Development of a 6 DOF force-reflecting master input device

Energy Technology Data Exchange (ETDEWEB)

Yoon, Ji Sup; Yoon, Ho Sik

1999-05-01

The teleoperator is a very effective tool for various tasks of nuclear application in that it can reduce the operators' exposure to the radiation. For the utmost performances of the teleoperator, the force reflection capability is essential. This capability represents a function of transmitting the contact force of teleoperator with the object to the human operator. With this function the human operator in the remote area can effectively guide the motion of the teleoperator so that it can follow a safety guaranteed path. In this research a fully force reflectible input device 96 axis is developed. To develop the force reflecting device, the state of art is surveyed. Based on this survey, the 6 DOF manipulator which controls a power manipulator is fabricated and its performance is investigated. Also, various force reflection algorithms analyzed and the enhanced algorithm is proposed. (author). 18 refs., 4 tabs., 26 fi0008.

Development of a 6 DOF force-reflecting master input device

Energy Technology Data Exchange (ETDEWEB)

Yoon, Ji Sup; Yoon, Ho Sik

1999-05-01

The teleoperator is a very effective tool for various tasks of nuclear application in that it can reduce the operators' exposure to the radiation. For the utmost performances of the teleoperator, the force reflection capability is essential. This capability represents a function of transmitting the contact force of teleoperator with the object to the human operator. With this function the human operator in the remote area can effectively guide the motion of the teleoperator so that it can follow a safety guaranteed path. In this research a fully force reflectible input device 96 axis is developed. To develop the force reflecting device, the state of art is surveyed. Based on this survey, the 6 DOF manipulator which controls a power manipulator is fabricated and its performance is investigated. Also, various force reflection algorithms analyzed and the enhanced algorithm is proposed. (author). 18 refs., 4 tabs., 26 fi0008.

Biomechanically determined hand force limits protecting the low back during occupational pushing and pulling tasks.

Science.gov (United States)

Weston, Eric B; Aurand, Alexander; Dufour, Jonathan S; Knapik, Gregory G; Marras, William S

2018-06-01

Though biomechanically determined guidelines exist for lifting, existing recommendations for pushing and pulling were developed using a psychophysical approach. The current study aimed to establish objective hand force limits based on the results of a biomechanical assessment of the forces on the lumbar spine during occupational pushing and pulling activities. Sixty-two subjects performed pushing and pulling tasks in a laboratory setting. An electromyography-assisted biomechanical model estimated spinal loads, while hand force and turning torque were measured via hand transducers. Mixed modelling techniques correlated spinal load with hand force or torque throughout a wide range of exposures in order to develop biomechanically determined hand force and torque limits. Exertion type, exertion direction, handle height and their interactions significantly influenced dependent measures of spinal load, hand force and turning torque. The biomechanically determined guidelines presented herein are up to 30% lower than comparable psychophysically derived limits and particularly more protective for straight pushing. Practitioner Summary: This study utilises a biomechanical model to develop objective biomechanically determined push/pull risk limits assessed via hand forces and turning torque. These limits can be up to 30% lower than existing psychophysically determined pushing and pulling recommendations. Practitioners should consider implementing these guidelines in both risk assessment and workplace design moving forward.

The Effect of Non-Lambertian Surface Reflectance on Aerosol Radiative Forcing

Energy Technology Data Exchange (ETDEWEB)

Ricchiazzi, P.; O' Hirok, W.; Gautier, C.

2005-03-18

Surface reflectance is an important factor in determining the strength of aerosol radiative forcing. Previous studies of radiative forcing assumed that the reflected surface radiance is isotropic and does not depend on incident illumination angle. This Lambertian reflection model is not a very good descriptor of reflectance from real land and ocean surfaces. In this study we present computational results for the seasonal average of short and long wave aerosol radiative forcing at the top of the atmosphere and at the surface. The effect of the Lambertian assumption is found through comparison with calculations using a more detailed bi-direction reflectance distribution function (BRDF).

Gen-2 Hand-Held Optical Imager towards Cancer Imaging: Reflectance and Transillumination Phantom Studies

Directory of Open Access Journals (Sweden)

Anuradha Godavarty

2012-02-01

Full Text Available Hand-held near-infrared (NIR optical imagers are developed by various researchers towards non-invasive clinical breast imaging. Unlike these existing imagers that can perform only reflectance imaging, a generation-2 (Gen-2 hand-held optical imager has been recently developed to perform both reflectance and transillumination imaging. The unique forked design of the hand-held probe head(s allows for reflectance imaging (as in ultrasound and transillumination or compressed imaging (as in X-ray mammography. Phantom studies were performed to demonstrate two-dimensional (2D target detection via reflectance and transillumination imaging at various target depths (1–5 cm deep and using simultaneous multiple point illumination approach. It was observed that 0.45 cc targets were detected up to 5 cm deep during transillumination, but limited to 2.5 cm deep during reflectance imaging. Additionally, implementing appropriate data post-processing techniques along with a polynomial fitting approach, to plot 2D surface contours of the detected signal, yields distinct target detectability and localization. The ability of the gen-2 imager to perform both reflectance and transillumination imaging allows its direct comparison to ultrasound and X-ray mammography results, respectively, in future clinical breast imaging studies.

Variable Thumb Moment Arm Modeling and Thumb-Tip Force Production of a Human-Like Robotic Hand.

Science.gov (United States)

Niehues, Taylor D; Deshpande, Ashish D

2017-10-01

The anatomically correct testbed (ACT) hand mechanically simulates the musculoskeletal structure of the fingers and thumb of the human hand. In this work, we analyze the muscle moment arms (MAs) and thumb-tip force vectors in the ACT thumb in order to compare the ACT thumb's mechanical structure to the human thumb. Motion data are used to determine joint angle-dependent MA models, and thumb-tip three-dimensional (3D) force vectors are experimentally analyzed when forces are applied to individual muscles. Results are presented for both a nominal ACT thumb model designed to match human MAs and an adjusted model that more closely replicates human-like thumb-tip forces. The results confirm that the ACT thumb is capable of faithfully representing human musculoskeletal structure and muscle functionality. Using the ACT hand as a physical simulation platform allows us to gain a better understanding of the underlying biomechanical and neuromuscular properties of the human hand to ultimately inform the design and control of robotic and prosthetic hands.

Force-directed design of a voluntary closing hand prosthesis

NARCIS (Netherlands)

De Visser, H.; Herder, J.L.

2000-01-01

This paper presents the design of a body-powered voluntary closing prosthetic hand. It is argued that the movement of the fingers before establishing a grip is much less relevant for good control of the object held than the distribution of forces once the object has been contacted. Based on this

Unsteady hydrodynamic forces acting on a hand and its flow field during sculling motion.

Science.gov (United States)

Takagi, Hideki; Shimada, Shohei; Miwa, Takahiro; Kudo, Shigetada; Sanders, Ross; Matsuuchi, Kazuo

2014-12-01

The goal of this research is to clarify the mechanism by which unsteady forces are generated during sculling by a skilled swimmer and thereby to contribute to improving propulsive techniques. We used particle image velocimetry (PIV) to acquire data on the kinematics of the hand during sculling, such as fluid forces and flow field. By investigating the correlations between these data, we expected to find a new propulsion mechanism. The experiment was performed in a flow-controlled water channel. The participant executed sculling motions to remain at a fixed position despite constant water flow. PIV was used to visualize the flow-field cross-section in the plane of hand motion. Moreover, the fluid forces acting on the hand were estimated from pressure distribution measurements performed on the hand and simultaneous three-dimensional motion analysis. By executing the sculling motion, a skilled swimmer produces large unsteady fluid forces when the leading-edge vortex occurs on the dorsal side of the hand and wake capture occurs on the palm side. By using a new approach, we observed interesting unsteady fluid phenomena similar to those of flying insects. The study indicates that it is essential for swimmers to fully exploit vortices. A better understanding of these phenomena might lead to an improvement in sculling techniques. Copyright © 2014 Elsevier B.V. All rights reserved.

Human-Human Interaction Forces and Interlimb Coordination During Side-by-Side Walking With Hand Contact.

Science.gov (United States)

Sylos-Labini, Francesca; d'Avella, Andrea; Lacquaniti, Francesco; Ivanenko, Yury

2018-01-01

Handholding can naturally occur between two walkers. When people walk side-by-side, either with or without hand contact, they often synchronize their steps. However, despite the importance of haptic interaction in general and the natural use of hand contact between humans during walking, few studies have investigated forces arising from physical interactions. Eight pairs of adult subjects participated in this study. They walked on side-by-side treadmills at 4 km/h independently and with hand contact. Only hand contact-related sensory information was available for unintentional synchronization, while visual and auditory communication was obstructed. Subjects walked at their natural cadences or following a metronome. Limb kinematics, hand contact 3D interaction forces and EMG activity of 12 upper limb muscles were recorded. Overall, unintentional step frequency locking was observed during about 40% of time in 88% of pairs walking with hand contact. On average, the amplitude of contact arm oscillations decreased while the contralateral (free) arm oscillated in the same way as during normal walking. Interestingly, EMG activity of the shoulder muscles of the contact arm did not decrease, and their synergistic pattern remained similar. The amplitude of interaction forces and of trunk oscillations was similar for synchronized and non-synchronized steps, though the synchronized steps were characterized by significantly more regular orientations of interaction forces. Our results further support the notion that gait synchronization during natural walking is common, and that it may occur through interaction forces. Conservation of the proximal muscle activity of the contact (not oscillating) arm is consistent with neural coupling between cervical and lumbosacral pattern generation circuitries ("quadrupedal" arm-leg coordination) during human gait. Overall, the findings suggest that individuals might integrate force interaction cues to communicate and coordinate steps during

Human-Human Interaction Forces and Interlimb Coordination During Side-by-Side Walking With Hand Contact

Directory of Open Access Journals (Sweden)

Francesca Sylos-Labini

2018-03-01

Full Text Available Handholding can naturally occur between two walkers. When people walk side-by-side, either with or without hand contact, they often synchronize their steps. However, despite the importance of haptic interaction in general and the natural use of hand contact between humans during walking, few studies have investigated forces arising from physical interactions. Eight pairs of adult subjects participated in this study. They walked on side-by-side treadmills at 4 km/h independently and with hand contact. Only hand contact-related sensory information was available for unintentional synchronization, while visual and auditory communication was obstructed. Subjects walked at their natural cadences or following a metronome. Limb kinematics, hand contact 3D interaction forces and EMG activity of 12 upper limb muscles were recorded. Overall, unintentional step frequency locking was observed during about 40% of time in 88% of pairs walking with hand contact. On average, the amplitude of contact arm oscillations decreased while the contralateral (free arm oscillated in the same way as during normal walking. Interestingly, EMG activity of the shoulder muscles of the contact arm did not decrease, and their synergistic pattern remained similar. The amplitude of interaction forces and of trunk oscillations was similar for synchronized and non-synchronized steps, though the synchronized steps were characterized by significantly more regular orientations of interaction forces. Our results further support the notion that gait synchronization during natural walking is common, and that it may occur through interaction forces. Conservation of the proximal muscle activity of the contact (not oscillating arm is consistent with neural coupling between cervical and lumbosacral pattern generation circuitries (“quadrupedal” arm-leg coordination during human gait. Overall, the findings suggest that individuals might integrate force interaction cues to communicate and

Automatic analysis of force distribution in multi-fingered articulated hands

Science.gov (United States)

Amani, Mahyar

A kinematic and force analysis of multifingered, multijointed dexterous hands is presented. The analysis involves calculation of the basis for null space of the grasp matrix. An algorithm is developed to perform all necessary analyses of dexterous hands. All equality and inequality constraints are automatically formulated in a constraint matrix. These include unisense constraints, frictional constraints, and joint torque limits. The reduction of the constraint matrix into a compact form is also presented. The algorithm is written in Fortran and is user-friendly and capable of handling all practical grasping problems. Different types of contact may be examined, including soft finger contact and point contact with and without friction. The software can easily determine the feasibility of a grasp for a given set of contact forces/torques, and may potentially be combined with either routines to compute the optimum value of contact wrench intensities and joint torque values.

Review and Evaluation of Hand-Arm Coordinate Systems for Measuring Vibration Exposure, Biodynamic Responses, and Hand Forces.

Science.gov (United States)

Dong, Ren G; Sinsel, Erik W; Welcome, Daniel E; Warren, Christopher; Xu, Xueyan S; McDowell, Thomas W; Wu, John Z

2015-09-01

The hand coordinate systems for measuring vibration exposures and biodynamic responses have been standardized, but they are not actually used in many studies. This contradicts the purpose of the standardization. The objectives of this study were to identify the major sources of this problem, and to help define or identify better coordinate systems for the standardization. This study systematically reviewed the principles and definition methods, and evaluated typical hand coordinate systems. This study confirms that, as accelerometers remain the major technology for vibration measurement, it is reasonable to standardize two types of coordinate systems: a tool-based basicentric (BC) system and an anatomically based biodynamic (BD) system. However, these coordinate systems are not well defined in the current standard. Definition of the standard BC system is confusing, and it can be interpreted differently; as a result, it has been inconsistently applied in various standards and studies. The standard hand BD system is defined using the orientation of the third metacarpal bone. It is neither convenient nor defined based on important biological or biodynamic features. This explains why it is rarely used in practice. To resolve these inconsistencies and deficiencies, we proposed a revised method for defining the realistic handle BC system and an alternative method for defining the hand BD system. A fingertip-based BD system for measuring the principal grip force is also proposed based on an important feature of the grip force confirmed in this study.

Hand forces exerted by long-term care staff when pushing wheelchairs on compliant and non-compliant flooring.

Science.gov (United States)

Lachance, Chantelle C; Korall, Alexandra M B; Russell, Colin M; Feldman, Fabio; Robinovitch, Stephen N; Mackey, Dawn C

2018-09-01

Purpose-designed compliant flooring and carpeting have been promoted as a means for reducing fall-related injuries in high-risk environments, such as long-term care. However, it is not known whether these surfaces influence the forces that long-term care staff exert when pushing residents in wheelchairs. We studied 14 direct-care staff who pushed a loaded wheelchair instrumented with a triaxial load cell to test the effects on hand force of flooring overlay (vinyl versus carpet) and flooring subfloor (concrete versus compliant rubber [brand: SmartCells]). During straight-line pushing, carpet overlay increased initial and sustained hand forces compared to vinyl overlay by 22-49% over a concrete subfloor and by 8-20% over a compliant subfloor. Compliant subflooring increased initial and sustained hand forces compared to concrete subflooring by 18-31% when under a vinyl overlay. In contrast, compliant flooring caused no change in initial or sustained hand forces compared to concrete subflooring when under a carpet overlay. Copyright © 2018 Elsevier Ltd. All rights reserved.

Hand-rim Forces and Gross Mechanical Efficiency at Various Frequencies of Wheelchair Propulsion

NARCIS (Netherlands)

Lenton, J. P.; van der Woude, L. H. V.; Fowler, N. E.; Nicholson, G.; Tolfrey, K.; Goosey-Tolfrey, V. L.

To determine the effects of push frequency changes on force application, fraction of effective force (FEF) and gross efficiency (GE) during hand-rim propulsion. 8 male able-bodied participants performed five 4-min sub-maximal exercise bouts at 1.8 m.s(-1); the freely chosen frequency (FCF), followed

Optical Force Sensor for the DEXMART Hand Twisted String Actuation System

Directory of Open Access Journals (Sweden)

Gianluca PALLI

2013-01-01

Full Text Available In this paper, the force sensor developed for the twisted string actuation system of the DEXMART Hand is described. The proposed solution makes use of optoelectronic components for measuring the deformation of the properly designed motor module structure caused by the force applied to the tendon transmission system. The paper reports the working principle, the calibration and the characterization of the sensor in terms of sensitivity, repeatability, full-scale and Signal-to-Noise ratio.

Stabilizing impacts in force-reflecting teleoperation using distance-to-impact estimates

International Nuclear Information System (INIS)

McAree, P.R.; Daniel, R.W.

