of general relativity. For this purpose a refined version of Hartle's method is applied. The properties of these objects, e.g. gravitational mass, equatorial and polar radius, eccentricity, red- and blueshift, quadrupole moment, are investigated for Kepler frequencies of 4000 s{sup {minus}1} {le} {Omega}{sub K} {le} 9000 s{sup {minus}1}. Therefore a self-consistency problem inherent in the determination of {Omega}{sub K} must be solved. The investigation is based on neutron star matter equations of state derived from the relativistic Martin-Schwinger hierarch of coupled Green's functions. By means of introducing the Hartree, Hartree-Fock, and ladder ({Lambda}) approximations, models of the equation of state derived. A special feature of the latter approximation scheme is the inclusion of dynamical two-particle correlations. These have been calculated from the relativistic T-matrix applying both the HEA and Bonn meson-exchange potentials of the nucleon-nucleon force. The nuclear forces of the former two treatments are those of the standard scalar-vector-isovector model of quantum hadron dynamics, with parameters adjusted to the nuclear matter data. An important aspect of this work consists in testing the compatibility of different competing models of the nuclear equation of state with data on pulsar periods. By this the fundamental problem of nuclear physics concerning the behavior of the equation of state at supernuclear densities can be treated.

  13. Fashion Objects

    DEFF Research Database (Denmark)

    Andersen, Bjørn Schiermer

    2009-01-01

    -- an outline which at the same time indicates the need for transformations of the Durkheimian model on decisive points. Thus, thirdly, it returns to Durkheim and undertakes to develop his concepts in a direction suitable for a sociological theory of fashion. Finally, it discusses the theoretical implications......This article attempts to create a framework for understanding modern fashion phenomena on the basis of Durkheim's sociology of religion. It focuses on Durkheim's conception of the relation between the cult and the sacred object, on his notion of 'exteriorisation', and on his theory of the social...... symbol in an attempt to describe the peculiar attraction of the fashion object and its social constitution. However, Durkheim's notions of cult and ritual must undergo profound changes if they are to be used in an analysis of fashion. The article tries to expand the Durkheimian cult, radically enlarging...

  14. Utilities objectives

    International Nuclear Information System (INIS)

    Cousin, Y.; Fabian, H.U.

    1996-01-01

    The policy of French and german utilities is to make use of nuclear energy as a long term, competitive and environmentally friendly power supply. The world electricity generation is due to double within the next 30 years. In the next 20 to 30 years the necessity of nuclear energy will be broadly recognized. More than for most industries, to deal properly with nuclear energy requires the combination of a consistent political will, of a proper institutional framework, of strong and legitimate control authorities, of a sophisticated industry and of operators with skilled management and human resources. One of the major risk facing nuclear energy is the loss of competitiveness. This can be achieved only through the combination of an optimized design, a consistent standardization, a proper industrial partnership and a stable long term strategy. Although the existing plants in Western Europe are already very safe, the policy is clearly to enhance the safety of the next generation of nuclear plants which are designing today. The French and German utilities have chosen an evolutionary approach based on experience and proven technologies, with an enhanced defense in depth and an objective of easier operation and maintenance. The cost objective is to maintain and improve what has been achieved in the best existing power plants in both countries. This calls for rational choices and optimized design to meet the safety objectives, a strong standardization policy, short construction times, high availability and enough flexibility to enable optimization of the fuel cycle throughout the lifetime of the plants. The conceptual design phase has proven that the French and German teams from industry and from the utilities are able to pursue both the safety and the cost objectives, basing their decision on a rational approach which could be accepted by the safety authorities. (J.S.)

  15. GRASP para o PQA: um limite de aceitação para soluções iniciais

    Directory of Open Access Journals (Sweden)

    Range Maria Cristina

    2000-01-01

    Full Text Available O Problema Quadrático de Alocação (PQA pertence à classe dos problemas NP-Hard e desafia os pesquisadores tanto em sua teoria quanto em sua parte computacional. Pela sua alta complexidade muitos métodos heurísticos têm sido desenvolvidos para tentar resolvê-lo aproximadamente. A metaheurística GRASP (greedy randomized adaptive search procedures se mostrou bastante eficiente. Neste trabalho, uma proposta para descartar soluções iniciais supostamente ruins é apresentada com base na normalização de custos calculadas num intervalo entre limites de solução. Para este GRASP restrito, foi observada uma redução do tempo computacional para encontrar as soluções ótimas ou soluções viáveis de boa qualidade quando comparado ao GRASP original.

  16. Design and validation of a morphing myoelectric hand posture controller based on principal component analysis of human grasping.

    Science.gov (United States)

    Segil, Jacob L; Weir, Richard F ff

    2014-03-01

    An ideal myoelectric prosthetic hand should have the ability to continuously morph between any posture like an anatomical hand. This paper describes the design and validation of a morphing myoelectric hand controller based on principal component analysis of human grasping. The controller commands continuously morphing hand postures including functional grasps using between two and four surface electromyography (EMG) electrodes pairs. Four unique maps were developed to transform the EMG control signals in the principal component domain. A preliminary validation experiment was performed by 10 nonamputee subjects to determine the map with highest performance. The subjects used the myoelectric controller to morph a virtual hand between functional grasps in a series of randomized trials. The number of joints controlled accurately was evaluated to characterize the performance of each map. Additional metrics were studied including completion rate, time to completion, and path efficiency. The highest performing map controlled over 13 out of 15 joints accurately.

  17. Planning Robotic Manipulation Strategies for Sliding Objects

    Science.gov (United States)

    Peshkin, Michael A.

    Automated planning of grasping or manipulation requires an understanding of both the physics and the geometry of manipulation, and a representation of that knowledge which facilitates the search for successful strategies. We consider manipulation on a level conveyor belt or tabletop, on which a part may slide when touched by a robot. Manipulation plans for a given part must succeed in the face of two types of uncertainty: that of the details of surfaces in contact, and that of the initial configuration of the part. In general the points of contact between the part and the surface it slides on will be unknown, so the motion of the part in response to a push cannot be predicted exactly. Using a simple variational principle (which is derived), we find the set of possible motions of a part for a given push, for all collections of points of contact. The answer emerges as a locus of centers of rotation (CORs). Manipulation plans made using this locus will succeed despite unknown details of contact. Results of experimental tests of the COR loci are presented. Uncertainty in the initial configuration of a part is usually also present. To plan in the presence of uncertainty, configuration maps are defined, which map all configurations of a part before an elementary operation to all possible outcomes, thus encapsulating the physics and geometry of the operation. The configuration map for an operation sequence is a product of configuration maps of elementary operations. Using COR loci we compute configuration maps for elementary sliding operations. Appropriate search techniques are applied to find operation sequences which succeed in the presence of uncertainty in the initial configuration and unknown details of contact. Such operation sequences may be used as parts feeder designs or as manipulation or grasping strategies for robots. As an example we demonstrate the automated design of a class of passive parts feeders consisting of multiple sequential fences across a conveyor

  18. Rotating universe models

    International Nuclear Information System (INIS)

    Tozini, A.V.