2000-01-01

The level of force that can be stably reflected to the human operator in a force-reflecting teleoperator is constrained by the dynamics of impact between the slave arm and its environment. This paper models the underlying dynamics of impact and describes how the impact effects can be minimized using estimates of the distance between the slave and objects in its workspace. The approach is based on stochastic variational principles and seeks to limit the momentum of the slave arm at impact. Preliminary experimental results show that the approach allows extension of the range of frequencies that can be stably reflected to the human operator

NONLINEAR FORCE PROFILE USED TO INCREASE THE PERFORMANCE OF A HAPTIC USER INTERFACE FOR TELEOPERATING A ROBOTIC HAND

Energy Technology Data Exchange (ETDEWEB)

Anthony L. Crawford

2012-07-01

MODIFIED PAPER TITLE AND ABSTRACT DUE TO SLIGHTLY MODIFIED SCOPE: TITLE: Nonlinear Force Profile Used to Increase the Performance of a Haptic User Interface for Teleoperating a Robotic Hand Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space. The research associated with this paper hypothesizes that a user interface and complementary radiation compatible robotic hand that integrates the human hand’s anthropometric properties, speed capability, nonlinear strength profile, reduction of active degrees of freedom during the transition from manipulation to grasping, and just noticeable difference force sensation characteristics will enhance a user’s teleoperation performance. The main contribution of this research is in that a system that concisely integrates all these factors has yet to be developed and furthermore has yet to be applied to a hazardous environment as those referenced above. In fact, the most prominent slave manipulator teleoperation technology in use today is based on a design patented in 1945 (Patent 2632574) [1]. The robotic hand/user interface systems of similar function as the one being developed in this research limit their design input requirements in the best case to only complementing the hand’s anthropometric properties, speed capability, and linearly scaled force application relationship (e.g. robotic force is a constant, 4 times that of the user). In this paper a nonlinear relationship between the force experienced between the user interface and the robotic hand was devised based on property differences of manipulation and grasping activities as they pertain to the human hand. The results show that such a relationship when subjected to a manipulation task and grasping task produces increased performance compared to the

Light reflection by the cuticle of C. aurigans scarabs: a biological broadband reflector of left handed circularly polarized light

Science.gov (United States)

Libby, E.; Azofeifa, D. E.; Hernández-Jiménez, M.; Barboza-Aguilar, C.; Solís, A.; García-Aguilar, I.; Arce-Marenco, L.; Hernández, A.; Vargas, W. E.

2014-08-01

Measured reflection spectra from elytra of Chrysina aurigans scarabs are reported. They show a broad reflection band for wavelengths from 0.525 to 1.0 μm with a sequence of maxima and minima reflection values superimposed on a mean value of around 40% for the high reflection band. Different mechanisms contributing to the reflection spectra have been considered, with the dominant effect, reflection of left handed circularly polarized light, being produced by a laminated left handed twisted structure whose pitch changes with depth through the procuticle in a more complex way than that characterizing broad band circular polarizers based on cholesteric liquid crystals.

Light reflection by the cuticle of C. aurigans scarabs: a biological broadband reflector of left handed circularly polarized light

International Nuclear Information System (INIS)

Libby, E; Azofeifa, D E; Hernández-Jiménez, M; García-Aguilar, I; Arce-Marenco, L; Hernández, A; Vargas, W E; Barboza-Aguilar, C; Solís, A

2014-01-01

Measured reflection spectra from elytra of Chrysina aurigans scarabs are reported. They show a broad reflection band for wavelengths from 0.525 to 1.0 μm with a sequence of maxima and minima reflection values superimposed on a mean value of around 40% for the high reflection band. Different mechanisms contributing to the reflection spectra have been considered, with the dominant effect, reflection of left handed circularly polarized light, being produced by a laminated left handed twisted structure whose pitch changes with depth through the procuticle in a more complex way than that characterizing broad band circular polarizers based on cholesteric liquid crystals. (fast track communication)

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.

Effects of hand configuration on muscle force coordination, co-contraction and concomitant intermuscular coupling during maximal isometric flexion of the fingers.

Science.gov (United States)

Charissou, Camille; Amarantini, David; Baurès, Robin; Berton, Eric; Vigouroux, Laurent

2017-11-01

The mechanisms governing the control of musculoskeletal redundancy remain to be fully understood. The hand is highly redundant, and shows different functional role of extensors according to its configuration for a same functional task of finger flexion. Through intermuscular coherence analysis combined with hand musculoskeletal modelling during maximal isometric hand contractions, our aim was to better understand the neural mechanisms underlying the control of muscle force coordination and agonist-antagonist co-contraction. Thirteen participants performed maximal isometric flexions of the fingers in two configurations: power grip (Power) and finger-pressing on a surface (Press). Hand kinematics and force/moment measurements were used as inputs in a musculoskeletal model of the hand to determine muscular tensions and co-contraction. EMG-EMG coherence analysis was performed between wrist and finger flexors and extensor muscle pairs in alpha, beta and gamma frequency bands. Concomitantly with tailored muscle force coordination and increased co-contraction between Press and Power (mean difference: 48.08%; p force coordination during hand contractions. Our results highlight the functional importance of intermuscular coupling as a mechanism contributing to the control of muscle force synergies and agonist-antagonist co-contraction.

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.

Factors influencing power hand tool fastening accuracy and reaction forces.

Science.gov (United States)

Radwin, Robert G; Chourasia, Amrish O; Howery, Robert S; Fronczak, Frank J; Yen, Thomas Y; Subedi, Yashpal; Sesto, Mary E

2014-06-01

A laboratory study investigated the relationship between power hand tool and task-related factors affecting threaded fastener torque accuracy and associated handle reaction force. We previously developed a biodynamic model to predict handle reaction forces. We hypothesized that torque accuracy was related to the same factors that affect operator capacity to react against impulsive tool forces, as predicted by the model. The independent variables included tool (pistol grip on a vertical surface, right angle on a horizontal surface), fastener torque rate (hard, soft), horizontal distance (30 cm and 60 cm), and vertical distance (80 cm, 110 cm, and 140 cm). Ten participants (five male and five female) fastened 12 similar bolts for each experimental condition. Average torque error (audited - target torque) was affected by fastener torque rate and operator position. Torque error decreased 33% for soft torque rates, whereas handle forces greatly increased (170%). Torque error also decreased for the far horizontal distance 7% to 14%, when vertical distance was in the middle or high, but handle force decreased slightly 3% to 5%. The evidence suggests that although both tool and task factors affect fastening accuracy, they each influence handle reaction forces differently. We conclude that these differences are attributed to different parameters each factor influences affecting the dynamics of threaded faster tool operation. Fastener torque rate affects the tool dynamics, whereas posture affects the spring-mass-damping biodynamic properties of the human operator. The prediction of handle reaction force using an operator biodynamic model may be useful for codifying complex and unobvious relationships between tool and task factors for minimizing torque error while controlling handle force.

Changing the size of a mirror-reflected hand moderates the experience of embodiment but not proprioceptive drift: a repeated measures study on healthy human participants.

Science.gov (United States)

Wittkopf, Priscilla G; Lloyd, Donna M; Johnson, Mark I

2017-06-01

Mirror visual feedback is used for reducing pain and visually distorting the size of the reflection may improve efficacy. The findings of studies investigating size distortion are inconsistent. The influence of the size of the reflected hand on embodiment of the mirror reflection is not known. The aim of this study was to compare the effect of magnifying and minifying mirror reflections of the hand on embodiment measured using an eight-item questionnaire and on proprioceptive drift. During the experiment, participants (n = 45) placed their right hand behind a mirror and their left hand in front of a mirror. Participants watched a normal-sized, a magnified and a minified reflection of the left hand while performing synchronised finger movements for 3 min (adaptive phase). Measurements of embodiment were taken before (pre) and after (post) synchronous movements of the fingers of both hands (embodiment adaptive phase). Results revealed larger proprioceptive drift post-adaptive phase (p = 0.001). Participants agreed more strongly with questionnaire items associated with location, ownership and agency of the reflection of the hand post-adaptive phase (p embodiment of the reflection of the hand. Magnifying and minifying the reflection of the hand has little effect on proprioceptive drift, but it weakens the subjective embodiment experience. Such factors need to be taken into account in future studies using this technique, particularly when assessing mirror visual feedback for pain management.

Force feedback delay affects perception of stiffness but not action, and the effect depends on the hand used but not on the handedness.

Science.gov (United States)

Leib, Raz; Rubin, Inbar; Nisky, Ilana

2018-05-16

Interaction with an object often requires the estimation of its mechanical properties. We examined whether the hand that is used to interact with the object and their handedness affected people's estimation of these properties using stiffness estimation as a test case. We recorded participants' responses on a stiffness discrimination of a virtual elastic force field and the grip force applied on the robotic device during the interaction. In half of the trials, the robotic device delayed the participants' force feedback. Consistent with previous studies, delayed force feedback biased the perceived stiffness of the force field. Interestingly, in both left-handed and right-handed participants, for the delayed force field, there was even less perceived stiffness when participants used their left hand than their right hand. This result supports the idea that haptic processing is affected by laterality in the brain, not by handedness. Consistent with previous studies, participants adjusted their applied grip force according to the correct size and timing of the load force regardless of the hand that was used, the handedness, or the delay. This suggests that in all these conditions, participants were able to form an accurate internal representation of the anticipated trajectory of the load force (size and timing) and that this representation was used for accurate control of grip force independently of the perceptual bias. Thus, these results provide additional evidence for the dissociation between action and perception in the processing of delayed information.

New reflections on agency and body ownership: The moving rubber hand illusion in the mirror.

Science.gov (United States)

Jenkinson, Paul M; Preston, Catherine

2015-05-01

No previous study has simultaneously examined body ownership and agency in healthy subjects during mirror self-observation. We used a moving rubber hand illusion to examine how both body ownership and agency are affected by seeing (i) the body moving in a mirror, compared with (ii) directly viewing the moving hand, and (iii) seeing a visually identical hand rotated by 180°. We elicited ownership of the hand using direct visual feedback, finding this effect was further enhanced when looking at the hand in a mirror, whereas rotating the hand 180° abolished ownership. Agency was similarly elicited using direct visual feedback, and equally so in the mirror, but again reduced for the 180° hand. We conclude that the reflected body in a mirror is treated as 'special' in the mind, and distinct from other external objects. This enables bodies and actions viewed in a mirror to be directly related to the self. Copyright © 2015 Elsevier Inc. All rights reserved.

Multivariate stability of force-reflecting teleoperation: Structures of finite and infinite zeros

International Nuclear Information System (INIS)

Daniel, R.W.; McAree, P.R.

2000-01-01

This paper presents a stability analysis of force-position teleoperation under general end-effector contact. The analysis is based on the finite and infinite zero structure of the multivariable root-locus resulting from modulation of the environment stiffness. The starting point is an analysis of the stability of robot force control, motivated by the observation that the human-operator in a force reflection loop acts as a force servo, generating position commands in response to reflected force. Asymptotic root loci properties are used to establish passivity conditions on force feedback to give root locus interpretations of the well-known results that (1) feedback via the inverse joint Jacobian can lead to (kinematic) instability and that (2) passivity is preserved by kinematically proper force feedback through the transpose of the joint angle Jacobian. It is demonstrated that a fully constrained force-position teleoperation loop has an identical infinite zero structure to that of a slave manipulation under kinematically proper force control and that the dominant vibration modes of a force-position loop are fully described by a multivariable analogue of the single-input single-output pseudo-system investigated in a study by Daniel and McAree. Extension of the analysis to cover partial end-effector constraint provides a design tool for teleoperation control and serves to aid selection of teleoperation slate-arms. The paper concludes by giving a passivity condition for multiple-input multiple-output force-position teleoperation for stable contact against all environments

The Influence of a Padded Hand Wrap on Punching Force in Elite and Untrained Punchers

Directory of Open Access Journals (Sweden)

Andrew J. Galpin

2015-10-01

Full Text Available Punching is integral to success in combat sports, making it a frequent activity during practice/training. Improving safety of this activity benefits both the athlete and training partners. This study was designed to 1 test the precision and reliability of a commercially available striking device and 2 assess the influence of a novel padded hand wrap on punching force in elite and untrained punchers. Fourteen male professional boxers and mixed martial artists (PRO; age=29.2±5.6y; height=180.3±9.0cm; mass=87.1±17.9kg, winning %=73.8±13.8%, number of victories via knockout/technical knockout=35.6± 21.9% and 24 untrained male punchers (UNT; 27.6±6.9y, 177.6±18.3cm, 84.3±16.9kg wore a standardized boxing glove and performed 20 maximal punches (4 sets of 5 into a device designed to measure punching force. All participants performed, in a counterbalanced order, 2 sets of 5 with a standardized hand wrap and 2 sets of 5 with the same wrap plus an additional 1.2cm thick cylinder 4g foam-like pad (WRAP placed over the knuckles. PRO produced significantly more punching force than UNT, regardless of condition. Punching force was lower by 12.6% (p<0.05 for PRO and 8.9% (p<0.05 for UNT with WRAP (compared to no WRAP. These findings suggest WRAP significantly reduces punching force, which may be important for long-term safety of the puncher’s hand and/or the person receiving the strike. Keywords: safety, punching, striking, hitting, combat, pad

Automatic gain control of neural coupling during cooperative hand movements.

Science.gov (United States)

Thomas, F A; Dietz, V; Schrafl-Altermatt, M

2018-04-13

Cooperative hand movements (e.g. opening a bottle) are controlled by a task-specific neural coupling, reflected in EMG reflex responses contralateral to the stimulation site. In this study the contralateral reflex responses in forearm extensor muscles to ipsilateral ulnar nerve stimulation was analyzed at various resistance and velocities of cooperative hand movements. The size of contralateral reflex responses was closely related to the level of forearm muscle activation required to accomplish the various cooperative hand movement tasks. This indicates an automatic gain control of neural coupling that allows a rapid matching of corrective forces exerted at both sides of an object with the goal 'two hands one action'.

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.

Elementary school science teachers' reflection for nature of science: Workshop of NOS explicit and reflective on force and motion learning activity

Science.gov (United States)

Patho, Khanittha; Yuenyong, Chokchai; Chamrat, Suthida

2018-01-01

The nature of science has been part of Thailand's science education curriculum since 2008. However, teachers lack of understanding about the nature of science (NOS) and its teaching, particularly element school science teachers. In 2012, the Science Institute of Thailand MOE, started a project of Elementary Science Teacher Professional Development to enhance their thinking about the Nature of Science. The project aimed to enhance teachers' understanding of NOS, science teaching for explicit and reflective NOS, with the aim of extending their understanding of NOS to other teachers. This project selected 366 educational persons. The group was made up of a teacher and a teacher supervisor from 183 educational areas in 74 provinces all Thailand. The project provided a one week workshop and a year's follow up. The week-long workshop consisted of 11 activities of science teaching for explicit reflection on 8 aspects of NOS. Workshop of NOS explicit and reflective on force and motion learning activity is one of eight activities. This activity provided participants to learn force and motion and NOS from the traditional toy "Bang-Poh". The activity tried to enhance participants to explicit NOS for 5 aspects including empirical basis, subjectivity, creativity, observation and inference, and sociocultural embeddedness. The explicit NOS worksheet provided questions to ask participants to reflect their existing ideas about NOS. The paper examines elementary school science teachers' understanding of NOS from the force and motion learning activity which provided explicit reflection on 5 NOS aspects. An interpretive paradigm was used to analyse the teachers' reflections in a NOS worksheet. The findings indicated that majority of them could reflect about the empirical basis of science and creativity but few reflected on observation and inference, or sociocultural embeddedness. The paper will explain the teachers' NOS thinking and discuss the further enhancing of their understanding

Key Insights into Hand Biomechanics: Human Grip Stiffness Can Be Decoupled from Force by Cocontraction and Predicted from Electromyography

Directory of Open Access Journals (Sweden)

Hannes Höppner

2017-05-01

Full Text Available We investigate the relation between grip force and grip stiffness for the human hand with and without voluntary cocontraction. Apart from gaining biomechanical insight, this issue is particularly relevant for variable-stiffness robotic systems, which can independently control the two parameters, but for which no clear methods exist to design or efficiently exploit them. Subjects were asked in one task to produce different levels of force, and stiffness was measured. As expected, this task reveals a linear coupling between force and stiffness. In a second task, subjects were then asked to additionally decouple stiffness from force at these force levels by using cocontraction. We measured the electromyogram from relevant groups of muscles and analyzed the possibility to predict stiffness and force. Optical tracking was used for avoiding wrist movements. We found that subjects were able to decouple grip stiffness from force when using cocontraction on average by about 20% of the maximum measured stiffness over all force levels, while this ability increased with the applied force. This result contradicts the force–stiffness behavior of most variable-stiffness actuators. Moreover, we found the thumb to be on average twice as stiff as the index finger and discovered that intrinsic hand muscles predominate our prediction of stiffness, but not of force. EMG activity and grip force allowed to explain 72 ± 12% of the measured variance in stiffness by simple linear regression, while only 33 ± 18% variance in force. Conclusively the high signal-to-noise ratio and the high correlation to stiffness of these muscles allow for a robust and reliable regression of stiffness, which can be used to continuously teleoperate compliance of modern robotic hands.

Quantification of hand function by power grip and pinch strength force measurements in ulnar nerve lesion simulated by ulnar nerve block.