    1984-01-01

    A review is made of some properties of the rotating Universe models. Godel's model is identified as a generalized filted model. Some properties of new solutions of the Einstein's equations, which are rotating non-stationary Universe models, are presented and analyzed. These models have the Godel's model as a particular case. Non-stationary cosmological models are found which are a generalization of the Godel's metrics in an analogous way in which Friedmann is to the Einstein's model. (L.C.) [pt

  19. Rotation Invariance Neural Network

    OpenAIRE

    Li, Shiyuan

    2017-01-01

    Rotation invariance and translation invariance have great values in image recognition tasks. In this paper, we bring a new architecture in convolutional neural network (CNN) named cyclic convolutional layer to achieve rotation invariance in 2-D symbol recognition. We can also get the position and orientation of the 2-D symbol by the network to achieve detection purpose for multiple non-overlap target. Last but not least, this architecture can achieve one-shot learning in some cases using thos...

  20. Modeling business objects with XML schema

    CERN Document Server

    Daum, Berthold

    2003-01-01

    XML Schema is the new language standard from the W3C and the new foundation for defining data in Web-based systems. There is a wealth of information available about Schemas but very little understanding of how to use this highly formal specification for creating documents. Grasping the power of Schemas means going back to the basics of documents themselves, and the semantic rules, or grammars, that define them. Written for schema designers, system architects, programmers, and document authors, Modeling Business Objects with XML Schema guides you through understanding Schemas from the basic concepts, type systems, type derivation, inheritance, namespace handling, through advanced concepts in schema design.*Reviews basic XML syntax and the Schema recommendation in detail.*Builds a knowledge base model step by step (about jazz music) that is used throughout the book.*Discusses Schema design in large environments, best practice design patterns, and Schema''s relation to object-oriented concepts.

  1. Normal isometric strength of rotator cuff muscles in adults

    OpenAIRE

    Chezar, A.; Berkovitch, Y.; Haddad, M.; Keren, Y.; Soudry, M.; Rosenberg, N.

    2013-01-01

    Objectives The most prevalent disorders of the shoulder are related to the muscles of rotator cuff. In order to develop a mechanical method for the evaluation of the rotator cuff muscles, we created a database of isometric force generation by the rotator cuff muscles in normal adult population. We hypothesised the existence of variations according to age, gender and dominancy of limb. Methods A total of 400 healthy adult volunteers were tested, classified into groups of 50 men and women for e...

  2. Object discrimination using electrotactile feedback.

    Science.gov (United States)

    Arakeri, Tapas J; Hasse, Brady A; Fuglevand, Andrew J

    2018-04-09

    A variety of bioengineering systems are being developed to restore tactile sensations in individuals who have lost somatosensory feedback because of spinal cord injury, stroke, or amputation. These systems typically detect tactile force with sensors placed on an insensate hand (or prosthetic hand in the case of amputees) and deliver touch information by electrically or mechanically stimulating sensate skin above the site of injury. Successful object manipulation, however, also requires proprioceptive feedback representing the configuration and movements of the hand and digits. Therefore, we developed a simple system that simultaneously provides information about tactile grip force and hand aperture using current amplitude-modulated electrotactile feedback. We evaluated the utility of this system by testing the ability of eight healthy human subjects to distinguish among 27 objects of varying sizes, weights, and compliances based entirely on electrotactile feedback. The feedback was modulated by grip-force and hand-aperture sensors placed on the hand of an experimenter (not visible to the subject) grasping and lifting the test objects. We were also interested to determine the degree to which subjects could learn to use such feedback when tested over five consecutive sessions. The average percentage correct identifications on day 1 (28.5%  ±  8.2% correct) was well above chance (3.7%) and increased significantly with training to 49.2%  ±  10.6% on day 5. Furthermore, this training transferred reasonably well to a set of novel objects. These results suggest that simple, non-invasive methods can provide useful multisensory feedback that might prove beneficial in improving the control over prosthetic limbs.

  3. Slowly braked, rotating neutron stars

    Science.gov (United States)

    Sato, H.

    1975-01-01

    A slowly braked, rotating neutron star is believed to be a star which rapidly rotates, has no nebula, is nonpulsing, and has a long initial braking time of ten thousand to a million years because of a low magnetic field. Such an object might be observable as an extended weak source of infrared or radio wave radiation due to the scattering of low-frequency strong-wave photons by accelerated electrons. If these objects exist abundantly in the Galaxy, they would act as sources of relatively low-energy cosmic rays. Pulsars (rapidly braked neutron stars) are shown to have difficulties in providing an adequate amount of cosmic-ray matter, making these new sources seem necessary. The possibility that the acceleration mechanism around a slowly braked star may be not a direct acceleration by the strong wave but an acceleration due to plasma turbulence excited by the strong wave is briefly explored. It is shown that white dwarfs may also be slowly braked stars with braking times longer than 3.15 million years.

  4. The continuous end-state comfort effect: weighted integration of multiple biases.

    Science.gov (United States)

    Herbort, Oliver; Butz, Martin V

    2012-05-01

    The grasp orientation when grasping an object is frequently aligned in anticipation of the intended rotation of the object (end-state comfort effect). We analyzed grasp orientation selection in a continuous task to determine the mechanisms underlying the end-state comfort effect. Participants had to grasp a box by a circular handle-which allowed for arbitrary grasp orientations-and then had to rotate the box by various angles. Experiments 1 and 2 revealed both that the rotation's direction considerably determined grasp orientations and that end-postures varied considerably. Experiments 3 and 4 further showed that visual stimuli and initial arm postures biased grasp orientations if the intended rotation could be easily achieved. The data show that end-state comfort but also other factors determine grasp orientation selection. A simple mechanism that integrates multiple weighted biases can account for the data.

  5. Vision for action and perception elicit dissociable adherence to Weber's law across a range of 'graspable' target objects.

    Science.gov (United States)

    Heath, Matthew; Manzone, Joseph; Khan, Michaela; Davarpanah Jazi, Shirin

    2017-10-01

    A number of studies have reported that grasps and manual estimations of differently sized target objects (e.g., 20 through 70 mm) violate and adhere to Weber's law, respectively (e.g., Ganel et al. 2008a, Curr Biol 18:R599-R601)-a result interpreted as evidence that separate visual codes support actions (i.e., absolute) and perceptions (i.e., relative). More recent work employing a broader range of target objects (i.e., 5 through 120 mm) has laid question to this claim and proposed that grasps for 'larger' target objects (i.e., >20 mm) elicit an inverse relationship to Weber's law and that manual estimations for target objects greater than 40 mm violate the law (Bruno et al. 2016, Neuropsychologia 91:327-334). In accounting for this finding, it was proposed that biomechanical limits in aperture shaping preclude the application of Weber's law for larger target objects. It is, however, important to note that the work supporting a biomechanical account may have employed target objects that approached -or were beyond-some participants' maximal aperture separation. The present investigation examined whether grasps and manual estimations differentially adhere to Weber's law across a continuous range of functionally 'graspable' target objects (i.e., 10,…,80% of participant-specific maximal aperture separation). In addition, we employed a method of adjustment task to examine whether manual estimation provides a valid proxy for a traditional measure of perceptual judgment. Manual estimation and method of adjustment tasks demonstrated adherence to Weber's law across the continuous range of target objects used here, whereas grasps violated the law. Thus, results evince that grasps and manual estimations of graspable target objects are, respectively, mediated via absolute and relative visual information.

  6. Small Jovian Trojan Asteroids: An Excess of Slow Rotators

    Science.gov (United States)

    French, Linda M.

    2016-01-01

    Several lines of evidence support a common origin for, and possible hereditary link between, cometary nuclei and jovian Trojan asteroids. Due to their distance and low albedos, few comet-sized Trojans have been studied. We discuss the rotation properties of Jovian Trojan asteroids less than 30 km in diameter. Approximately half of the objects discussed here were studied using densely sampled lightcurves (French et al. 2015a, b); Stephens et al. 2015), and the other half were sparse lightcurves obtained by the Palomar Transient Factory (PTF; Waszcazk et al. 2015). A significant fraction (~40%) of the objects in the ground-based sample rotate slowly (P > 24h), with measured periods as long as 375 h (Warner and Stephens 2011). The PTF data show a similar excess of slow rotators. Only 5 objects in the combined data set have rotation periods of less than six hours. Three of these fast rotators were contained in the data set of French et al. these three had a geometric mean rotation period of 5.29 hours. A prolate spheroid held together by gravity rotating with this period would have a critical density of 0.43 gm/cm3, a density similar to that of comets (Lamy et al. 2004). Harris et al. (2012) and Warner et al. (2011) have explored the possible effects on asteroid rotational statistics with the results from wide-field surveys. We will examine Trojan rotation statistics with and without the results from the PTF.

  7. ROTAX: a nonlinear optimization program by axes rotation method

    International Nuclear Information System (INIS)

    Suzuki, Tadakazu

    1977-09-01

    A nonlinear optimization program employing the axes rotation method has been developed for solving nonlinear problems subject to nonlinear inequality constraints and its stability and convergence efficiency were examined. The axes rotation method is a direct search of the optimum point by rotating the orthogonal coordinate system in a direction giving the minimum objective. The searching direction is rotated freely in multi-dimensional space, so the method is effective for the problems represented with the contours having deep curved valleys. In application of the axes rotation method to the optimization problems subject to nonlinear inequality constraints, an improved version of R.R. Allran and S.E.J. Johnsen's method is used, which deals with a new objective function composed of the original objective and a penalty term to consider the inequality constraints. The program is incorporated in optimization code system SCOOP. (auth.)

  8. Left, right, left, right, eyes to the front! Müller-Lyer bias in grasping is not a function of hand used, hand preferred or visual hemifield, but foveation does matter.

    OpenAIRE

    van der Kamp, J.; de Wit, M.M.; Masters, R.S.W.

    2012-01-01

    We investigated whether the control of movement of the left hand is more likely to involve the use of allocentric information than movements performed with the right hand. Previous studies (Gonzalez et al. in J Neurophys 95:3496-3501, 2006; De Grave et al. in Exp Br Res 193:421-427, 2009) have reported contradictory findings in this respect. In the present study, right-handed participants (N = 12) and left-handed participants (N = 12) made right- and left-handed grasps to foveated objects and...

  9. Adaptive Motion Planning in Bin-Picking with Object Uncertainties

    DEFF Research Database (Denmark)

    Iversen, Thomas Fridolin; Ellekilde, Lars-Peter; Miró, Jaime Valls

    2017-01-01

    Doing motion planning for bin-picking with object uncertainties requires either a re-grasp of picked objects or an online sensor system. Using the latter is advantageous in terms of computational time, as no time is wasted doing an extra pick and place action. It does, however, put extra...... requirements on the motion planner, as the target position may change on-the-fly. This paper solves that problem by using a state adjusting Partial Observable Markov Decision Process, where the state space is modified between runs, to better fit earlier solved problems. The approach relies on a set...

  10. GRASP (Greedy Randomized Adaptive Search Procedures) applied to optimization of petroleum products distribution in pipeline networks; GRASP (Greedy Randomized Adaptative Search Procedures) aplicado ao 'scheduling' de redes de distribuicao de petroleo e derivados

    Energy Technology Data Exchange (ETDEWEB)

    Conte, Viviane Cristhyne Bini; Arruda, Lucia Valeria Ramos de; Yamamoto, Lia [Universidade Tecnologica Federal do Parana (UTFPR), Curitiba, PR (Brazil)

    2008-07-01

    Planning and scheduling of the pipeline network operations aim the most efficient use of the resources resulting in a better performance of the network. A petroleum distribution pipeline network is composed by refineries, sources and/or storage parks, connected by a set of pipelines, which operate the transportation of petroleum and derivatives among adjacent areas. In real scenes, this problem is considered a combinatorial problem, which has difficult solution, which makes necessary methodologies of the resolution that present low computational time. This work aims to get solutions that attempt the demands and minimize the number of batch fragmentations on the sent operations of products for the pipelines in a simplified model of a real network, through by application of the local search metaheuristic GRASP. GRASP does not depend of solutions of previous iterations and works in a random way so it allows the search for the solution in an ampler and diversified search space. GRASP utilization does not demand complex calculation, even the construction stage that requires more computational effort, which provides relative rapidity in the attainment of good solutions. GRASP application on the scheduling of the operations of this network presented feasible solutions in a low computational time. (author)

  11. Rotating positron tomographs revisited

    International Nuclear Information System (INIS)

    Townsend, D.; Defrise, M.; Geissbuhler, A.