Science.gov (United States)

Wachter, Nikolaus Johannes; Mentzel, Martin; Krischak, Gert D; Gülke, Joachim

2017-06-24

In the assessment of hand and upper limb function, grip strength is of the major importance. The measurement by dynamometers has been established. In this study, the effect of a simulated ulnar nerve lesion on different grip force measurements was evaluated. In 25 healthy volunteers, grip force measurement was done by the JAMAR dynamometer (Fabrication Enterprises Inc, Irvington, NY) for power grip and by a pinch strength dynamometer for tip pinch strength, tripod grip, and key pinch strength. A within-subject research design was used in this prospective study. Each subject served as the control by preinjection measurements of grip and pinch strength. Subsequent measurements after ulnar nerve block were used to examine within-subject change. In power grip, there was a significant reduction of maximum grip force of 26.9% with ulnar nerve block compared with grip force without block (P force could be confirmed. However, the assessment of other dimensions of hand strength as tip pinch, tripod pinch and key pinch had more relevance in demonstrating hand strength changes resulting from an distal ulnar nerve lesion. The measurement of tip pinch, tripod grip and key pinch can improve the follow-up in hand rehabilitation. II. Copyright © 2017 Hanley & Belfus. Published by Elsevier Inc. All rights reserved.

Coordination of hand shape.

Science.gov (United States)

Pesyna, Colin; Pundi, Krishna; Flanders, Martha

2011-03-09

The neural control of hand movement involves coordination of the sensory, motor, and memory systems. Recent studies have documented the motor coordinates for hand shape, but less is known about the corresponding patterns of somatosensory activity. To initiate this line of investigation, the present study characterized the sense of hand shape by evaluating the influence of differences in the amount of grasping or twisting force, and differences in forearm orientation. Human subjects were asked to use the left hand to report the perceived shape of the right hand. In the first experiment, six commonly grasped items were arranged on the table in front of the subject: bottle, doorknob, egg, notebook, carton, and pan. With eyes closed, subjects used the right hand to lightly touch, forcefully support, or imagine holding each object, while 15 joint angles were measured in each hand with a pair of wired gloves. The forces introduced by supporting or twisting did not influence the perceptual report of hand shape, but for most objects, the report was distorted in a consistent manner by differences in forearm orientation. Subjects appeared to adjust the intrinsic joint angles of the left hand, as well as the left wrist posture, so as to maintain the imagined object in its proper spatial orientation. In a second experiment, this result was largely replicated with unfamiliar objects. Thus, somatosensory and motor information appear to be coordinated in an object-based, spatial-coordinate system, sensitive to orientation relative to gravitational forces, but invariant to grasp forcefulness.

A teleoperation training simulator with visual and kinesthetic force virtual reality

Science.gov (United States)

Kim, Won S.; Schenker, Paul

1992-01-01

A force-reflecting teleoperation training simulator with a high-fidelity real-time graphics display has been developed for operator training. A novel feature of this simulator is that it enables the operator to feel contact forces and torques through a force-reflecting controller during the execution of the simulated peg-in-hole task, providing the operator with the feel of visual and kinesthetic force virtual reality. A peg-in-hole task is used in our simulated teleoperation trainer as a generic teleoperation task. A quasi-static analysis of a two-dimensional peg-in-hole task model has been extended to a three-dimensional model analysis to compute contact forces and torques for a virtual realization of kinesthetic force feedback. The simulator allows the user to specify force reflection gains and stiffness (compliance) values of the manipulator hand for both the three translational and the three rotational axes in Cartesian space. Three viewing modes are provided for graphics display: single view, two split views, and stereoscopic view.

Anticipatory synergy adjustments reflect individual performance of feedforward force control.

Science.gov (United States)

Togo, Shunta; Imamizu, Hiroshi

2016-10-06

We grasp and dexterously manipulate an object through multi-digit synergy. In the framework of the uncontrolled manifold (UCM) hypothesis, multi-digit synergy is defined as the coordinated control mechanism of fingers to stabilize variable important for task success, e.g., total force. Previous studies reported anticipatory synergy adjustments (ASAs) that correspond to a drop of the synergy index before a quick change of the total force. The present study compared ASA's properties with individual performances of feedforward force control to investigate a relationship of those. Subjects performed a total finger force production task that consisted of a phase in which subjects tracked target line with visual information and a phase in which subjects produced total force pulse without visual information. We quantified their multi-digit synergy through UCM analysis and observed significant ASAs before producing total force pulse. The time of the ASA initiation and the magnitude of the drop of the synergy index were significantly correlated with the error of force pulse, but not with the tracking error. Almost all subjects showed a significant increase of the variance that affected the total force. Our study directly showed that ASA reflects the individual performance of feedforward force control independently of target-tracking performance and suggests that the multi-digit synergy was weakened to adjust the multi-digit movements based on a prediction error so as to reduce the future error. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM

Energy Technology Data Exchange (ETDEWEB)

M.A. Ebadian, Ph.D.

1999-01-01

For certain applications, such as space servicing, undersea operations, and hazardous material handling tasks in nuclear reactors, the environments can be uncertain, complex, and hazardous. Lives may be in danger if humans were to work under these conditions. As a result, a man-machine system--a teleoperator system--has been developed to work in these types of environments. In a typical teleoperator system, the actual system operates at a remote site; the operator located away from this system usually receives visual information from a video image and/or graphical animation on the computer screen. Additional feedback, such as aural and force information, can significantly enhance performance of the system. Force reflection is a type of feedback in which forces experienced by the remote manipulator are fed back to the manual controller. Various control methods have been proposed for implementation on a teleoperator system. In order to examine different control schemes, a one Degree-Of-Freedom (DOF) Force-Reflecting Manual Controller (FRMC) is constructed and integrated into a PC. The system parameters are identified and constructed as a mathematical model. The Proportional-Integral-Derivative (PID) and fuzzy logic controllers are developed and tested experimentally. Numerical simulation results obtained from the mathematical model are compared with those of experimental data for both types of controllers. In addition, the concept of a telesensation system is introduced. A telesensation system is an advanced teleoperator system that attempts to provide the operator with sensory feedback. In this context, a telesensation system integrates the use of a Virtual Reality (VR) unit, FRMC, and Graphical User Interface (GUI). The VR unit is used to provide the operator with a 3-D visual effect. Various commercial VR units are reviewed and features compared for use in a telesensation system. As for the FRMC, the conceptual design of a 3-DOF FRMC is developed in an effort to

DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM

International Nuclear Information System (INIS)

Ebadian, M.A.

1999-01-01

For certain applications, such as space servicing, undersea operations, and hazardous material handling tasks in nuclear reactors, the environments can be uncertain, complex, and hazardous. Lives may be in danger if humans were to work under these conditions. As a result, a man-machine system--a teleoperator system--has been developed to work in these types of environments. In a typical teleoperator system, the actual system operates at a remote site; the operator located away from this system usually receives visual information from a video image and/or graphical animation on the computer screen. Additional feedback, such as aural and force information, can significantly enhance performance of the system. Force reflection is a type of feedback in which forces experienced by the remote manipulator are fed back to the manual controller. Various control methods have been proposed for implementation on a teleoperator system. In order to examine different control schemes, a one Degree-Of-Freedom (DOF) Force-Reflecting Manual Controller (FRMC) is constructed and integrated into a PC. The system parameters are identified and constructed as a mathematical model. The Proportional-Integral-Derivative (PID) and fuzzy logic controllers are developed and tested experimentally. Numerical simulation results obtained from the mathematical model are compared with those of experimental data for both types of controllers. In addition, the concept of a telesensation system is introduced. A telesensation system is an advanced teleoperator system that attempts to provide the operator with sensory feedback. In this context, a telesensation system integrates the use of a Virtual Reality (VR) unit, FRMC, and Graphical User Interface (GUI). The VR unit is used to provide the operator with a 3-D visual effect. Various commercial VR units are reviewed and features compared for use in a telesensation system. As for the FRMC, the conceptual design of a 3-DOF FRMC is developed in an effort to

Hand-Rim Forces and Gross Mechanical Efficiency in Asynchronous and Synchronous Wheelchair Propulsion : A Comparison

NARCIS (Netherlands)

Lenton, J. P.; Fowler, N.; Nicholson, G.; Tolfrey, K.; Goosey-Tolfrey, V.; van der Woude, Lucas

To compare the force application characteristics at various push frequencies of asynchronous (ASY) and synchronous (SYN) hand-rim propulsion, 8 able-bodied participants performed a separate sub-maximal exercise test on a wheelchair roller ergometer for each propulsion mode. Each test consisted of a

Humans can integrate force feedback to toes in their sensorimotor control of a robotic hand.

Science.gov (United States)

Panarese, Alessandro; Edin, Benoni B; Vecchi, Fabrizio; Carrozza, Maria C; Johansson, Roland S

2009-12-01

Tactile sensory feedback is essential for dexterous object manipulation. Users of hand myoelectric prostheses without tactile feedback must depend essentially on vision to control their device. Indeed, improved tactile feedback is one of their main priorities. Previous research has provided evidence that conveying tactile feedback can improve prostheses control, although additional effort is required to solve problems related to pattern recognition learning, unpleasant sensations, sensory adaptation, and low spatiotemporal resolution. Still, these studies have mainly focused on providing stimulation to hairy skin regions close to the amputation site, i.e., usually to the upper arm. Here, we explored the possibility to provide tactile feedback to the glabrous skin of toes, which have mechanical and neurophysiological properties similar to the fingertips. We explored this paradigm in a grasp-and-lift task, in which healthy participants controlled two opposing digits of a robotic hand by changing the spacing of their index finger and thumb. The normal forces applied by the robotic fingertips to a test object were fed back to the right big and second toe. We show that within a few lifting trials, all the participants incorporated the force feedback received by the foot in their sensorimotor control of the robotic hand.

The Effects of Age, Gender, and Hand on Force Control Capabilities of Healthy Adults.

Science.gov (United States)

Lee, Baekhee; Lee, Mina; Yoh, Myeung Sook; You, Heecheon; Park, Hyunji; Jung, Kihyo; Lee, Byung Hwa; Na, Duk L; Kim, Geon Ha

2015-12-01

The present study examined the effects of age (20s to 70s), gender (male and female), and hand (dominant and nondominant) on force control capabilities (FCCs) in four force control phases (initiation, development, maintenance, and termination). Normative data of FCCs by force control phase are needed for various populations in age and gender to identify a type of motor performance reduction and its severity. FCCs of 360 participants (30 for each combination of age group and gender) were measured using a finger dynamometer and quantified in terms of initiation time (IT), development time (DT), maintenance error (ME), and termination time (TT). Although gradual increases (1%~28%) by age were shown in IT, DT, and TT, a dramatic increase in ME was observed among participants in their 50s (26%), 60s (68%), and 70s (160%) compared to those in their 20s~40s. The most distinctive interaction effect of age and gender was found in ME out of the four FCC measures. Lastly, hand and its related interactions were not found significant. Normative FCC data were established for four age groups (20s~40s, 50s, 60s, and 70s) and gender. The normative FCC data can be used for evaluating an individual's motor performance, screening patients with brain disorders, and designing input devices triggered and/or operated by the finger. © 2015, Human Factors and Ergonomics Society.

Effects of glovebox gloves on grip and key pinch strength and contact forces for simulated manual operations with three commonly used hand tools.

Science.gov (United States)

Sung, Peng-Cheng

2014-01-01

This study examined the effects of glovebox gloves for 11 females on maximum grip and key pinch strength and on contact forces generated from simulated tasks of a roller, a pair of tweezers and a crescent wrench. The independent variables were gloves fabricated of butyl, CSM/hypalon and neoprene materials; two glove thicknesses; and layers of gloves worn including single, double and triple gloving. CSM/hypalon and butyl gloves produced greater grip strength than the neoprene gloves. CSM/hypalon gloves also lowered contact forces for roller and wrench tasks. Single gloving and thin gloves improved hand strength performances. However, triple layers lowered contact forces for all tasks. Based on the evaluating results, selection and design recommendations of gloves for three hand tools were provided to minimise the effects on hand strength and optimise protection of the palmar hand in glovebox environments. To improve safety and health in the glovebox environments where gloves usage is a necessity, this study provides recommendations for selection and design of glovebox gloves for three hand tools including a roller, a pair of tweezers and a crescent wrench based on the results discovered in the experiments.

Advance of the new MA 23 force reflecting manipulator system

International Nuclear Information System (INIS)

Vertut, Jean; Coiffet, Philippe; Petit, Michel

1976-01-01

This new bilateral servo manipulator system is under development since 1974, in close cooperation between different french organizations with the leadership of the Commissariat a l'Energie Atomique. This Group is facing in the same Technology different applications covering nuclear remote manipulation, undersea remote work, second generation industrial robots and manipulators for handicaped persons. Brief description of the different arms ranging from 5kg to 20kg mass capacity are given with corresponding tested performances. They all use original electric DC actuators with extremely low friction and zero backlash, with only cables and tapes. System works in different modes: the direct master slave force reflecting mode, an advanced tape recording programmer, minicomputer control, and the combined modes. Work is concentrated on full dynamic control and force control by minicomputer

Review and Evaluation of Hand–Arm Coordinate Systems for Measuring Vibration Exposure, Biodynamic Responses, and Hand Forces

Directory of Open Access Journals (Sweden)

Ren G. Dong

2015-09-01

Full Text Available The hand coordinate systems for measuring vibration exposures and biodynamic responses have been standardized, but they are not actually used in many studies. This contradicts the purpose of the standardization. The objectives of this study were to identify the major sources of this problem, and to help define or identify better coordinate systems for the standardization. This study systematically reviewed the principles and definition methods, and evaluated typical hand coordinate systems. This study confirms that, as accelerometers remain the major technology for vibration measurement, it is reasonable to standardize two types of coordinate systems: a tool-based basicentric (BC system and an anatomically based biodynamic (BD system. However, these coordinate systems are not well defined in the current standard. Definition of the standard BC system is confusing, and it can be interpreted differently; as a result, it has been inconsistently applied in various standards and studies. The standard hand BD system is defined using the orientation of the third metacarpal bone. It is neither convenient nor defined based on important biological or biodynamic features. This explains why it is rarely used in practice. To resolve these inconsistencies and deficiencies, we proposed a revised method for defining the realistic handle BC system and an alternative method for defining the hand BD system. A fingertip-based BD system for measuring the principal grip force is also proposed based on an important feature of the grip force confirmed in this study.

Review and Evaluation of Hand–Arm Coordinate Systems for Measuring Vibration Exposure, Biodynamic Responses, and Hand Forces

Science.gov (United States)

Dong, Ren G.; Sinsel, Erik W.; Welcome, Daniel E.; Warren, Christopher; Xu, Xueyan S.; McDowell, Thomas W.; Wu, John Z.

2015-01-01

The hand coordinate systems for measuring vibration exposures and biodynamic responses have been standardized, but they are not actually used in many studies. This contradicts the purpose of the standardization. The objectives of this study were to identify the major sources of this problem, and to help define or identify better coordinate systems for the standardization. This study systematically reviewed the principles and definition methods, and evaluated typical hand coordinate systems. This study confirms that, as accelerometers remain the major technology for vibration measurement, it is reasonable to standardize two types of coordinate systems: a tool-based basicentric (BC) system and an anatomically based biodynamic (BD) system. However, these coordinate systems are not well defined in the current standard. Definition of the standard BC system is confusing, and it can be interpreted differently; as a result, it has been inconsistently applied in various standards and studies. The standard hand BD system is defined using the orientation of the third metacarpal bone. It is neither convenient nor defined based on important biological or biodynamic features. This explains why it is rarely used in practice. To resolve these inconsistencies and deficiencies, we proposed a revised method for defining the realistic handle BC system and an alternative method for defining the hand BD system. A fingertip-based BD system for measuring the principal grip force is also proposed based on an important feature of the grip force confirmed in this study. PMID:26929824

Effects of Carpal Tunnel Syndrome on adaptation of multi-digit forces to object mass distribution for whole-hand manipulation

Directory of Open Access Journals (Sweden)

Zhang Wei

2012-11-01

Full Text Available Abstract Background Carpal tunnel syndrome (CTS is a compression neuropathy of the median nerve that results in sensorimotor deficits in the hand. Until recently, the effects of CTS on hand function have been studied using mostly two-digit grip tasks. The purpose of this study was to investigate the coordination of multi-digit forces as a function of object center of mass (CM during whole-hand grasping. Methods Fourteen CTS patients and age- and gender-matched controls were instructed to grasp, lift, hold, and release a grip device with five digits for seven consecutive lifts while maintaining its vertical orientation. The object CM was changed by adding a mass at different locations at the base of the object. We measured forces and torques exerted by each digit and object kinematics and analyzed modulation of these variables to object CM at object lift onset and during object hold. Our task requires a modulation of digit forces at and after object lift onset to generate a compensatory moment to counteract the external moment caused by the added mass and to minimize object tilt. Results We found that CTS patients learned to generate a compensatory moment and minimized object roll to the same extent as controls. However, controls fully exploited the available degrees of freedom (DoF in coordinating their multi-digit forces to generate a compensatory moment, i.e., digit normal forces, tangential forces, and the net center of pressure on the finger side of the device at object lift onset and during object hold. In contrast, patients modulated only one of these DoFs (the net center of pressure to object CM by modulating individual normal forces at object lift onset. During object hold, however, CTS patients were able to modulate digit tangential force distribution to object CM. Conclusions Our findings suggest that, although CTS did not affect patients’ ability to perform our manipulation task, it interfered with the modulation of specific grasp

Pneumatic tool torque reaction: reaction forces, displacement, muscle activity and discomfort in the hand-arm system.