    1994-01-01

    We have compared the performance of a PET scanner comprising two rotating arrays of detectors with that of the more conventional stationary-ring design. The same total number of detectors was used in each, and neither scanner had septa. For brain imaging, we find that the noise-equivalent count rate is greater for the rotating arrays by a factor of two. Rotating arrays have a sensitivity profile that peaks in the centre of the field of view, both axially and transaxially. In the transaxial plane, this effect offsets to a certain extent the decrease in the number of photons detected towards the centre of the brain due to self-absorption. We have also compared the performance of a rotating scanner to that of a full-ring scanner with the same number of rings. We find that a full-ring scanner with an axial extent of 16.2 cm (24 rings) is a factor of 3.5 more sensitive than a rotating scanner with 40% of the detectors and the same axial extent. (Author)

  12. GRASP92: a package for large-scale relativistic atomic structure calculations

    Science.gov (United States)

    Parpia, F. A.; Froese Fischer, C.; Grant, I. P.

    2006-12-01

    Program summaryTitle of program: GRASP92 Catalogue identifier: ADCU_v1_1 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/ADCU_v1_1 Program obtainable from: CPC Program Library, Queen's University of Belfast, N. Ireland Licensing provisions: no Programming language used: Fortran Computer: IBM POWERstation 320H Operating system: IBM AIX 3.2.5+ RAM: 64M words No. of lines in distributed program, including test data, etc.: 65 224 No of bytes in distributed program, including test data, etc.: 409 198 Distribution format: tar.gz Catalogue identifier of previous version: ADCU_v1_0 Journal reference of previous version: Comput. Phys. Comm. 94 (1996) 249 Does the new version supersede the previous version?: Yes Nature of problem: Prediction of atomic spectra—atomic energy levels, oscillator strengths, and radiative decay rates—using a 'fully relativistic' approach. Solution method: Atomic orbitals are assumed to be four-component spinor eigenstates of the angular momentum operator, j=l+s, and the parity operator Π=βπ. Configuration state functions (CSFs) are linear combinations of Slater determinants of atomic orbitals, and are simultaneous eigenfunctions of the atomic electronic angular momentum operator, J, and the atomic parity operator, P. Lists of CSFs are either explicitly prescribed by the user or generated from a set of reference CSFs, a set of subshells, and rules for deriving other CSFs from these. Approximate atomic state functions (ASFs) are linear combinations of CSFs. A variational functional may be constructed by combining expressions for the energies of one or more ASFs. Average level (AL) functionals are weighted sums of energies of all possible ASFs that may be constructed from a set of CSFs; the number of ASFs is then the same as the number, n, of CSFs. Optimal level (OL) functionals are weighted sums of energies of some subset of ASFs; the GRASP92 package is optimized for this latter class of functionals. The composition of an ASF in terms

  13. The assessment of GRASP as a prospective ESA gamma ray astronomy mission

    International Nuclear Information System (INIS)

    Bignami, G.; Villa, G.; Dean, A.J.

    1987-01-01

    The GRASP mission - Gamma-Ray Astronomy with Spectroscopy and Positioning was originally proposed as a prospective European astronomy mission by the representatives of a wide European community. The project was selected by ESA for a detailed assessment study which was duly completed in December 1986. The telescope has been designed as a high quality spectral imager (E/ΔE∼1000, Δθ∼6') which operates over a wide spectral range (15 keV to >∼100 MeV) with a (3σ) sensitivity of typically 10 m Crab or better over the entire operational range within an observation period of 10 5 s. Two principal mission scenarios were considered

  14. Decoding complete reach and grasp actions from local primary motor cortex populations.

    Science.gov (United States)

    Vargas-Irwin, Carlos E; Shakhnarovich, Gregory; Yadollahpour, Payman; Mislow, John M K; Black, Michael J; Donoghue, John P

    2010-07-21

    How the activity of populations of cortical neurons generates coordinated multijoint actions of the arm, wrist, and hand is poorly understood. This study combined multielectrode recording techniques with full arm motion capture to relate neural activity in primary motor cortex (M1) of macaques (Macaca mulatta) to arm, wrist, and hand postures during movement. We find that the firing rate of individual M1 neurons is typically modulated by the kinematics of multiple joints and that small, local ensembles of M1 neurons contain sufficient information to reconstruct 25 measured joint angles (representing an estimated 10 functionally independent degrees of freedom). Beyond showing that the spiking patterns of local M1 ensembles represent a rich set of naturalistic movements involving the entire upper limb, the results also suggest that achieving high-dimensional reach and grasp actions with neuroprosthetic devices may be possible using small intracortical arrays like those already being tested in human pilot clinical trials.

  15. Space Geodetic Technique Co-location in Space: Simulation Results for the GRASP Mission

    Science.gov (United States)

    Kuzmicz-Cieslak, M.; Pavlis, E. C.

    2011-12-01

    The Global Geodetic Observing System-GGOS, places very stringent requirements in the accuracy and stability of future realizations of the International Terrestrial Reference Frame (ITRF): an origin definition at 1 mm or better at epoch and a temporal stability on the order of 0.1 mm/y, with similar numbers for the scale (0.1 ppb) and orientation components. These goals were derived from the requirements of Earth science problems that are currently the international community's highest priority. None of the geodetic positioning techniques can achieve this goal alone. This is due in part to the non-observability of certain attributes from a single technique. Another limitation is imposed from the extent and uniformity of the tracking network and the schedule of observational availability and number of suitable targets. The final limitation derives from the difficulty to "tie" the reference points of each technique at the same site, to an accuracy that will support the GGOS goals. The future GGOS network will address decisively the ground segment and to certain extent the space segment requirements. The JPL-proposed multi-technique mission GRASP (Geodetic Reference Antenna in Space) attempts to resolve the accurate tie between techniques, using their co-location in space, onboard a well-designed spacecraft equipped with GNSS receivers, a SLR retroreflector array, a VLBI beacon and a DORIS system. Using the anticipated system performance for all four techniques at the time the GGOS network is completed (ca 2020), we generated a number of simulated data sets for the development of a TRF. Our simulation studies examine the degree to which GRASP can improve the inter-technique "tie" issue compared to the classical approach, and the likely modus operandi for such a mission. The success of the examined scenarios is judged by the quality of the origin and scale definition of the resulting TRF.

  16. Hybrid Feature Selection Approach Based on GRASP for Cancer Microarray Data

    Directory of Open Access Journals (Sweden)

    Arpita Nagpal

    2017-01-01

    Full Text Available Microarray data usually contain a large number of genes, but a small number of samples. Feature subset selection for microarray data aims at reducing the number of genes so that useful information can be extracted from the samples. Reducing the dimension of data sets further helps in improving the computational efficiency of the learning model. In this paper, we propose a modified algorithm based on the tabu search as local search procedures to a Greedy Randomized Adaptive Search Procedure (GRASP for high dimensional microarray data sets. The proposed Tabu based Greedy Randomized Adaptive Search Procedure algorithm is named as TGRASP. In TGRASP, a new parameter has been introduced named as Tabu Tenure and the existing parameters, NumIter and size have been modified. We observed that different parameter settings affect the quality of the optimum. The second proposed algorithm known as FFGRASP (Firefly Greedy Randomized Adaptive Search Procedure uses a firefly optimization algorithm in the local search optimzation phase of the greedy randomized adaptive search procedure (GRASP. Firefly algorithm is one of the powerful algorithms for optimization of multimodal applications. Experimental results show that the proposed TGRASP and FFGRASP algorithms are much better than existing algorithm with respect to three performance parameters viz. accuracy, run time, number of a selected subset of features. We have also compared both the approaches with a unified metric (Extended Adjusted Ratio of Ratios which has shown that TGRASP approach outperforms existing approach for six out of nine cancer microarray datasets and FFGRASP performs better on seven out of nine datasets.

  17. Reach and grasp by people with tetraplegia using a neurally controlled robotic arm

    Science.gov (United States)

    Hochberg, Leigh R.; Bacher, Daniel; Jarosiewicz, Beata; Masse, Nicolas Y.; Simeral, John D.; Vogel, Joern; Haddadin, Sami; Liu, Jie; Cash, Sydney S.; van der Smagt, Patrick; Donoghue, John P.

    2012-01-01

    Paralysis following spinal cord injury (SCI), brainstem stroke, amyotrophic lateral sclerosis (ALS) and other disorders can disconnect the brain from the body, eliminating the ability to carry out volitional movements. A neural interface system (NIS)1–5 could restore mobility and independence for people with paralysis by translating neuronal activity directly into control signals for assistive devices. We have previously shown that people with longstanding tetraplegia can use an NIS to move and click a computer cursor and to control physical devices6–8. Able-bodied monkeys have used an NIS to control a robotic arm9, but it is unknown whether people with profound upper extremity paralysis or limb loss could use cortical neuronal ensemble signals to direct useful arm actions. Here, we demonstrate the ability of two people with long-standing tetraplegia to use NIS-based control of a robotic arm to perform three-dimensional reach and grasp movements. Participants controlled the arm over a broad space without explicit training, using signals decoded from a small, local population of motor cortex (MI) neurons recorded from a 96-channel microelectrode array. One of the study participants, implanted with the sensor five years earlier, also used a robotic arm to drink coffee from a bottle. While robotic reach and grasp actions were not as fast or accurate as those of an able-bodied person, our results demonstrate the feasibility for people with tetraplegia, years after CNS injury, to recreate useful multidimensional control of complex devices directly from a small sample of neural signals. PMID:22596161

  18. The optical rotator

    DEFF Research Database (Denmark)

    Tandrup, T; Gundersen, Hans Jørgen Gottlieb; Jensen, Eva B. Vedel

    1997-01-01

    further discuss the methods derived from this principle and present two new local volume estimators. The optical rotator benefits from information obtained in all three dimensions in thick sections but avoids over-/ underprojection problems at the extremes of the cell. Using computer-assisted microscopes......The optical rotator is an unbiased, local stereological principle for estimation of cell volume and cell surface area in thick, transparent slabs, The underlying principle was first described in 1993 by Kieu Jensen (T. Microsc. 170, 45-51) who also derived an estimator of length, In this study we...... the extra measurements demand minimal extra effort and make this estimator even more efficient when it comes to estimation of individual cell size than many of the previous local estimators, We demonstrate the principle of the optical rotator in an example (the cells in the dorsal root ganglion of the rat...

  19. Vibrations of rotating machinery

    CERN Document Server

    Matsushita, Osami; Kanki, Hiroshi; Kobayashi, Masao; Keogh, Patrick

    2017-01-01

    This book opens with an explanation of the vibrations of a single degree-of-freedom (dof) system for all beginners. Subsequently, vibration analysis of multi-dof systems is explained by modal analysis. Mode synthesis modeling is then introduced for system reduction, which aids understanding in a simplified manner of how complicated rotors behave. Rotor balancing techniques are offered for rigid and flexible rotors through several examples. Consideration of gyroscopic influences on the rotordynamics is then provided and vibration evaluation of a rotor-bearing system is emphasized in terms of forward and backward whirl rotor motions through eigenvalue (natural frequency and damping ratio) analysis. In addition to these rotordynamics concerning rotating shaft vibration measured in a stationary reference frame, blade vibrations are analyzed with Coriolis forces expressed in a rotating reference frame. Other phenomena that may be assessed in stationary and rotating reference frames include stability characteristic...