Science.gov (United States)

Kihlberg, S; Kjellberg, A; Lindbeck, L

1993-06-01

Reaction forces, hand-arm displacement, muscle activity and discomfort ratings were studied during the securing of threaded fasteners with three angle nutrunners with different shut-off mechanisms, but with the same spindle torque (72-74 Nm). The three tools were tested according to the method specified in ISO 6544. One of the tools had an almost instantaneous shut-off. Another had a more slowly declining torque curve. For the third tool the maximum torque was maintained for a while before shut-off. Twelve male subjects participated in the study. A force platform measured the reaction force between the subject and the floor. The option of the hand-arm system and the shoulder was measured with an optoelectronic measuring system. The muscle activity (EMG) in six muscles in the arm and shoulder was measured with surface electrodes. Significant differences in the arm movements and ground reaction forces were found between the three tools. The smallest values were found with the fast shut-off tool while the delayed shut-off tool caused the largest values. The EMG measures gave inconsistent response patterns. Discomfort ratings were highly correlated with the time for which the tool torque exceeded 90% of peak preset torque, but the time for which the tool torque exceeded 90% of peak calculated by the method specified in ISO 6544. Nutrunners with a shut-off mechanism that causes a slowly decreasing torque or a torque that is maintained for a while before shut-off should be avoided. If no substitutes are available, then a torque reaction bar should be mounted on the tool.

Vertical force and torque analysis during mechanical preparation of extracted teeth using hand ProTaper instruments.

Science.gov (United States)

Glavičić, Snježana; Anić, Ivica; Braut, Alen; Miletić, Ivana; Borčić, Josipa

2011-08-01

The purpose was to measure and analyse the vertical force and torque developed in the wider and narrower root canals during hand ProTaper instrumentation. Twenty human incisors were divided in two groups. Upper incisors were experimental model for the wide, while the lower incisors for the narrow root canals. Measurements of the force and torque were done by a device constructed for this purpose. Differences between the groups were statistically analysed by Mann-Whitney U-test with the significance level set to P<0.05. Vertical force in the upper incisors ranged 0.25-2.58 N, while in the lower incisors 0.38-6.94 N. Measured torque in the upper incisors ranged 0.53-12.03 Nmm, while in the lower incisor ranged 0.94-10.0 Nmm. Vertical force and torque were higher in the root canals of smaller diameter. The increase in the contact surface results in increase of the vertical force and torque as well in both narrower and wider root canals. © 2010 The Authors. Australian Endodontic Journal © 2010 Australian Society of Endodontology.

Hands in Systemic Disease

Science.gov (United States)

... All Topics A-Z Videos Infographics Symptom Picker Anatomy Bones Joints Muscles Nerves Vessels Tendons About Hand Surgery What is ... Hand Therapist? Media Find a Hand Surgeon Home Anatomy ... hands, being composed of many types of tissue, including blood vessels, nerves, skin and skin-related tissues, bones, and muscles/tendons/ligaments, may show changes that reflect a ...

Contact pressure measurement in hand tool evaluation studies

NARCIS (Netherlands)

Kuijt-Evers, L.F.M.; Bosch, T.

2006-01-01

In hand tool evaluation studies, several objective measurements are used. Grip force distribution and grip force are important as they give feedback about the force which has to be performed with the hand on the handle. A measurement technique -which is related to grip force measurement- is contact

The Development of Radiation hardened tele-robot system - Development of artificial force reflection control for teleoperated mobile robots

Energy Technology Data Exchange (ETDEWEB)

Lee, Ju Jang; Hong, Sun Gi; Kang, Young Hoon; Kim, Min Soeng [Korea Advanced Institute of Science and Technology, Taejon (Korea)

1999-04-01

One of the most important issues in teleoperation is to provide the sense of telepresence so as to conduct the task more reliably. In particular, teleoperated mobile robots are needed to have some kinds of backup system when the operator is blind for remote situation owing to the failure of vision system. In the first year, the idea of artificial force reflection was researched to enhance the reliability of operation when the mobile robot travels on the plain ground. In the second year, we extend previous results to help the teleoperator even when the robot climbs stairs. Finally, we apply the developed control algorithms to real experiments. The artificial force reflection method has two modes; traveling on the plain ground and climbing stairs. When traveling on the plain ground, the force information is artificially generated by using the range data from the environment while generating the impulse force when climbing stairs. To verify the validity of our algorithm, we develop the simulator which consists of the joystick and the visual display system. Through some experiments using this system, we confirm the validity and effectiveness of our new idea of artificial force reflection in the teleoperated mobile robot. 11 refs., 30 figs. (Author)

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 ...

Surface EMG in advanced hand prosthetics.

Science.gov (United States)

Castellini, Claudio; van der Smagt, Patrick

2009-01-01

One of the major problems when dealing with highly dexterous, active hand prostheses is their control by the patient wearing them. With the advances in mechatronics, building prosthetic hands with multiple active degrees of freedom is realisable, but actively controlling the position and especially the exerted force of each finger cannot yet be done naturally. This paper deals with advanced robotic hand control via surface electromyography. Building upon recent results, we show that machine learning, together with a simple downsampling algorithm, can be effectively used to control on-line, in real time, finger position as well as finger force of a highly dexterous robotic hand. The system determines the type of grasp a human subject is willing to use, and the required amount of force involved, with a high degree of accuracy. This represents a remarkable improvement with respect to the state-of-the-art of feed-forward control of dexterous mechanical hands, and opens up a scenario in which amputees will be able to control hand prostheses in a much finer way than it has so far been possible.

Functional relationship between dominant and non-dominant hand in motor task - hand grip strength endurance

Directory of Open Access Journals (Sweden)

Kljajić Dragana

2012-01-01

Full Text Available The aim of this study was to determine the functional relationship between dominant and non-dominant hand in the strength endurance motor task - hand grip, in the referent population of healthy and young persons. For the purpose of the research we have implemented the method of isometric dynamometry and standardized hand grip test. The study included 48 participants, 23 of them being of female and 25 of male gender. The analysis of variance (ANOVA was used to determine the difference between the sets of variables in the function of gender and functional dimorphism, while the Bonferroni criterion was applied to determine the differences between pairs of individual variables. The difference between the maximum hand grip of dominant and non-dominant hand in female participants amounted to 9.28%, and in male ones 7.39% in favor of the dominant hand. There is no statistically significant difference between nondominant and dominant hand regarding the force endurance time aspect at 30%, 50% and 80% out of the maximum hand grip level, as well as at the absolute and relative force impulse indicators as an endurance measure. The value of gender dimorphism in relation to the absolute indicators of force momentum at 30%, 50% and 80% out of the maximum hand grip level in female participants is 0.9714, 0.9145, 0.9301, and in male participants 0.9515, 0.8264 and 0.8606. The force momentum indicators value at 30%, 50% and 80% out of the maximum hand grip level in female participants is ImpF30%=21167.58±6923.67 Ns, ImpF50%=10846.94±3800.56 Ns and ImpF80%=5438.46±1993.12 Ns, and in male participants ImpF30%=17734.03±6881.92 Ns, ImpF50%=13903.61±3437.76 Ns and ImpF80%=5117.53±1894.78 Ns. The obtained results can be used as the criteria for further research in special education and rehabilitation, medical and professional rehabilitation.

Structure of ordered polyelectrolyte films from atomic-force microscopy and X-ray reflectivity data

International Nuclear Information System (INIS)

Belyaev, V.V.; Tolstikhina, A.L.; Stepina, N.D.; Kayushina, R.L.

1998-01-01

The possible application of atomic-force microscopy and X-ray reflectometry methods to structural studies of polyelectrolyte films obtained due to alternating adsorption of oppositely charged polyanion [sodium polysterenesulfonate (PSS)] and polycation [poly(allylamine) hydrochloride (PAA)] layers on solid substrates has been considered. The atomic-force microscopy study has revealed the characteristic features of the surface topography of samples consisting of different numbers of polyelectrolyte layers deposited from solutions characterized by different ionic strength values. It is shown that the shape of the reflectivity curves obtained from thin polyelectrolyte films depends on their surface structure

Grip Force Adjustments Reflect Prediction of Dynamic Consequences in Varying Gravitoinertial Fields

Directory of Open Access Journals (Sweden)

Olivier White

2018-02-01

Full Text Available Humans have a remarkable ability to adjust the way they manipulate tools through a genuine regulation of grip force according to the task. However, rapid changes in the dynamical context may challenge this skill, as shown in many experimental approaches. Most experiments adopt perturbation paradigms that affect only one sensory modality. We hypothesize that very fast adaptation can occur if coherent information from multiple sensory modalities is provided to the central nervous system. Here, we test whether participants can switch between different and never experienced dynamical environments induced by centrifugation of the body. Seven participants lifted an object four times in a row successively in 1, 1.5, 2, 2.5, 2, 1.5, and 1 g. We continuously measured grip force, load force and the gravitoinertial acceleration that was aligned with body axis (perceived gravity. Participants adopted stereotyped grasping movements immediately upon entry in a new environment and needed only one trial to adapt grip forces to a stable performance in each new gravity environment. This result was underlined by good correlations between grip and load forces in the first trial. Participants predictively applied larger grip forces when they expected increasing gravity steps. They also decreased grip force when they expected decreasing gravity steps, but not as much as they could, indicating imperfect anticipation in that condition. The participants' performance could rather be explained by a combination of successful scaling of grip force according to gravity changes and a separate safety factor. The data suggest that in highly unfamiliar dynamic environments, grip force regulation is characterized by a combination of a successful anticipation of the experienced environmental condition, a safety factor reflecting strategic response to uncertainties about the environment and rapid feedback mechanisms to optimize performance under constant conditions.

Quantification of Hand Motor Symptoms in Parkinson's Disease: A Proof-of-Principle Study Using Inertial and Force Sensors.

Science.gov (United States)

van den Noort, Josien C; Verhagen, Rens; van Dijk, Kees J; Veltink, Peter H; Vos, Michelle C P M; de Bie, Rob M A; Bour, Lo J; Heida, Ciska T

2017-10-01

This proof-of-principle study describes the methodology and explores and demonstrates the applicability of a system, existing of miniature inertial sensors on the hand and a separate force sensor, to objectively quantify hand motor symptoms in patients with Parkinson's disease (PD) in a clinical setting (off- and on-medication condition). Four PD patients were measured in off- and on- dopaminergic medication condition. Finger tapping, rapid hand opening/closing, hand pro/supination, tremor during rest, mental task and kinetic task, and wrist rigidity movements were measured with the system (called the PowerGlove). To demonstrate applicability, various outcome parameters of measured hand motor symptoms of the patients in off- vs. on-medication condition are presented. The methodology described and results presented show applicability of the PowerGlove in a clinical research setting, to objectively quantify hand bradykinesia, tremor and rigidity in PD patients, using a single system. The PowerGlove measured a difference in off- vs. on-medication condition in all tasks in the presented patients with most of its outcome parameters. Further study into the validity and reliability of the outcome parameters is required in a larger cohort of patients, to arrive at an optimal set of parameters that can assist in clinical evaluation and decision-making.

Optical Fiber Force Myography Sensor for Identification of Hand Postures

Directory of Open Access Journals (Sweden)

Eric Fujiwara

2018-01-01

Full Text Available A low-cost optical fiber force myography sensor for noninvasive hand posture identification is proposed. The transducers are comprised of 10 mm periodicity silica multimode fiber microbending devices mounted in PVC plates, providing 0.05 N−1 sensitivity over ~20 N range. Next, the transducers were attached to the user forearm by means of straps in order to monitor the posterior proximal radial, the anterior medial ulnar, and the posterior distal radial muscles, and the acquired FMG optical signals were correlated to the performed gestures using a 5 hidden layers, 20-neuron artificial neural network classifier with backpropagation architecture, followed by a competitive layer. The overall results for 9 postures and 6 subjects indicated a 98.4% sensitivity and 99.7% average accuracy, being comparable to the electromyographic approaches. Moreover, in contrast to the current setups, the proposed methodology allows the identification of poses characterized by different configurations of fingers and wrist joint displacements with the utilization of only 3 transducers and a simple interrogation scheme, being suitable to further applications in human-computer interfaces.

Robotic hand and fingers

Science.gov (United States)

Salisbury, Curt Michael; Dullea, Kevin J.

2017-06-06

Technologies pertaining to a robotic hand are described herein. The robotic hand includes one or more fingers releasably attached to a robotic hand frame. The fingers can abduct and adduct as well as flex and tense. The fingers are releasably attached to the frame by magnets that allow for the fingers to detach from the frame when excess force is applied to the fingers.

The Right to Inhabit. Reflection on Forced Displacement and Social Movements.

Directory of Open Access Journals (Sweden)

Reyna Sánchez Estévez

2016-12-01

Full Text Available This paper exposes initial data from an investigation into the protests and social struggles against forced displacement of people from Mexico, it is given to know the places where protests are developed, the reasons which originate them and the characteristics of the participant subjects, a first analysis of the resistance objectives is also done and some elements of their repertoires of protest are offered. A reflection on the damage caused by these displacements in human beings and on the notions of risk and vulnerability is made.Keywords: Social movements, evictions, vulnerability

Engaging Military Fathers in a Reflective Parenting Program: Lessons from Strong Families Strong Forces

Science.gov (United States)

DeVoe, Ellen R.; Paris, Ruth

2015-01-01

Through Strong Families Strong Forces, a reflective parenting program for military families with young children, we were privileged to work with contemporary military fathers who served in the post-9/11 conflicts in Afghanistan and Iraq. Due to this work, the authors gained valuable insight into the complexity of fathering during wartime, the…

Force illusions and drifts observed during muscle vibration.

Science.gov (United States)

Reschechtko, Sasha; Cuadra, Cristian; Latash, Mark L

2018-01-01

We explored predictions of a scheme that views position and force perception as a result of measuring proprioceptive signals within a reference frame set by ongoing efferent process. In particular, this hypothesis predicts force illusions caused by muscle vibration and mediated via changes in both afferent and efferent components of kinesthesia. Healthy subjects performed accurate steady force production tasks by pressing with the four fingers of one hand (the task hand) on individual force sensors with and without visual feedback. At various times during the trials, subjects matched the perceived force using the other hand. High-frequency vibration was applied to one or both of the forearms (over the hand and finger extensors). Without visual feedback, subjects showed a drop in the task hand force, which was significantly smaller under the vibration of that forearm. Force production by the matching hand was consistently higher than that of the task hand. Vibrating one of the forearms affected the matching hand in a manner consistent with the perception of higher magnitude of force produced by the vibrated hand. The findings were consistent between the dominant and nondominant hands. The effects of vibration on both force drift and force mismatching suggest that vibration led to shifts in both signals from proprioceptors and the efferent component of perception, the referent coordinate and/or coactivation command. The observations fit the hypothesis on combined perception of kinematic-kinetic variables with little specificity of different groups of peripheral receptors that all contribute to perception of forces and coordinates. NEW & NOTEWORTHY We show that vibration of hand/finger extensors produces consistent errors in finger force perception. Without visual feedback, finger force drifted to lower values without a drift in the matching force produced by the other hand; hand extensor vibration led to smaller finger force drift. The findings fit the scheme with

Analysis of applied forces and electromyography of back and shoulders muscles when performing a simulated hand scaling task.

Science.gov (United States)

Porter, William; Gallagher, Sean; Torma-Krajewski, Janet

2010-05-01

Hand scaling is a physically demanding task responsible for numerous overexertion injuries in underground mining. Scaling requires the miner to use a long pry bar to remove loose rock, reducing the likelihood of rock fall injuries. The experiments described in this article simulated "rib" scaling (scaling a mine wall) from an elevated bucket to examine force generation and electromyographic responses using two types of scaling bars (steel and fiberglass-reinforced aluminum) at five target heights ranging from floor level to 176 cm. Ten male and six female subjects were tested in separate experiments. Peak and average force applied at the scaling bar tip and normalized electromyography (EMG) of the left and right pairs of the deltoid and erectores spinae muscles were obtained. Work height significantly affected peak prying force during scaling activities with highest force capacity at the lower levels. Bar type did not affect force generation. However, use of the lighter fiberglass bar required significantly more muscle activity to achieve the same force. Results of these studies suggest that miners scale points on the rock face that are below their knees, and reposition the bucket as often as necessary to do so. Published by Elsevier Ltd.

Risk factors for hand-wrist disorders in repetitive work

DEFF Research Database (Denmark)

Thomsen, J. F.; Mikkelsen, S.; Andersen, JH

2007-01-01

OBJECTIVES: To identify the risk of hand-wrist disorders related to repetitive movements, use of hand force and wrist position in repetitive monotonous work. METHODS: Using questionnaires and physical examinations, the prevalence and incidence of hand-wrist pain and possible extensor tendonitis...... (wrist pain and palpation tenderness) were determined in 3123 employees in 19 industrial settings. With the use of questionnaires and video recordings of homogenous work tasks number of wrist movements, hand force requirements and wrist position were analysed as risk factors for hand-wrist disorders......, controlling for potential personal and psychosocial confounders. All participants were re-examined three times during a follow-up period of three years. RESULTS: Force but not repetition and position was related to hand-wrist pain and possible tendonitis in the baseline analyses showing an exposure...

Quantum levitation by left-handed metamaterials

Energy Technology Data Exchange (ETDEWEB)

Leonhardt, Ulf; Philbin, Thomas G [School of Physics and Astronomy, University of St Andrews, North Haugh, St Andrews KY16 9SS (United Kingdom)

2007-08-15

Left-handed metamaterials make perfect lenses that image classical electromagnetic fields with significantly higher resolution than the diffraction limit. Here, we consider the quantum physics of such devices. We show that the Casimir force of two conducting plates may turn from attraction to repulsion if a perfect lens is sandwiched between them. For optical left-handed metamaterials, this repulsive force of the quantum vacuum may levitate ultra-thin mirrors.

Quantum levitation by left-handed metamaterials

International Nuclear Information System (INIS)

Leonhardt, Ulf; Philbin, Thomas G

2007-01-01

Left-handed metamaterials make perfect lenses that image classical electromagnetic fields with significantly higher resolution than the diffraction limit. Here, we consider the quantum physics of such devices. We show that the Casimir force of two conducting plates may turn from attraction to repulsion if a perfect lens is sandwiched between them. For optical left-handed metamaterials, this repulsive force of the quantum vacuum may levitate ultra-thin mirrors

Development of a force-reflecting robotic platform for cardiac catheter navigation.

Science.gov (United States)

Park, Jun Woo; Choi, Jaesoon; Pak, Hui-Nam; Song, Seung Joon; Lee, Jung Chan; Park, Yongdoo; Shin, Seung Min; Sun, Kyung

2010-11-01

Electrophysiological catheters are used for both diagnostics and clinical intervention. To facilitate more accurate and precise catheter navigation, robotic cardiac catheter navigation systems have been developed and commercialized. The authors have developed a novel force-reflecting robotic catheter navigation system. The system is a network-based master-slave configuration having a 3-degree of freedom robotic manipulator for operation with a conventional cardiac ablation catheter. The master manipulator implements a haptic user interface device with force feedback using a force or torque signal either measured with a sensor or estimated from the motor current signal in the slave manipulator. The slave manipulator is a robotic motion control platform on which the cardiac ablation catheter is mounted. The catheter motions-forward and backward movements, rolling, and catheter tip bending-are controlled by electromechanical actuators located in the slave manipulator. The control software runs on a real-time operating system-based workstation and implements the master/slave motion synchronization control of the robot system. The master/slave motion synchronization response was assessed with step, sinusoidal, and arbitrarily varying motion commands, and showed satisfactory performance with insignificant steady-state motion error. The current system successfully implemented the motion control function and will undergo safety and performance evaluation by means of animal experiments. Further studies on the force feedback control algorithm and on an active motion catheter with an embedded actuation mechanism are underway. © 2010, Copyright the Authors. Artificial Organs © 2010, International Center for Artificial Organs and Transplantation and Wiley Periodicals, Inc.

Grip Force and 3D Push-Pull Force Estimation Based on sEMG and GRNN

Directory of Open Access Journals (Sweden)

Changcheng Wu

2017-06-01

Full Text Available The estimation of the grip force and the 3D push-pull force (push and pull force in the three dimension space from the electromyogram (EMG signal is of great importance in the dexterous control of the EMG prosthetic hand. In this paper, an action force estimation method which is based on the eight channels of the surface EMG (sEMG and the Generalized Regression Neural Network (GRNN is proposed to meet the requirements of the force control of the intelligent EMG prosthetic hand. Firstly, the experimental platform, the acquisition of the sEMG, the feature extraction of the sEMG and the construction of GRNN are described. Then, the multi-channels of the sEMG when the hand is moving are captured by the EMG sensors attached on eight different positions of the arm skin surface. Meanwhile, a grip force sensor and a three dimension force sensor are adopted to measure the output force of the human's hand. The characteristic matrix of the sEMG and the force signals are used to construct the GRNN. The mean absolute value and the root mean square of the estimation errors, the correlation coefficients between the actual force and the estimated force are employed to assess the accuracy of the estimation. Analysis of variance (ANOVA is also employed to test the difference of the force estimation. The experiments are implemented to verify the effectiveness of the proposed estimation method and the results show that the output force of the human's hand can be correctly estimated by using sEMG and GRNN method.

Integration of force reflection with tactile sensing for minimally invasive robotics-assisted tumor localization.

Science.gov (United States)

Talasaz, A; Patel, R V

2013-01-01

Tactile sensing and force reflection have been the subject of considerable research for tumor localization in soft-tissue palpation. The work presented in this paper investigates the relevance of force feedback (presented visually as well as directly) during tactile sensing (presented visually only) for tumor localization using an experimental setup close to one that could be applied for real robotics-assisted minimally invasive surgery. The setup is a teleoperated (master-slave) system facilitated with a state-of-the-art minimally invasive probe with a rigidly mounted tactile sensor at the tip and an externally mounted force sensor at the base of the probe. The objective is to capture the tactile information and measure the interaction forces between the probe and tissue during palpation and to explore how they can be integrated to improve the performance of tumor localization. To quantitatively explore the effect of force feedback on tactile sensing tumor localization, several experiments were conducted by human subjects to locate artificial tumors embedded in the ex vivo bovine livers. The results show that using tactile sensing in a force-controlled environment can realize, on average, 57 percent decrease in the maximum force and 55 percent decrease in the average force applied to tissue while increasing the tumor detection accuracy by up to 50 percent compared to the case of using tactile feedback alone. The results also show that while visual presentation of force feedback gives straightforward quantitative measures, improved performance of tactile sensing tumor localization is achieved at the expense of longer times for the user. Also, the quickness and intuitive data mapping of direct force feedback makes it more appealing to experienced users.

The thermodynamic cycle of an entropy-driven stepper motor walking hand-over-hand

International Nuclear Information System (INIS)

Zabicki, Michal; Ebeling, Werner; Gudowska-Nowak, Ewa

2010-01-01

Graphical abstract: We develop a new model of an entropy-driven stepper motor walking hand-over-hand, coupled to the energy reservoir of ATP. - Abstract: We develop a model of a kinesin motor based on an entropy-driven spring between the two heads of the stepper. The stepper is coupled to the energy depot which is reservoir of ATP. A Langevin equation for the motion of the two legs in a ratchet potential is analyzed by performing numerical simulations. It is documented that the model motor is able to work against a load force with an efficiency of about 10-30%. At a critical load force the motor stops to operate.

fMRI-compatible rehabilitation hand device

Directory of Open Access Journals (Sweden)

Tzika Aria

2006-10-01

Full Text Available Abstract Background Functional magnetic resonance imaging (fMRI has been widely used in studying human brain functions and neurorehabilitation. In order to develop complex and well-controlled fMRI paradigms, interfaces that can precisely control and measure output force and kinematics of the movements in human subjects are needed. Optimized state-of-the-art fMRI methods, combined with magnetic resonance (MR compatible robotic devices for rehabilitation, can assist therapists to quantify, monitor, and improve physical rehabilitation. To achieve this goal, robotic or mechatronic devices with actuators and sensors need to be introduced into an MR environment. The common standard mechanical parts can not be used in MR environment and MR compatibility has been a tough hurdle for device developers. Methods This paper presents the design, fabrication and preliminary testing of a novel, one degree of freedom, MR compatible, computer controlled, variable resistance hand device that may be used in brain MR imaging during hand grip rehabilitation. We named the device MR_CHIROD (Magnetic Resonance Compatible Smart Hand Interfaced Rehabilitation Device. A novel feature of the device is the use of Electro-Rheological Fluids (ERFs to achieve tunable and controllable resistive force generation. ERFs are fluids that experience dramatic changes in rheological properties, such as viscosity or yield stress, in the presence of an electric field. The device consists of four major subsystems: a an ERF based resistive element; b a gearbox; c two handles and d two sensors, one optical encoder and one force sensor, to measure the patient induced motion and force. The smart hand device is designed to resist up to 50% of the maximum level of gripping force of a human hand and be controlled in real time. Results Laboratory tests of the device indicate that it was able to meet its design objective to resist up to approximately 50% of the maximum handgrip force. The detailed

Durable Tactile Glove for Human or Robot Hand

Science.gov (United States)

Butzer, Melissa; Diftler, Myron A.; Huber, Eric

2010-01-01

A glove containing force sensors has been built as a prototype of tactile sensor arrays to be worn on human hands and anthropomorphic robot hands. The force sensors of this glove are mounted inside, in protective pockets; as a result of this and other design features, the present glove is more durable than earlier models.

Universal spin-momentum locked optical forces

Energy Technology Data Exchange (ETDEWEB)

Kalhor, Farid [Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta T6G 1H9 (Canada); Thundat, Thomas [Department of Chemical and Materials Engineering, University of Alberta, Edmonton, Alberta T6G 1H9 (Canada); Jacob, Zubin, E-mail: zjacob@purdue.edu [Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta T6G 1H9 (Canada); Birck Nanotechnology Center, Department of Electrical and Computer Engineering, Purdue University, West Lafayette, Indiana 47906 (United States)

2016-02-08

Evanescent electromagnetic waves possess spin-momentum locking, where the direction of propagation (momentum) is locked to the inherent polarization of the wave (transverse spin). We study the optical forces arising from this universal phenomenon and show that the fundamental origin of recently reported non-trivial optical chiral forces is spin-momentum locking. For evanescent waves, we show that the direction of energy flow, the direction of decay, and the direction of spin follow a right hand rule for three different cases of total internal reflection, surface plasmon polaritons, and HE{sub 11} mode of an optical fiber. Furthermore, we explain how the recently reported phenomena of lateral optical force on chiral and achiral particles are caused by the transverse spin of the evanescent field and the spin-momentum locking phenomenon. Finally, we propose an experiment to identify the unique lateral forces arising from the transverse spin in the optical fiber and point to fundamental differences of the spin density from the well-known orbital angular momentum of light. Our work presents a unified view on spin-momentum locking and how it affects optical forces on chiral and achiral particles.

Hand Gesture Recognition Using Ultrasonic Waves

KAUST Repository

AlSharif, Mohammed Hussain

2016-01-01

estimation of the moving hand and received signal strength (RSS). These two factors are estimated using two simple methods; channel impulse response (CIR) and cross correlation (CC) of the reflected ultrasonic signal from the gesturing hand. A customized

Evaluation of force-torque displays for use with space station telerobotic activities

Science.gov (United States)

Hendrich, Robert C.; Bierschwale, John M.; Manahan, Meera K.; Stuart, Mark A.; Legendre, A. Jay

1992-01-01

Recent experiments which addressed Space Station remote manipulation tasks found that tactile force feedback (reflecting forces and torques encountered at the end-effector through the manipulator hand controller) does not improve performance significantly. Subjective response from astronaut and non-astronaut test subjects indicated that force information, provided visually, could be useful. No research exists which specifically investigates methods of presenting force-torque information visually. This experiment was designed to evaluate seven different visual force-torque displays which were found in an informal telephone survey. The displays were prototyped in the HyperCard programming environment. In a within-subjects experiment, 14 subjects nullified forces and torques presented statically, using response buttons located at the bottom of the screen. Dependent measures included questionnaire data, errors, and response time. Subjective data generally demonstrate that subjects rated variations of pseudo-perspective displays consistently better than bar graph and digital displays. Subjects commented that the bar graph and digital displays could be used, but were not compatible with using hand controllers. Quantitative data show similar trends to the subjective data, except that the bar graph and digital displays both provided good performance, perhaps do to the mapping of response buttons to display elements. Results indicate that for this set of displays, the pseudo-perspective displays generally represent a more intuitive format for presenting force-torque information.

Virtual Reality Tumor Resection: The Force Pyramid Approach.

Science.gov (United States)

Sawaya, Robin; Bugdadi, Abdulgadir; Azarnoush, Hamed; Winkler-Schwartz, Alexander; Alotaibi, Fahad E; Bajunaid, Khalid; AlZhrani, Gmaan A; Alsideiri, Ghusn; Sabbagh, Abdulrahman J; Del Maestro, Rolando F

2017-09-05

The force pyramid is a novel visual representation allowing spatial delineation of instrument force application during surgical procedures. In this study, the force pyramid concept is employed to create and quantify dominant hand, nondominant hand, and bimanual force pyramids during resection of virtual reality brain tumors. To address 4 questions: Do ergonomics and handedness influence force pyramid structure? What are the differences between dominant and nondominant force pyramids? What is the spatial distribution of forces applied in specific tumor quadrants? What differentiates "expert" and "novice" groups regarding their force pyramids? Using a simulated aspirator in the dominant hand and a simulated sucker in the nondominant hand, 6 neurosurgeons and 14 residents resected 8 different tumors using the CAE NeuroVR virtual reality neurosurgical simulation platform (CAE Healthcare, Montréal, Québec and the National Research Council Canada, Boucherville, Québec). Position and force data were used to create force pyramids and quantify tumor quadrant force distribution. Force distribution quantification demonstrates the critical role that handedness and ergonomics play on psychomotor performance during simulated brain tumor resections. Neurosurgeons concentrate their dominant hand forces in a defined crescent in the lower right tumor quadrant. Nondominant force pyramids showed a central peak force application in all groups. Bimanual force pyramids outlined the combined impact of each hand. Distinct force pyramid patterns were seen when tumor stiffness, border complexity, and color were altered. Force pyramids allow delineation of specific tumor regions requiring greater psychomotor ability to resect. This information can focus and improve resident technical skills training. Copyright © 2017 by the Congress of Neurological Surgeons

Improving hand hygiene compliance in healthcare settings using behavior change theories: reflections.

Science.gov (United States)

Al-Tawfiq, Jaffar A; Pittet, Didier

2013-01-01

Although hand hygiene is the most effective method for preventing healthcare-associated infections, hand hygiene practice falls short in many healthcare facilities. The compliance rate is mostly linked to system design and easily accessible hand hygiene products. System change, healthcare worker motivation, and complex behavioral considerations seem to play a significant role. This article discusses the application of behavioral theories in hand hygiene promotion in a theoretical manner. The program relies on the transtheoretical model (TTM) of health behavior change, John Keller's (ARCS) Model of Motivational Design, and the theory of planned behavior (TPB). Thus, the program links attitudes and behavior to hand hygiene promotion. The TTM of health behavior change helps to tailor interventions to predict and motivate individual movement across the pathway to change. A program could be based on this theory with multiple intercalations with John Keller's ARCS and the TPB. Such a program could be strengthened by linking attitudes and behavior to promote hand hygiene. The program could utilize different strategies such as organization cultural change that may increase the attention as well as fostering the movement in the ARCS stages. In addition, modeling TPB by creating peer pressure, ability to overcome obstacles, and increasing knowledge of the role of hand hygiene may lead to the desired outcome. The understanding and application of behavior change theories may result in an effective program to improve awareness and raise intention and thus may increase the potential for success of hand hygiene promotion programs.

Operation of a scanning near field optical microscope in reflection in combination with a scanning force microscope

NARCIS (Netherlands)

van Hulst, N.F.; Moers, M.H.P.; Moers, M.H.P.; Noordman, O.F.J.; Noordman, O.F.J.; Faulkner, T.; Segerink, Franciscus B.; van der Werf, Kees; de Grooth, B.G.; Bölger, B.; Bölger, B.

1992-01-01

Images obtained with a scanning near field optical microscope (SNOM) operating in reflection are presented. We have obtained the first results with a SiN tip as optical probe. The instrument is simultaneously operated as a scanning force microscope (SFM). Moreover, the instrument incorporates an

Different strategy of hand choice after learning of constant and incremental dynamical perturbation in arm reaching

Directory of Open Access Journals (Sweden)

Chie eHabagishi

2014-02-01

Full Text Available In daily life, we encounter situations where we must quickly decide which hand to use for a motor action. Here, we investigated whether the hand chosen for a motor action varied over a short timescale (i.e., hours with changes in arm dynamics. Participants performed a reaching task in which they moved a specified hand to reach a target on a virtual reality display. During the task, a resistive viscous force field was abruptly applied to only the dominant hand. To evaluate changes in hand choice caused by this perturbation, participants performed an interleaved choice test in which they could freely choose either hand for reaching. Furthermore, to investigate the effect of temporal changes on arm dynamics and hand choice, we exposed the same participants to another condition in which the force field was introduced gradually. When the abrupt force was applied, use of the perturbed hand significantly decreased and not changed during the training. In contrast, when the incremental force was applied, use of the perturbed hand gradually decreased as force increased. Surprisingly, even though the final amount of force was identical between the two conditions, hand choice was significantly biased toward the unperturbed hand in the gradual condition. These results suggest that time-varying changes in arm dynamics may have a greater influence on hand choice than the amplitude of the resistant force itself.