  20. Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings

    Science.gov (United States)

    Su, Chen; Jiang, Xiaobo

    2017-01-01

    The reach-to-grasp activities play an important role in our daily lives. The developed RUPERT for stroke patients with high stiffness in arm flexor muscles is a low-cost lightweight portable exoskeleton rehabilitation robot whose joints are unidirectionally actuated by pneumatic artificial muscles (PAMs). In order to expand the useful range of RUPERT especially for patients with flaccid paralysis, functional electrical stimulation (FES) is taken to activate paralyzed arm muscles. As both the exoskeleton robot driven by PAMs and the neuromuscular skeletal system under FES possess the highly nonlinear and time-varying characteristics, iterative learning control (ILC) is studied and is taken to control this newly designed hybrid rehabilitation system for reaching trainings. Hand function rehabilitation refers to grasping. Because of tiny finger muscles, grasping and releasing are realized by FES array electrodes and matrix scan method. By using the surface electromyography (EMG) technique, the subject's active intent is identified. The upper limb rehabilitation robot powered by PAMs cooperates with FES arrays to realize active reach-to-grasp trainings, which was verified through experiments. PMID:29065566

  1. XD-GRASP: Golden-angle radial MRI with reconstruction of extra motion-state dimensions using compressed sensing.

    Science.gov (United States)

    Feng, Li; Axel, Leon; Chandarana, Hersh; Block, Kai Tobias; Sodickson, Daniel K; Otazo, Ricardo

    2016-02-01

    To develop a novel framework for free-breathing MRI called XD-GRASP, which sorts dynamic data into extra motion-state dimensions using the self-navigation properties of radial imaging and reconstructs the multidimensional dataset using compressed sensing. Radial k-space data are continuously acquired using the golden-angle sampling scheme and sorted into multiple motion-states based on respiratory and/or cardiac motion signals derived directly from the data. The resulting undersampled multidimensional dataset is reconstructed using a compressed sensing approach that exploits sparsity along the new dynamic dimensions. The performance of XD-GRASP is demonstrated for free-breathing three-dimensional (3D) abdominal imaging, two-dimensional (2D) cardiac cine imaging and 3D dynamic contrast-enhanced (DCE) MRI of the liver, comparing against reconstructions without motion sorting in both healthy volunteers and patients. XD-GRASP separates respiratory motion from cardiac motion in cardiac imaging, and respiratory motion from contrast enhancement in liver DCE-MRI, which improves image quality and reduces motion-blurring artifacts. XD-GRASP represents a new use of sparsity for motion compensation and a novel way to handle motions in the context of a continuous acquisition paradigm. Instead of removing or correcting motion, extra motion-state dimensions are reconstructed, which improves image quality and also offers new physiological information of potential clinical value. © 2015 Wiley Periodicals, Inc.

  2. Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings

    Directory of Open Access Journals (Sweden)

    Xikai Tu

    2017-01-01

    Full Text Available The reach-to-grasp activities play an important role in our daily lives. The developed RUPERT for stroke patients with high stiffness in arm flexor muscles is a low-cost lightweight portable exoskeleton rehabilitation robot whose joints are unidirectionally actuated by pneumatic artificial muscles (PAMs. In order to expand the useful range of RUPERT especially for patients with flaccid paralysis, functional electrical stimulation (FES is taken to activate paralyzed arm muscles. As both the exoskeleton robot driven by PAMs and the neuromuscular skeletal system under FES possess the highly nonlinear and time-varying characteristics, iterative learning control (ILC is studied and is taken to control this newly designed hybrid rehabilitation system for reaching trainings. Hand function rehabilitation refers to grasping. Because of tiny finger muscles, grasping and releasing are realized by FES array electrodes and matrix scan method. By using the surface electromyography (EMG technique, the subject’s active intent is identified. The upper limb rehabilitation robot powered by PAMs cooperates with FES arrays to realize active reach-to-grasp trainings, which was verified through experiments.

  3. Fingertip force planning during grasp is disrupted by impaired sensorimotor integration in children with hemiplegic cerebral palsy

    NARCIS (Netherlands)

    Gordon, A.M.; Charles, J.; Steenbergen, B.

    2006-01-01

    In the present study we examine the ability of children with hemiplegic cerebral palsy (CP) to use anticipatory control of fingertip forces during grasping, and whether anticipatory control is facilitated by lifts with the contralateral hand. Eight children with CP (age 4-13) were asked to perform

  4. Rotating quantum states

    International Nuclear Information System (INIS)

    Ambruş, Victor E.; Winstanley, Elizabeth

    2014-01-01

    We revisit the definition of rotating thermal states for scalar and fermion fields in unbounded Minkowski space–time. For scalar fields such states are ill-defined everywhere, but for fermion fields an appropriate definition of the vacuum gives thermal states regular inside the speed-of-light surface. For a massless fermion field, we derive analytic expressions for the thermal expectation values of the fermion current and stress–energy tensor. These expressions may provide qualitative insights into the behaviour of thermal rotating states on more complex space–time geometries

  5. Rotating bubble membrane radiator

    Science.gov (United States)

    Webb, Brent J.; Coomes, Edmund P.

    1988-12-06

    A heat radiator useful for expelling waste heat from a power generating system aboard a space vehicle is disclosed. Liquid to be cooled is passed to the interior of a rotating bubble membrane radiator, where it is sprayed into the interior of the bubble. Liquid impacting upon the interior surface of the bubble is cooled and the heat radiated from the outer surface of the membrane. Cooled liquid is collected by the action of centrifical force about the equator of the rotating membrane and returned to the power system. Details regarding a complete space power system employing the radiator are given.

  6. Object tracking using active appearance models

    DEFF Research Database (Denmark)

    Stegmann, Mikkel Bille

    2001-01-01

    This paper demonstrates that (near) real-time object tracking can be accomplished by the deformable template model; the Active Appearance Model (AAM) using only low-cost consumer electronics such as a PC and a web-camera. Successful object tracking of perspective, rotational and translational...

  7. The effects of visual discriminability and rotation angle on 30-month-olds’ search performance in spatial rotation tasks

    Directory of Open Access Journals (Sweden)

    Mirjam Ebersbach

    2016-10-01

    Full Text Available Tracking objects that are hidden and then moved is a crucial ability related to object permanence, which develops across several stages in early childhood. In spatial rotation tasks, children observe a target object that is hidden in one of two or more containers before the containers are rotated around a fixed axis. Usually, 30-month-olds fail to find the hidden object after it was rotated by 180°. We examined whether visual discriminability of the containers improves 30-month-olds’ success in this task and whether children perform better after 90° than after 180° rotations. Two potential hiding containers with same or different colors were placed on a board that was rotated by 90° or 180° in a within-subjects design. Children (N = 29 performed above chance level in all four conditions. Their overall success in finding the object did not improve by differently colored containers. However, different colors prevented children from showing an inhibition bias in 90° rotations, that is, choosing the empty container more often when it was located close to them than when it was farther away: This bias emerged in the same colors condition but not in the different colors condition. Results are discussed in view of particular challenges that might facilitate or deteriorate spatial rotation tasks for young children.