Anarchic-Hand Syndrome: ERP Reflections of Lost Control over the Right Hemisphere

Science.gov (United States)

Verleger, Rolf; Binkofski, Ferdinand; Friedrich, Monique; Sedlmeier, Peter; Kompf, Detlef

2011-01-01

In patients with the callosal type of anarchic-hand syndrome, the left hand often does not act as intended and counteracts the right hand. Reports are scarce about the underlying neurophysiological mechanisms. We report the case G.H. who developed the syndrome after infarction of the left arteria pericallosa. It has been suggested that the…

Upper Limb Asymmetry in the Sense of Effort Is Dependent on Force Level

Directory of Open Access Journals (Sweden)

Diane E. Adamo

2017-04-01

Full Text Available Previous studies have shown that asymmetries in upper limb sensorimotor function are dependent on the source of sensory and motor information, hand preference and differences in hand strength. Further, the utilization of sensory and motor information and the mode of control of force may differ between the right hand/left hemisphere and left hand/right hemisphere systems. To more clearly understand the unique contribution of hand strength and intrinsic differences to the control of grasp force, we investigated hand/hemisphere differences when the source of force information was encoded at two different force levels corresponding to a 20 and 70% maximum voluntary contraction or the right and left hand of each participant. Eleven, adult males who demonstrated a stronger right than left maximum grasp force were requested to match a right or left hand 20 or 70% maximal voluntary contraction reference force with the opposite hand. During the matching task, visual feedback corresponding to the production of the reference force was available and then removed when the contralateral hand performed the match. The matching relative force error was significantly different between hands for the 70% MVC reference force but not for the 20% MVC reference force. Directional asymmetries, quantified as the matching force constant error, showed right hand overshoots and left undershoots were force dependent and primarily due to greater undershoots when matching with the left hand the right hand reference force. Findings further suggest that the interaction between internal sources of information, such as efferent copy and proprioception, as well as hand strength differences appear to be hand/hemisphere system dependent. Investigations of force matching tasks under conditions whereby force level is varied and visual feedback of the reference force is available provides critical baseline information for building effective interventions for asymmetric (stroke

A multifaceted hospital-wide intervention increases hand hygiene ...

African Journals Online (AJOL)

Hospital-acquired infections remain a global concern, with prevalence .... precautionary measures such as hand washing. A baseline audit in. 2014 on hand hygiene at GSH reflected an average performance of. 34% for the hospital. ..... hand hygiene intervention based on WHO and continuous improvement methodology.

Force Reflection Control for Master/Slave Tele-manipulators

International Nuclear Information System (INIS)

Kang, Min Sig; Kim, Doo Ho; Choi, Sun Il; Kim, Nam Hyung; Lee, Jong Bee

2009-04-01

This report concerns on a master/slave tele-manipulator which is used in highly hazardous hot cell. To design a force reflection and fine tracking control for the master-slave telemanipulator, the following has been carried out. (1) Variation of the moment of inertia of each link in the operating angle range, (2) Variation of the gratitational torque of each link in the operating angle range, (3) Dynamic characteristic analysis of the master-slave manipulator controlled by an output PD-control through a modal analysis, (4) Optimal static output feedback PD-control design by using modal analysis, (5) Controller design for each joint, (6) Adams-MatLab Simulink simulation model development. The results this project are as follows: (1) Program for analysis of the moment of inertia of each link in the operating angle range and simulation results, (2) Program for analysis of the gratitational torque of each link in the operating angle range and simulation results, (3) Dynamic characteristic of the master-slave manipulator controlled by an output PD-control through a modal analysis, (4) Program for designing optimal output PD-control by using modal analysis, (5) Controller designed for each joint, (6) Adams-MatLab Simulink simulation model, (7) Simulation results form output PD-control, etc

Faith Moves Mountains-Mountains Move Faith: Two Opposite Epidemiological Forces in Research on Religion and Health.

Science.gov (United States)

Hvidt, N C; Hvidtjørn, D; Christensen, K; Nielsen, J B; Søndergaard, J

2017-02-01

Research suggests opposite epidemiological forces in religion and health: (1). Faith seems to move mountains in the sense that religion is associated with positive health outcomes. (2). Mountains of bad health seem to move faith. We reflected on these forces in a population of 3000 young Danish twins in which all religiosity measures were associated with severe disease. We believe the reason for this novel finding is that the sample presents as a particularly secular population-based study and that the second epidemiological force has gained the upper hand in this sample. We suggest that all cross-sectional research on religion and health should be interpreted in light of such opposite epidemiological forces potentially diluting each other.

Telerobotic control of a dextrous manipulator using master and six-DOF hand-controllers for space assembly and servicing tasks

Science.gov (United States)

O'Hara, John M.

1987-01-01

Two studies were conducted evaluating methods of controlling a telerobot; bilateral force reflecting master controllers and proportional rate six degrees of freedom (DOF) hand controllers. The first study compared the controllers on performance of single manipulator arm tasks, a peg-in-the-hole task, and simulated satellite orbital replacement unit changeout. The second study, a Space Station truss assembly task, required simultaneous operation of both manipulator arms (all 12 DOFs) and complex multiaxis slave arm movements. Task times were significantly longer and fewer errors were committed with the hand controllers. The hand controllers were also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers were rated significantly higher in physical workload. There were no significant differences in ratings of manipulator control quality.

Trabecular bone structure correlates with hand posture and use in hominoids.

Directory of Open Access Journals (Sweden)

Zewdi J Tsegai

Full Text Available Bone is capable of adapting during life in response to stress. Therefore, variation in locomotor and manipulative behaviours across extant hominoids may be reflected in differences in trabecular bone structure. The hand is a promising region for trabecular analysis, as it is the direct contact between the individual and the environment and joint positions at peak loading vary amongst extant hominoids. Building upon traditional volume of interest-based analyses, we apply a whole-epiphysis analytical approach using high-resolution microtomographic scans of the hominoid third metacarpal to investigate whether trabecular structure reflects differences in hand posture and loading in knuckle-walking (Gorilla, Pan, suspensory (Pongo, Hylobates and Symphalangus and manipulative (Homo taxa. Additionally, a comparative phylogenetic method was used to analyse rates of evolutionary changes in trabecular parameters. Results demonstrate that trabecular bone volume distribution and regions of greatest stiffness (i.e., Young's modulus correspond with predicted loading of the hand in each behavioural category. In suspensory and manipulative taxa, regions of high bone volume and greatest stiffness are concentrated on the palmar or distopalmar regions of the metacarpal head, whereas knuckle-walking taxa show greater bone volume and stiffness throughout the head, and particularly in the dorsal region; patterns that correspond with the highest predicted joint reaction forces. Trabecular structure in knuckle-walking taxa is characterised by high bone volume fraction and a high degree of anisotropy in contrast to the suspensory brachiators. Humans, in which the hand is used primarily for manipulation, have a low bone volume fraction and a variable degree of anisotropy. Finally, when trabecular parameters are mapped onto a molecular-based phylogeny, we show that the rates of change in trabecular structure vary across the hominoid clade. Our results support a link

Force Reproduction Error Depends on Force Level, whereas the Position Reproduction Error Does Not

NARCIS (Netherlands)

Onneweer, B.; Mugge, W.; Schouten, Alfred Christiaan

2016-01-01

When reproducing a previously perceived force or position humans make systematic errors. This study determined the effect of force level on force and position reproduction, when both target and reproduction force are self-generated with the same hand. Subjects performed force reproduction tasks at

Augmented robotic device for EVA hand manoeuvres

Science.gov (United States)

Matheson, Eloise; Brooker, Graham

2012-12-01

During extravehicular activities (EVAs), pressurised space suits can lead to difficulties in performing hand manoeuvres and fatigue. This is often the cause of EVAs being terminated early, or taking longer to complete. Assistive robotic gloves can be used to augment the natural motion of a human hand, meaning work can be carried out more efficiently with less stress to the astronaut. Lightweight and low profile solutions must be found in order for the assistive robotic glove to be easily integrated with a space suit pressure garment. Pneumatic muscle actuators combined with force sensors are one such solution. These actuators are extremely light, yet can output high forces using pressurised gases as the actuation drive. Their movement is omnidirectional, so when combined with a flexible exoskeleton that itself provides a degree of freedom of movement, individual fingers can be controlled during flexion and extension. This setup allows actuators and other hardware to be stored remotely on the user's body, resulting in the least possible mass being supported by the hand. Two prototype gloves have been developed at the University of Sydney; prototype I using a fibreglass exoskeleton to provide flexion force, and prototype II using torsion springs to achieve the same result. The gloves have been designed to increase the ease of human movements, rather than to add unnatural ability to the hand. A state space control algorithm has been developed to ensure that human initiated movements are recognised, and calibration methods have been implemented to accommodate the different characteristics of each wearer's hands. For this calibration technique, it was necessary to take into account the natural tremors of the human hand which may have otherwise initiated unexpected control signals. Prototype I was able to actuate the user's hand in 1 degree of freedom (DOF) from full flexion to partial extension, and prototype II actuated a user's finger in 2 DOF with forces achieved

An instrumented object for hand exercise and assessment using a pneumatic pressure sensor

Science.gov (United States)

Mohan, A.; Tharion, G.; Kumar, R. K.; Devasahayam, S. R.

2018-05-01

Measurement of grip force is important for both exercise training and assessment of the hand during physical rehabilitation. The standard method uses a grip dynamometer which measures the force between the fingers and opposing thumb. The primary limitation of the grip dynamometer is the restriction of measurement to cylindrical grasps. Any deformation of the hand due to muscular or skeletal disease makes the grip dynamometer difficult or impossible to use. An alternative to the grip dynamometer is a sealed pneumatic object that can be gripped by the hand. Measurement of the internal pressure in the object can be related to the grip force. In this paper, we analyze such a pneumatic pressure sensing object for hand grip assessment and also describe an easy fabrication of the grip sensor. The instrumented object presented in this paper is designed to assess both the maximal voluntary grip forces and continuous grip force to monitor control of hand function during exercise under instruction from a therapist. Potential uses of such a pneumatic pressure sensing object for hand grip are in physical rehabilitation of patients following paralysing illnesses like stroke and spinal cord injury.

Hand Rehabilitation Learning System With an Exoskeleton Robotic Glove.

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Ma, Zhou; Ben-Tzvi, Pinhas; Danoff, Jerome

2016-12-01

This paper presents a hand rehabilitation learning system, the SAFE Glove, a device that can be utilized to enhance the rehabilitation of subjects with disabilities. This system is able to learn fingertip motion and force for grasping different objects and then record and analyze the common movements of hand function including grip and release patterns. The glove is then able to reproduce these movement patterns in playback fashion to assist a weakened hand to accomplish these movements, or to modulate the assistive level based on the user's or therapist's intent for the purpose of hand rehabilitation therapy. Preliminary data have been collected from healthy hands. To demonstrate the glove's ability to manipulate the hand, the glove has been fitted on a wooden hand and the grasping of various objects was performed. To further prove that hands can be safely driven by this haptic mechanism, force sensor readings placed between each finger and the mechanism are plotted. These experimental results demonstrate the potential of the proposed system in rehabilitation therapy.

Retrospectives: Ethics and the Invisible Hand

OpenAIRE

Jerry Evensky

1993-01-01

As modern economists, we use Adam Smith's "invisible hand" metaphor confident that we all know what it means in our discourse: it reflects our admiration for the elegant and smooth functioning of the market system as a coordinator of autonomous individual choices in an interdependent world. But in Adam Smith's moral philosophy, the invisible hand has a much broader responsibility: if individuals are to enjoy the fruits of a classical liberal society, the invisible hand must not only coordinat...

Hands Together! An Analog Clock Problem

Science.gov (United States)

Earnest, Darrell; Radtke, Susan; Scott, Siri

2017-01-01

In this article, the authors first present the Hands Together! task. The mathematics in this problem concerns the relationship of hour and minute durations as reflected in the oft-overlooked proportional movements of the two hands of an analog clock. The authors go on to discuss the importance of problem solving in general. They then consider…

Phalanx force magnitude and trajectory deviation increased during power grip with an increased coefficient of friction at the hand-object interface.

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Enders, Leah R; Seo, Na Jin

2011-05-17

This study examined the effect of friction between the hand and grip surface on a person's grip strategy and force generation capacity. Twelve young healthy adults performed power grip exertions on an instrumented vertical cylinder with the maximum and 50% of maximum efforts (far above the grip force required to hold the cylinder), while normal and shear forces at each phalanx of all five fingers in the direction orthogonal to the gravity were recorded. The cylinder surface was varied for high-friction rubber and low-friction paper coverings. An increase in surface friction by replacing the paper covering with the rubber covering resulted in 4% greater mean phalanx normal force (perpendicular to the cylinder surface) and 22% greater mean phalanx shear force in either the proximal or distal direction of the digits (pfriction with the rubber surface compared to the paper surface was associated with a 20% increase in the angular deviation of the phalanx force from the direction normal to the cylinder surface (p<0.05). This study demonstrates that people significantly changed the magnitude and direction of phalanx forces depending on the surface they gripped. Such change in the grip strategy appears to help increase grip force generation capacity. This finding suggests that a seemingly simple power grip exertion involves sensory feedback-based motor control, and that people's power grip capacity may be reduced in cases of numbness, glove use, or injuries resulting in reduced sensation. Copyright © 2011 Elsevier Ltd. All rights reserved.

External Hand Forces Exerted by Long-Term Care Staff to Push Floor-Based Lifts: Effects of Flooring System and Resident Weight.

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Lachance, Chantelle C; Korall, Alexandra M B; Russell, Colin M; Feldman, Fabio; Robinovitch, Stephen N; Mackey, Dawn C

2016-09-01

The aim of this study was to investigate the effects of flooring type and resident weight on external hand forces required to push floor-based lifts in long-term care (LTC). Novel compliant flooring is designed to reduce fall-related injuries among LTC residents but may increase forces required for staff to perform pushing tasks. A motorized lift may offset the effect of flooring on push forces. Fourteen female LTC staff performed straight-line pushes with two floor-based lifts (conventional, motor driven) loaded with passengers of average and 90th-percentile resident weights over four flooring systems (concrete+vinyl, compliant+vinyl, concrete+carpet, compliant+carpet). Initial and sustained push forces were measured by a handlebar-mounted triaxial load cell and compared to participant-specific tolerance limits. Participants rated pushing difficulty. Novel compliant flooring increased initial and sustained push forces and subjective ratings compared to concrete flooring. Compared to the conventional lift, the motor-driven lift substantially reduced initial and sustained push forces and perceived difficulty of pushing for all four floors and both resident weights. Participants exerted forces above published tolerance limits only when using the conventional lift on the carpet conditions (concrete+carpet, compliant+carpet). With the motor-driven lift only, resident weight did not affect push forces. Novel compliant flooring increased linear push forces generated by LTC staff using floor-based lifts, but forces did not exceed tolerance limits when pushing over compliant+vinyl. The motor-driven lift substantially reduced push forces compared to the conventional lift. Results may help to address risk of work-related musculoskeletal injury, especially in locations with novel compliant flooring. © 2016, Human Factors and Ergonomics Society.

The effect of hand dominance on martial arts strikes.

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Neto, Osmar Pinto; Silva, Jansen Henrique; Marzullo, Ana Carolina de Miranda; Bolander, Richard P; Bir, Cynthia A

2012-08-01

The main goal of this study was to compare dominant and non-dominant martial arts palm strikes under different circumstances that usually happen during martial arts and combative sports applications. Seven highly experienced (10±5 years) right hand dominant Kung Fu practitioners performed strikes with both hands, stances with left or right lead legs, and with the possibility or not of stepping towards the target (moving stance). Peak force was greater for the dominant hand strikes (1593.76±703.45 N vs. 1042.28±374.16 N; p<.001), whereas no difference was found in accuracy between the hands (p=.141). Additionally, peak force was greater for the strikes with moving stance (1448.75±686.01 N vs. 1201.80±547.98 N; p=.002) and left lead leg stance (1378.06±705.48 N vs. 1269.96±547.08 N). Furthermore, the difference in peak force between strikes with moving and stationary stances was statistically significant only for the strikes performed with a left lead leg stance (p=.007). Hand speed was higher for the dominant hand strikes (5.82±1.08 m/s vs. 5.24±0.78 m/s; p=.001) and for the strikes with moving stance (5.79±1.01 m/s vs. 5.29±0.90 m/s; p<.001). The difference in hand speed between right and left hand strikes was only significant for strikes with moving stance. In summary, our results suggest that the stronger palm strike for a right-handed practitioner is a right hand strike on a left lead leg stance moving towards the target. Copyright © 2011 Elsevier B.V. All rights reserved.

An EMG-Controlled Robotic Hand Exoskeleton for Bilateral Rehabilitation.

Science.gov (United States)

Leonardis, Daniele; Barsotti, Michele; Loconsole, Claudio; Solazzi, Massimiliano; Troncossi, Marco; Mazzotti, Claudio; Castelli, Vincenzo Parenti; Procopio, Caterina; Lamola, Giuseppe; Chisari, Carmelo; Bergamasco, Massimo; Frisoli, Antonio

2015-01-01

This paper presents a novel electromyography (EMG)-driven hand exoskeleton for bilateral rehabilitation of grasping in stroke. The developed hand exoskeleton was designed with two distinctive features: (a) kinematics with intrinsic adaptability to patient's hand size, and (b) free-palm and free-fingertip design, preserving the residual sensory perceptual capability of touch during assistance in grasping of real objects. In the envisaged bilateral training strategy, the patient's non paretic hand acted as guidance for the paretic hand in grasping tasks. Grasping force exerted by the non paretic hand was estimated in real-time from EMG signals, and then replicated as robotic assistance for the paretic hand by means of the hand-exoskeleton. Estimation of the grasping force through EMG allowed to perform rehabilitation exercises with any, non sensorized, graspable objects. This paper presents the system design, development, and experimental evaluation. Experiments were performed within a group of six healthy subjects and two chronic stroke patients, executing robotic-assisted grasping tasks. Results related to performance in estimation and modulation of the robotic assistance, and to the outcomes of the pilot rehabilitation sessions with stroke patients, positively support validity of the proposed approach for application in stroke rehabilitation.

The influence of cooling forearm/hand and gender on estimation of handgrip strength.

Science.gov (United States)

Cheng, Chih-Chan; Shih, Yuh-Chuan; Tsai, Yue-Jin; Chi, Chia-Fen

2014-01-01

Handgrip strength is essential in manual operations and activities of daily life, but the influence of forearm/hand skin temperature on estimation of handgrip strength is not well documented. Therefore, the present study intended to investigate the effect of local cooling of the forearm/hand on estimation of handgrip strength at various target force levels (TFLs, in percentage of MVC) for both genders. A cold pressor test was used to lower and maintain the hand skin temperature at 14°C for comparison with the uncooled condition. A total of 10 male and 10 female participants were recruited. The results indicated that females had greater absolute estimation deviations. In addition, both genders had greater absolute deviations in the middle range of TFLs. Cooling caused an underestimation of grip strength. Furthermore, a power function is recommended for establishing the relationship between actual and estimated handgrip force. Statement of relevance: Manipulation with grip strength is essential in daily life and the workplace, so it is important to understand the influence of lowering the forearm/hand skin temperature on grip-strength estimation. Females and the middle range of TFL had greater deviations. Cooling the forearm/hand tended to cause underestimation, and a power function is recommended for establishing the relationship between actual and estimated handgrip force. Practitioner Summary: It is important to understand the effect of lowering the forearm/hand skin temperature on grip-strength estimation. A cold pressor was used to cool the hand. The cooling caused underestimation, and a power function is recommended for establishing the relationship between actual and estimated handgrip force. Manipulation with grip strength is essential in daily life and the workplace, so it is important to understand the influence of lowering the forearm/hand skin temperature on grip-strength estimation. Females and the middle range of TFL had greater deviations. Cooling the

Development of a prototype over-actuated biomimetic prosthetic hand.

Directory of Open Access Journals (Sweden)

Matthew R Williams

Full Text Available The loss of a hand can greatly affect quality of life. A prosthetic device that can mimic normal hand function is very important to physical and mental recuperation after hand amputation, but the currently available prosthetics do not fully meet the needs of the amputee community. Most prosthetic hands are not dexterous enough to grasp a variety of shaped objects, and those that are tend to be heavy, leading to discomfort while wearing the device. In order to attempt to better simulate human hand function, a dexterous hand was developed that uses an over-actuated mechanism to form grasp shape using intrinsic joint mounted motors in addition to a finger tendon to produce large flexion force for a tight grip. This novel actuation method allows the hand to use small actuators for grip shape formation, and the tendon to produce high grip strength. The hand was capable of producing fingertip flexion force suitable for most activities of daily living. In addition, it was able to produce a range of grasp shapes with natural, independent finger motion, and appearance similar to that of a human hand. The hand also had a mass distribution more similar to a natural forearm and hand compared to contemporary prosthetics due to the more proximal location of the heavier components of the system. This paper describes the design of the hand and controller, as well as the test results.

Force and Directional Force Modulation Effects on Accuracy and Variability in Low-Level Pinch Force Tracking.

Science.gov (United States)

Park, Sangsoo; Spirduso, Waneen; Eakin, Tim; Abraham, Lawrence

2018-01-01

The authors investigated how varying the required low-level forces and the direction of force change affect accuracy and variability of force production in a cyclic isometric pinch force tracking task. Eighteen healthy right-handed adult volunteers performed the tracking task over 3 different force ranges. Root mean square error and coefficient of variation were higher at lower force levels and during minimum reversals compared with maximum reversals. Overall, the thumb showed greater root mean square error and coefficient of variation scores than did the index finger during maximum reversals, but not during minimum reversals. The observed impaired performance during minimum reversals might originate from history-dependent mechanisms of force production and highly coupled 2-digit performance.

Teleoperator comfort and psychometric stability: Criteria for limiting master-controller forces of operation and feedback during telemanipulation

Science.gov (United States)

Wiker, Steven F.; Hershkowitz, Elaine; Zik, John

1989-01-01

The following question is addressed: How much force should operators exert, or experience, when operating a telemanipulator master-controller for sustained periods without encountering significant fatigue and discomfort, and without loss of stability in psychometric perception of force. The need to minimize exertion demands to avoid fatigue is diametrically opposed by the need to present a wide range of force stimuli to enhance perception of applied or reflected forces. For 104 minutes subjects repetitiously performed a series of 15 s isometric pinch grasps; controlled at 5, 15, and 25 percent of their maximum voluntary strength. Cyclic pinch grasps were separated by rest intervals of 7.5 and 15 s. Upon completion of every 10 minute period, subjects interrupted grasping activities to gage the intensity of fatigue and discomfort in the hand and forearm using a cross-modal matching technique. A series of psychometric tests were then conducted to determine accuracy and stability in the subject's perception of force experienced. Results showed that onset of sensations of discomfort and fatigue were dependent upon the magnitude of grasp force, work/rest ratio, and progression of task. Declines in force magnitude estimation slopes, indicating a reduction in force perception sensitivity, occurred with increased grasp force when work/rest ratios were greater than 1.0. Specific recommendations for avoiding discomfort and shifts in force perception, by limiting pinch grasp force required for master-controller operation and range of force reflection or work/rest ratios, are provided.

Electromyography data for non-invasive naturally-controlled robotic hand prostheses.

Science.gov (United States)

Atzori, Manfredo; Gijsberts, Arjan; Castellini, Claudio; Caputo, Barbara; Hager, Anne-Gabrielle Mittaz; Elsig, Simone; Giatsidis, Giorgio; Bassetto, Franco; Müller, Henning

2014-01-01

Recent advances in rehabilitation robotics suggest that it may be possible for hand-amputated subjects to recover at least a significant part of the lost hand functionality. The control of robotic prosthetic hands using non-invasive techniques is still a challenge in real life: myoelectric prostheses give limited control capabilities, the control is often unnatural and must be learned through long training times. Meanwhile, scientific literature results are promising but they are still far from fulfilling real-life needs. This work aims to close this gap by allowing worldwide research groups to develop and test movement recognition and force control algorithms on a benchmark scientific database. The database is targeted at studying the relationship between surface electromyography, hand kinematics and hand forces, with the final goal of developing non-invasive, naturally controlled, robotic hand prostheses. The validation section verifies that the data are similar to data acquired in real-life conditions, and that recognition of different hand tasks by applying state-of-the-art signal features and machine-learning algorithms is possible.

Presenting using Two-Handed Interaction in Open Space

NARCIS (Netherlands)

Vlaming, Luc; Smit, Jasper; Isenberg, Tobias

2008-01-01

Based on recent demonstrations of low-cost, infrared-based point tracking, we explore two-handed, surface-less interaction for presentation. On both hands, thumb and index finger are equipped with retro-reflective markers which are tracked by a Wiimote. We contribute a robust finger pairing and

Robotic hand with locking mechanism using TCP muscles for applications in prosthetic hand and humanoids

Science.gov (United States)

Saharan, Lokesh; Tadesse, Yonas

2016-04-01

This paper presents a biomimetic, lightweight, 3D printed and customizable robotic hand with locking mechanism consisting of Twisted and Coiled Polymer (TCP) muscles based on nylon precursor fibers as artificial muscles. Previously, we have presented a small-sized biomimetic hand using nylon based artificial muscles and fishing line muscles as actuators. The current study focuses on an adult-sized prosthetic hand with improved design and a position/force locking system. Energy efficiency is always a matter of concern to make compact, lightweight, durable and cost effective devices. In natural human hand, if we keep holding objects for long time, we get tired because of continuous use of energy for keeping the fingers in certain positions. Similarly, in prosthetic hands we also need to provide energy continuously to artificial muscles to hold the object for a certain period of time, which is certainly not energy efficient. In this work we, describe the design of the robotic hand and locking mechanism along with the experimental results on the performance of the locking mechanism.

Extracting information from 0νββ decay and LHC pp-cross sections: Limits on the left-right mixing angle and right-handed boson mass

Science.gov (United States)

Civitarese, O.; Suhonen, J.; Zuber, K.

2015-10-01

The existence of massive neutrinos forces the extension of the Standard Model of electroweak interactions, to accommodate them and/or right-handed currents. This is one of the fundamental questions in todays's physics. The consequences of it would reflect upon several decay processes, like the very exotic nuclear double-beta-decay. By the other hand, high-energy proton-proton reactions of the type performed at the LHC accelerator can provide information about the existence of a right-handed generation of the W and Z-bosons. Here we shall address the possibility of performing a joint analysis of the results reported by the ATLAS and CMS collaborations (σ(pp- > 2l + jets)) and the latest measurements of nuclear-double-beta decays reported by the GERDA and EXO collaborations.

Between-hand difference in ipsilateral deactivation is associated with hand lateralization: fMRI mapping of 284 volunteers balanced for handedness

Directory of Open Access Journals (Sweden)

Nathalie eTzourio-Mazoyer

2015-02-01

Full Text Available In right-handers, an increase in the pace of dominant hand movement results in increased ipsilateral deactivation of the primary motor cortex (M1. By contrast, an increase in non-dominant hand movement frequency is associated with reduced ipsilateral deactivation. This pattern suggests that inhibitory processes support right hand dominance in right-handers and raises the issues of whether this phenomenon also supports left hand preference in left-handers, and/or whether it relates to asymmetry of manual ability in either group. Thanks to the BIL&GIN, a database dedicated to the investigation of hemispheric specialization, we studied the variation in M1 activity during right and left finger tapping tasks in a sample of 284 healthy participants balanced for handedness. An M1 fMRI localizer was defined for each participant as an 8 mm diameter sphere centered on the motor activation peak. Right-handers exhibited significantly larger deactivation of the ipsilateral M1 when moving their dominant hand than their non-dominant hand. In contrast, left-handers exhibited comparable ipsilateral M1 deactivation during either hand movement, reflecting a bilateral cortical specialization. This pattern is likely related to left-handers’ good performances with their right hand and consequent lower asymmetry in manual ability compared with right-handers. Finally, inter-individual analyses over the whole sample demonstrated that the larger the difference in manual skill across hands, the larger the difference in ipsilateral deactivation. Overall, we propose that difference in ipsilateral deactivation is a marker of difference in manual ability asymmetry reflecting differences in the strength of transcallosal inhibition when a given hand is moving.

A nondestructive, reproducible method of measuring joint reaction force at the distal radioulnar joint.

Science.gov (United States)

Canham, Colin D; Schreck, Michael J; Maqsoodi, Noorullah; Doolittle, Madison; Olles, Mark; Elfar, John C

2015-06-01

To develop a nondestructive method of measuring distal radioulnar joint (DRUJ) joint reaction force (JRF) that preserves all periarticular soft tissues and more accurately reflects in vivo conditions. Eight fresh-frozen human cadaveric limbs were obtained. A threaded Steinmann pin was placed in the middle of the lateral side of the distal radius transverse to the DRUJ. A second pin was placed into the middle of the medial side of the distal ulna colinear to the distal radial pin. Specimens were mounted onto a tensile testing machine using a custom fixture. A uniaxial distracting force was applied across the DRUJ while force and displacement were simultaneously measured. Force-displacement curves were generated and a best-fit polynomial was solved to determine JRF. All force-displacement curves demonstrated an initial high slope where relatively large forces were required to distract the joint. This ended with an inflection point followed by a linear area with a low slope, where small increases in force generated larger amounts of distraction. Each sample was measured 3 times and there was high reproducibility between repeated measurements. The average baseline DRUJ JRF was 7.5 N (n = 8). This study describes a reproducible method of measuring DRUJ reaction forces that preserves all periarticular stabilizing structures. This technique of JRF measurement may also be suited for applications in the small joints of the wrist and hand. Changes in JRF can alter native joint mechanics and lead to pathology. Reliable methods of measuring these forces are important for determining how pathology and surgical interventions affect joint biomechanics. Copyright © 2015 American Society for Surgery of the Hand. Published by Elsevier Inc. All rights reserved.

Impact of hand forces and start/stop frequency on physiological responses to three forms of pushing and pulling: a South African perspective.

Science.gov (United States)

Ai, Todd

2012-01-01

There has been limited attention given to the physiological demands of pushing and pulling, especially in industrially developing countries such as South Africa. Two key factors affecting the physiological demands of these tasks are the hand forces exerted and the start/stop frequency. The purpose of the current study was therefore to investigate the physiological responses to pushing and pulling at various loads and start/stop frequencies. 36 male subjects participated in the study and were required to complete a total of 18 conditions (three techniques: pushing, two- and one-handed pulling; three loads: 200, 350 and 500 kg; and two frequencies: 2 and 4 stops per minute). During each condition the heart rate, oxygen uptake and energy expenditure were measured. Pushing was found to elicit significantly lower responses for all three dependent variables than either form of pulling. The start/stop frequency was also found to have a significant impact on subject responses. The findings of this study indicate that the technique adopted to maneuver loads is critical in determining the physical demands placed on the human operator. Furthermore increasing the frequency of start/stops plays an important role, thus the forces exerted during these two phases are important from a physiological perspective.

The 'invisible hand': regulation of RHO GTPases by RHOGDIs.

Science.gov (United States)

Garcia-Mata, Rafael; Boulter, Etienne; Burridge, Keith

2011-07-22

The 'invisible hand' is a term originally coined by Adam Smith in The Theory of Moral Sentiments to describe the forces of self-interest, competition and supply and demand that regulate the resources in society. This metaphor continues to be used by economists to describe the self-regulating nature of a market economy. The same metaphor can be used to describe the RHO-specific guanine nucleotide dissociation inhibitor (RHOGDI) family, which operates in the background, as an invisible hand, using similar forces to regulate the RHO GTPase cycle.