  8. The Effects of Visual Discriminability and Rotation Angle on 30-Month-Olds' Search Performance in Spatial Rotation Tasks.

    Science.gov (United States)

    Ebersbach, Mirjam; Nawroth, Christian

    2016-01-01

    Tracking objects that are hidden and then moved is a crucial ability related to object permanence, which develops across several stages in early childhood. In spatial rotation tasks, children observe a target object that is hidden in one of two or more containers before the containers are rotated around a fixed axis. Usually, 30-month-olds fail to find the hidden object after it was rotated by 180°. We examined whether visual discriminability of the containers improves 30-month-olds' success in this task and whether children perform better after 90° than after 180° rotations. Two potential hiding containers with same or different colors were placed on a board that was rotated by 90° or 180° in a within-subjects design. Children ( N = 29) performed above chance level in all four conditions. Their overall success in finding the object did not improve by differently colored containers. However, different colors prevented children from showing an inhibition bias in 90° rotations, that is, choosing the empty container more often when it was located close to them than when it was farther away: This bias emerged in the same colors condition but not in the different colors condition. Results are discussed in view of particular challenges that might facilitate or deteriorate spatial rotation tasks for young children.

  9. The Effects of Visual Discriminability and Rotation Angle on 30-Month-Olds’ Search Performance in Spatial Rotation Tasks

    Science.gov (United States)

    Ebersbach, Mirjam; Nawroth, Christian

    2016-01-01

    Tracking objects that are hidden and then moved is a crucial ability related to object permanence, which develops across several stages in early childhood. In spatial rotation tasks, children observe a target object that is hidden in one of two or more containers before the containers are rotated around a fixed axis. Usually, 30-month-olds fail to find the hidden object after it was rotated by 180°. We examined whether visual discriminability of the containers improves 30-month-olds’ success in this task and whether children perform better after 90° than after 180° rotations. Two potential hiding containers with same or different colors were placed on a board that was rotated by 90° or 180° in a within-subjects design. Children (N = 29) performed above chance level in all four conditions. Their overall success in finding the object did not improve by differently colored containers. However, different colors prevented children from showing an inhibition bias in 90° rotations, that is, choosing the empty container more often when it was located close to them than when it was farther away: This bias emerged in the same colors condition but not in the different colors condition. Results are discussed in view of particular challenges that might facilitate or deteriorate spatial rotation tasks for young children. PMID:27812346

  10. Rotations and angular momentum

    International Nuclear Information System (INIS)

    Nyborg, P.; Froyland, J.

    1979-01-01

    This paper is devoted to the analysis of rotational invariance and the properties of angular momentum in quantum mechanics. In particular, the problem of addition of angular momenta is treated in detail, and tables of Clebsch-Gordan coefficients are included

  11. Negative Rotation Cinch Strap.

    Science.gov (United States)

    This project discloses an improved unitary parachute torso harness, having a single fastening means, wherein an auxillary tightening strap is...attached to the groin straps of said harness. Said auxillary straps are used to prevent torso rotation or harness slippage and to prevent harness elongation

  12. A rotating string

    International Nuclear Information System (INIS)

    Jensen, B.

    1993-06-01

    The author presents a global solution of Einstein's equations which represents a rotating cosmic string with a finite coreradius. The importance of pressure for the generation of closed timelike curves outside the coreregion of such strings is clearly displayed in this model due to the simplicity of the source. 10 refs

  13. Rotator Cuff Injuries.

    Science.gov (United States)

    Connors, G. Patrick

    Many baseball players suffer from shoulder injuries related to the rotator cuff muscles. These injuries may be classified as muscular strain, tendonitis or tenosynovitis, and impingement syndrome. Treatment varies from simple rest to surgery, so it is important to be seen by a physician as soon as possible. In order to prevent these injuries, the…

  14. Rotational dynamics with Tracker

    International Nuclear Information System (INIS)

    Eadkhong, T; Danworaphong, S; Rajsadorn, R; Jannual, P

    2012-01-01

    We propose the use of Tracker, freeware for video analysis, to analyse the moment of inertia (I) of a cylindrical plate. Three experiments are performed to validate the proposed method. The first experiment is dedicated to find the linear coefficient of rotational friction (b) for our system. By omitting the effect of such friction, we derive I for a cylindrical plate rotated around its central axis from the other two experiments based on the relation between torque and angular acceleration of rotational motion and conservation of energy. Movies of the rotating plate and hung masses are recorded. As a result, we have the deviation of I from its theoretical value of 0.4% and 3.3%, respectively. Our setup is completely constructed from locally available inexpensive materials and the experimental results indicate that the system is highly reliable. This work should pave the way for those who prefer to build a similar setup from scratch at relatively low cost compared to commercial units. (paper)

  15. Can planetary nebulae rotate

    International Nuclear Information System (INIS)

    Grinin, V.P.

    1982-01-01

    It is shown that the inclination of spectral lines observed in a number of planetary nebulae when the spectrograph slit is placed along the major axis, which is presently ascribed to nonuniform expansion of the shells, actually may be due to rotation of the nebulae about their minor axes, as Campbell and Moore have suggested in their reports. It is assumed that the rotation of the central star (or, if the core is a binary system, circular motions of gas along quasi-Keplerian orbits) serves as the source of the original rotation of a protoplanetary nebula. The mechanism providing for strengthening of the original rotation in the process of expansion of the shell is the tangential pressure of L/sub α/ radiation due to the anisotropic properties of the medium and radiation field. The dynamic effect produced by them is evidently greatest in the epoch when the optical depth of the nebula in the L/sub c/ continuum becomes on the order of unity in the course of its expansion

  16. A Picture You Can Handle: Infants Treat Touch-Screen Images More Like Photographs than Objects.

    Science.gov (United States)

    Ziemer, Christine J; Snyder, Makenna

    2016-01-01

    Infants actively explore their world in order to determine the different ways in which they can interact with various objects. Although research on infant perception has focused on how infants understand the differences between 2- and 3-dimensional objects, today's infants increasingly encounter 2D images with interactive qualities on smart-phone screens, tablets, and laptops. The purpose of this experiment was to examine the types of manual behaviors infants direct toward tablet images and to compare these actions to those evoked by 2D photographs or 3D when tactile feedback is controlled. Infants between the ages of 7-10 months sat on their parent's lap in front of a table with a built-in well covered by a clear, plastic sheet while the three types of displays (photographs, objects, and screen images on a tablet) were presented for 30 s each. Infants saw three examples of each type of display presented in the built-in well so that tactile feedback information from the different displays was controlled. Coders noted the proportion of trials in which infants grasped, scratched, rubbed, or patted the display. Results indicate that infants direct significantly more grasps, scratches, and rubs toward 3D objects than 2D photographs. Infants also direct more grasps to objects compared to screen images. Our data suggests that infants are treating screen images more similarly to 2D photographs than 3D objects.

  17. A Picture You Can Handle: Infants Treat Touch-Screen Images More Like Photographs than Objects

    Directory of Open Access Journals (Sweden)

    Christine J Ziemer

    2016-08-01

    Full Text Available Infants actively explore their world in order to determine the different ways in which they can interact with various objects. Although research on infant perception has focused on how infants understand the differences between 2- and 3-dimensional objects, today’s infants increasingly encounter 2D images with interactive qualities on smart-phone screens, tablets, and laptops. The purpose of this experiment was to examine the types of manual behaviors infants direct towards tablet images and to compare these actions to those evoked by 2D photographs or 3D when tactile feedback is controlled. Infants between the ages of 7-10 months sat on their parent’s lap in front of a table with a built-in well covered by a clear, plastic sheet while the three types of displays (photographs, objects, and screen images on a tablet were presented for 30 seconds each. Infants saw three examples of each type of display presented in the built-in well so that tactile feedback information from the different displays was controlled. Coders noted the proportion of trials in which infants grasped, scratched, rubbed, or patted the display. Results indicate that infants direct significantly more grasps, scratches, and rubs towards 3D objects than 2D photographs. Infants also direct more grasps to objects compared to screen images. Our data suggests that infants are treating screen images more similarly to 2D photographs than 3D objects.

  18. The Role of the Away Rotation in Otolaryngology Residency.

    Science.gov (United States)

    Villwock, Jennifer A; Hamill, Chelsea S; Ryan, Jesse T; Nicholas, Brian D

    2017-06-01

    Objective To determine the availability and purpose of away rotations during otolaryngology residency. Study Design Cross-sectional survey. Setting Otolaryngology residency programs. Subjects and Methods An anonymous web-based survey was sent to 98 allopathic otolaryngology training program directors, of which 38 programs responded. Fisher exact tests and nonparametric correlations were used to determine statistically significant differences among various strata of programs. A P value of 151 miles from the home institution and typically used to address deficiencies in clinical exposure (67%) or case volume (50%). Participants of mandatory away rotations were universally provided housing, with other consideration such as stipend (33%), relocation allowance (33%), or food allowance (16%) sometimes offered. In contrast to mandatory rotations, half of elective rotations were to obtain a unique international mission trip experience. Nearly one-third of surveyed program directors (29%) would consider adding an away rotation to their curriculum in the next 3 years. Conclusions Mandatory and elective away rotations play a role in a small, but not insignificant, number of training programs. The rationale for these rotations is variable. Given that nearly one-third of program directors would consider adding an away rotation in the near future, further research into components of a meaningful away rotation and how to optimize the away rotation experience is warranted.

  19. Intestinal rotational abnormalities in polysplenia and asplenia syndromes

    International Nuclear Information System (INIS)

    Ditchfield, M.R.; Hutson, J.M.

    1998-01-01

    Objective. To review the anomalies of intestinal rotation occurring in association with asplenia (right isomerism) and polysplenia (left isomerism) syndromes. Materials and methods. A retrospective study was performed of 27 children with asplenia (21) or polysplenia (6) identified from the cardiology and radiology databases from 1988 to 1996 and in whom an upper gastrointestinal barium study had been performed. The intestinal rotation was determined by reviewing the barium meal and could be divided into four groups: (1) normal rotation, (2) incomplete rotation or nonrotation, (3) reversed rotation and (4) reversed incomplete rotation or nonrotation. Surgical correlation was obtained at laparotomy in 17 patients. Results. Of the 27 children studied, 3 (11 %) had normal rotation; incomplete rotation or nonrotation occurred in 5 (19 %), and 2 in this group developed midgut volvulus; 5 (19 %) had reversed rotation; 14 (52 %) had reversed incomplete rotation or nonrotation. Conclusion. Asplenia and polysplenia are frequently associated with intestinal malrotation, and a barium study is recommended in all of these children, as many will be at risk of midgut volvulus. (orig.)

  20. Intestinal rotational abnormalities in polysplenia and asplenia syndromes

    Energy Technology Data Exchange (ETDEWEB)

    Ditchfield, M.R. [Department of Radiology, Royal Children`s Hospital, Parkville (Australia); Hutson, J.M. [Department of General Surgery, Royal Children`s Hospital, Parkville (Australia)

    1998-05-01

    Objective. To review the anomalies of intestinal rotation occurring in association with asplenia (right isomerism) and polysplenia (left isomerism) syndromes. Materials and methods. A retrospective study was performed of 27 children with asplenia (21) or polysplenia (6) identified from the cardiology and radiology databases from 1988 to 1996 and in whom an upper gastrointestinal barium study had been performed. The intestinal rotation was determined by reviewing the barium meal and could be divided into four groups: (1) normal rotation, (2) incomplete rotation or nonrotation, (3) reversed rotation and (4) reversed incomplete rotation or nonrotation. Surgical correlation was obtained at laparotomy in 17 patients. Results. Of the 27 children studied, 3 (11 %) had normal rotation; incomplete rotation or nonrotation occurred in 5 (19 %), and 2 in this group developed midgut volvulus; 5 (19 %) had reversed rotation; 14 (52 %) had reversed incomplete rotation or nonrotation. Conclusion. Asplenia and polysplenia are frequently associated with intestinal malrotation, and a barium study is recommended in all of these children, as many will be at risk of midgut volvulus. (orig.) With 4 figs., 1 tab., 13 refs.