The invisible hand: regulation of RHO GTPases by RHOGDIs

Science.gov (United States)

Garcia-Mata, Rafael; Boulter, Etienne; Burridge, Keith

2011-01-01

Preface The 'invisible hand' is a term originally coined by Adam Smith in the Theory of Moral Sentiments to describe the forces of self-interest, competition, and supply and demand that regulate the resources in society. This metaphor continues to be used by economists to describe the self-regulating nature of a market economy. The same metaphor can be used to describe the RHO-specific guanine nucleotide dissociation inhibitor (RHOGDI) family, which operates in the background, as an invisible hand, using similar forces to regulate the RHO GTPase cycle. PMID:21779026

Development and pilot testing of HEXORR: Hand EXOskeleton Rehabilitation Robot

Directory of Open Access Journals (Sweden)

Godfrey Sasha B

2010-07-01

Full Text Available Abstract Background Following acute therapeutic interventions, the majority of stroke survivors are left with a poorly functioning hemiparetic hand. Rehabilitation robotics has shown promise in providing patients with intensive therapy leading to functional gains. Because of the hand's crucial role in performing activities of daily living, attention to hand therapy has recently increased. Methods This paper introduces a newly developed Hand Exoskeleton Rehabilitation Robot (HEXORR. This device has been designed to provide full range of motion (ROM for all of the hand's digits. The thumb actuator allows for variable thumb plane of motion to incorporate different degrees of extension/flexion and abduction/adduction. Compensation algorithms have been developed to improve the exoskeleton's backdrivability by counteracting gravity, stiction and kinetic friction. We have also designed a force assistance mode that provides extension assistance based on each individual's needs. A pilot study was conducted on 9 unimpaired and 5 chronic stroke subjects to investigate the device's ability to allow physiologically accurate hand movements throughout the full ROM. The study also tested the efficacy of the force assistance mode with the goal of increasing stroke subjects' active ROM while still requiring active extension torque on the part of the subject. Results For 12 of the hand digits'15 joints in neurologically normal subjects, there were no significant ROM differences (P > 0.05 between active movements performed inside and outside of HEXORR. Interjoint coordination was examined in the 1st and 3rd digits, and no differences were found between inside and outside of the device (P > 0.05. Stroke subjects were capable of performing free hand movements inside of the exoskeleton and the force assistance mode was successful in increasing active ROM by 43 ± 5% (P Conclusions Our pilot study shows that this device is capable of moving the hand's digits through

Development and pilot testing of HEXORR: Hand EXOskeleton Rehabilitation Robot

Science.gov (United States)

2010-01-01

Background Following acute therapeutic interventions, the majority of stroke survivors are left with a poorly functioning hemiparetic hand. Rehabilitation robotics has shown promise in providing patients with intensive therapy leading to functional gains. Because of the hand's crucial role in performing activities of daily living, attention to hand therapy has recently increased. Methods This paper introduces a newly developed Hand Exoskeleton Rehabilitation Robot (HEXORR). This device has been designed to provide full range of motion (ROM) for all of the hand's digits. The thumb actuator allows for variable thumb plane of motion to incorporate different degrees of extension/flexion and abduction/adduction. Compensation algorithms have been developed to improve the exoskeleton's backdrivability by counteracting gravity, stiction and kinetic friction. We have also designed a force assistance mode that provides extension assistance based on each individual's needs. A pilot study was conducted on 9 unimpaired and 5 chronic stroke subjects to investigate the device's ability to allow physiologically accurate hand movements throughout the full ROM. The study also tested the efficacy of the force assistance mode with the goal of increasing stroke subjects' active ROM while still requiring active extension torque on the part of the subject. Results For 12 of the hand digits'15 joints in neurologically normal subjects, there were no significant ROM differences (P > 0.05) between active movements performed inside and outside of HEXORR. Interjoint coordination was examined in the 1st and 3rd digits, and no differences were found between inside and outside of the device (P > 0.05). Stroke subjects were capable of performing free hand movements inside of the exoskeleton and the force assistance mode was successful in increasing active ROM by 43 ± 5% (P < 0.001) and 24 ± 6% (P = 0.041) for the fingers and thumb, respectively. Conclusions Our pilot study shows that this device

The impact force acting on a flat plate exposed normally to a rarefied plasma plume issuing from an annular or circular nozzle

Energy Technology Data Exchange (ETDEWEB)

Chen Xi, E-mail: cx-dem@mail.tsinghua.edu.c [Department of Engineering Mechanics, Tsinghua University, Beijing 100084 (China)

2010-08-11

With the indirect thrust measurement of electric thrusters working at a low vacuum chamber pressure as the research background, this paper analyses the impact force acting on a flat plate exposed normally to a rarefied plasma plume issuing from a thruster with an annular or circular exit section for the free-molecule flow regime (at large Knudsen numbers). The constraint relation proposed by Cai and Boyd (2007 J. Spacecr. Rockets 44 619, 1326) about the velocity components of gas particles leaving a location on the nozzle exit section and arriving at a given spatial point outside the nozzle has been employed here to derive the analytical expressions for calculating the impact force. Sample calculation results show that if the flat plate is sufficiently large, the impact force acting on the flat plate calculated for the case without accounting for gas particle reflection at the plate surface agrees well with the axial momentum flux calculated at the thruster exit or the theoretical thrust force of the studied thruster, while accounting for the contribution of gas particles reflected from the plate surface to the impact force production may significantly increase the calculated impact force acting on the flat plate. For a Hall-effect thruster in which the thrust force is dominantly produced by the ions with high directional kinetic energy and the ions are not directly reflected from the plate surface, the contribution to the impact force production of atom species and of gas particles reflected from the plate surface is negligibly small and thus the measured axial impact force acting on a sufficiently large plate can well represent the thrust force of the thruster. On the other hand, if the contribution of the gas particles reflected from the plate surface to the impact force production cannot be neglected (e.g. for the electric thrusters with comparatively low thruster exit temperatures), appreciable error would appear in the indirect thrust measurement.

Design of a 3-DOF Parallel Hand-Controller

Directory of Open Access Journals (Sweden)

Chengcheng Zhu

2017-01-01

Full Text Available Hand-controllers, as human-machine-interface (HMI devices, can transfer the position information of the operator’s hands into the virtual environment to control the target objects or a real robot directly. At the same time, the haptic information from the virtual environment or the sensors on the real robot can be displayed to the operator. It helps human perceive haptic information more truly with feedback force. A parallel hand-controller is designed in this paper. It is simplified from the traditional delta haptic device. The swing arms in conventional delta devices are replaced with the slider rail modules. The base consists of two hexagons and several links. For the use of the linear sliding modules instead of swing arms, the arc movement is replaced by linear movement. So that, the calculating amount of the position positive solution and the force inverse solution is reduced for the simplification of the motion. The kinematics, static mechanics, and dynamic mechanics are analyzed in this paper. What is more, two demonstration applications are developed to verify the performance of the designed hand-controller.

Myoelectric hand prosthesis force control through servo motor current feedback.

Science.gov (United States)

Sono, Tálita Saemi Payossim; Menegaldo, Luciano Luporini

2009-10-01

This paper presents the prehension force closed-loop control design of a mechanical finger commanded by electromyographic signal (EMG) from a patient's arm. The control scheme was implemented and tested in a mechanical finger prototype with three degrees of freedom and one actuator, driven by arm muscles EMG of normal volunteers. Real-time indirect estimation of prehension force was assessed by measuring the DC servo motor actuator current. A model of the plant comprising finger, motor, and grasped object was proposed. Model parameters were identified experimentally and a classical feedback phase-lead compensator was designed. The controlled mechanical finger was able to provide a more accurate prehension force modulation of a compliant object when compared to open-loop control.

Multidisciplinary Graduate Training in Social Research Methodology and Computer-Assisted Qualitative Data Analysis: A Hands-On/Hands-Off Course Design

Science.gov (United States)

Bourque, Claude Julie; Bourdon, Sylvain

2017-01-01

Drawing on the experience of training graduate students and researchers in qualitative and mixed-methods analysis since the mid-1990s, the authors reflect on the evolution of a multidisciplinary graduate course developed in a Canadian university since 2007. The hands-on/hands-off course design based on the use of NVivo was developed in parallel…

Relativistic Linear Restoring Force

Science.gov (United States)

Clark, D.; Franklin, J.; Mann, N.

2012-01-01

We consider two different forms for a relativistic version of a linear restoring force. The pair comes from taking Hooke's law to be the force appearing on the right-hand side of the relativistic expressions: d"p"/d"t" or d"p"/d["tau"]. Either formulation recovers Hooke's law in the non-relativistic limit. In addition to these two forces, we…

White Lies in Hand: Are Other-Oriented Lies Modified by Hand Gestures? Possibly Not.

Science.gov (United States)

Cantarero, Katarzyna; Parzuchowski, Michal; Dukala, Karolina

2017-01-01

Previous studies have shown that the hand-over-heart gesture is related to being more honest as opposed to using self-centered dishonesty. We assumed that the hand-over-heart gesture would also relate to other-oriented dishonesty, though the latter differs highly from self-centered lying. In Study 1 ( N = 79), we showed that performing a hand-over-heart gesture diminished the tendency to use other-oriented white lies and that the fingers crossed behind one's back gesture was not related to higher dishonesty. We then pre-registered and conducted Study 2 ( N = 88), which was designed following higher methodological standards than Study 1. Contrary, to the findings of Study 1, we found that using the hand-over-heart gesture did not result in refraining from using other-oriented white lies. We discuss the findings of this failed replication indicating the importance of strict methodological guidelines in conducting research and also reflect on relatively small effect sizes related to some findings in embodied cognition.

Receptor-mediated endocytosis generates nanomechanical force reflective of ligand identity and cellular property.

Science.gov (United States)

Zhang, Xiao; Ren, Juan; Wang, Jingren; Li, Shixie; Zou, Qingze; Gao, Nan

2018-08-01

Whether environmental (thermal, chemical, and nutrient) signals generate quantifiable, nanoscale, mechanophysical changes in the cellular plasma membrane has not been well elucidated. Assessment of such mechanophysical properties of plasma membrane may shed lights on fundamental cellular process. Atomic force microscopic (AFM) measurement of the mechanical properties of live cells was hampered by the difficulty in accounting for the effects of the cantilever motion and the associated hydrodynamic force on the mechanical measurement. These challenges have been addressed in our recently developed control-based AFM nanomechanical measurement protocol, which enables a fast, noninvasive, broadband measurement of the real-time changes in plasma membrane elasticity in live cells. Here we show using this newly developed AFM platform that the plasma membrane of live mammalian cells exhibits a constant and quantifiable nanomechanical property, the membrane elasticity. This mechanical property sensitively changes in response to environmental factors, such as the thermal, chemical, and growth factor stimuli. We demonstrate that different chemical inhibitors of endocytosis elicit distinct changes in plasma membrane elastic modulus reflecting their specific molecular actions on the lipid configuration or the endocytic machinery. Interestingly, two different growth factors, EGF and Wnt3a, elicited distinct elastic force profiles revealed by AFM at the plasma membrane during receptor-mediated endocytosis. By applying this platform to genetically modified cells, we uncovered a previously unknown contribution of Cdc42, a key component of the cellular trafficking network, to EGF-stimulated endocytosis at plasma membrane. Together, this nanomechanical AFM study establishes an important foundation that is expandable and adaptable for investigation of cellular membrane evolution in response to various key extracellular signals. © 2017 Wiley Periodicals, Inc.

Control of finger forces during fast, slow and moderate rotational hand movements.

Science.gov (United States)

Kazemi, Hamed; Kearney, Robert E; Milner, Theodore E

2014-01-01

The goal of this study was to investigate the effect of speed on patterns of grip forces during twisting movement involving forearm supination against a torsional load (combined elastic and inertial load). For slow and moderate speed rotations, the grip force increased linearly with load torque. However, for fast rotations in which the contribution of the inertia to load torque was significantly greater than slower movements, the grip force-load torque relationship could be segmented into two phases: a linear ascending phase corresponding to the acceleration part of the movement followed by a plateau during deceleration. That is, during the acceleration phase, the grip force accurately tracked the combined elastic and inertial load. However, the coupling between grip force and load torque was not consistent during the deceleration phase of the movement. In addition, as speed increased, both the position and the force profiles became smoother. No differences in the baseline grip force, safety margin to secure the grasp during hold phase or the overall change in grip force were observed across different speeds.

A Control Strategy with Tactile Perception Feedback for EMG Prosthetic Hand

Directory of Open Access Journals (Sweden)

Changcheng Wu

2015-01-01

Full Text Available To improve the control effectiveness and make the prosthetic hand not only controllable but also perceivable, an EMG prosthetic hand control strategy was proposed in this paper. The control strategy consists of EMG self-learning motion recognition, backstepping controller with stiffness fuzzy observation, and force tactile representation. EMG self-learning motion recognition is used to reduce the influence on EMG signals caused by the uncertainty of the contacting position of the EMG sensors. Backstepping controller with stiffness fuzzy observation is used to realize the position control and grasp force control. Velocity proportional control in free space and grasp force tracking control in restricted space can be realized by the same controller. The force tactile representation helps the user perceive the states of the prosthetic hand. Several experiments were implemented to verify the effect of the proposed control strategy. The results indicate that the proposed strategy has effectiveness. During the experiments, the comments of the participants show that the proposed strategy is a better choice for amputees because of the improved controllability and perceptibility.

Observing how others lift light or heavy objects: which visual cues mediate the encoding of muscular force in the primary motor cortex?

Science.gov (United States)

Alaerts, Kaat; Swinnen, Stephan P; Wenderoth, Nicole

2010-06-01

Observers are able to judge quite accurately the weights lifted by others. Only recently, neuroscience has focused on the role of the motor system to accomplish this task. In this respect, a previous transcranial magnetic stimulation (TMS) study showed that the muscular force requirements of an observed action are encoded by the primary motor cortex (M1). Overall, three distinct visual sources may provide information on the applied force of an observed lifting action, namely, (i) the perceived kinematics, (ii) the hand contraction state and finally (iii) intrinsic object properties. The principal aim of the present study was to disentangle these three visual sources and to explore their importance in mediating the encoding of muscular force requirements in the observer's motor system. A series of experiments are reported in which TMS was used to measure 'force-related' responses from the hand representation in left M1 while subjects observed distinct action-stimuli. Overall, results indicated that observation-induced activity in M1 reflects the level of observed force when kinematic cues of the lift (exp. 1) or cues on the hand contraction state (exp. 2) are available. Moreover, when kinematic cues and intrinsic object properties provide distinct information on the force requirements of an observed lifting action, results from experiment 3 indicated a strong preference for the use of kinematic features in mapping the force requirements of the observed action. In general, these findings support the hypothesis that the primary motor cortex contributes to action observation by mapping the muscle-related features of observed actions. Copyright 2010 Elsevier Ltd. All rights reserved.

Extracting information from 0νββ decay and LHC pp-cross sections: Limits on the left-right mixing angle and right-handed boson mass

Energy Technology Data Exchange (ETDEWEB)

Civitarese, O., E-mail: osvaldo.civitarese@fisica.unlp.edu.ar [Departamento de Física, UNLP, C.C. 67, (1900) La Plata (Argentina); Suhonen, J. [University of Jyvaskyla, Department of Physics, P.O. Box 35, FI-40014 (Finland); Zuber, K. [Department of Physics, TU-University, Dresden (Germany)

2015-10-28

The existence of massive neutrinos forces the extension of the Standard Model of electroweak interactions, to accommodate them and/or right-handed currents. This is one of the fundamental questions in todays’s physics. The consequences of it would reflect upon several decay processes, like the very exotic nuclear double-beta-decay. By the other hand, high-energy proton-proton reactions of the type performed at the LHC accelerator can provide information about the existence of a right-handed generation of the W and Z-bosons. Here we shall address the possibility of performing a joint analysis of the results reported by the ATLAS and CMS collaborations (σ(pp− > 2l + jets)) and the latest measurements of nuclear-double-beta decays reported by the GERDA and EXO collaborations.

On nonlinear changes of the reflection coefficient of the fast wave at LH frequencies due to ponderomotive forces

International Nuclear Information System (INIS)

Petrzilka, V.

1991-09-01

The nonlinear changes of the reflection coefficient R of fast waves launched by waveguide arrays may be significant even for power densities S in the range of 3 or 4 kW/cm 2 . For the input parameters chosen in the computations, the effects of ponderomotive forces lead to an increase in plasma density in front of the grill , whereas for the slow wave the plasma density always decreases with growing S. For small plasma density in front of the grill, ponderomotive forces thus lead to the decrease of R, whereas for high plasma densities R grows with growing power density S. The heating of the edge plasma by the wave tends to weaken these changes. (Z.S.) 6 figs., 17 refs

Acute Effects of Hand Elevation and Wrist Position on Mean Arterial Pressure and Pulse Rate Measured in the Hand

National Research Council Canada - National Science Library

Shibley, Lee

2000-01-01

Musculoskeletal disorders (MSD) to the wrist and hand are common among workers, and are associated with working conditions that use forceful, repetitive and extreme wrist joint postures that including end range flexion...

Human-inspired feedback synergies for environmental interaction with a dexterous robotic hand.

Science.gov (United States)

Kent, Benjamin A; Engeberg, Erik D

2014-11-07

Effortless control of the human hand is mediated by the physical and neural couplings inherent in the structure of the hand. This concept was explored for environmental interaction tasks with the human hand, and a novel human-inspired feedback synergy (HFS) controller was developed for a robotic hand which synchronized position and force feedback signals to mimic observed human hand motions. This was achieved by first recording the finger joint motion profiles of human test subjects, where it was observed that the subjects would extend their fingers to maintain a natural hand posture when interacting with different surfaces. The resulting human joint angle data were used as inspiration to develop the HFS controller for the anthropomorphic robotic hand, which incorporated finger abduction and force feedback in the control laws for finger extension. Experimental results showed that by projecting a broader view of the tasks at hand to each specific joint, the HFS controller produced hand motion profiles that closely mimic the observed human responses and allowed the robotic manipulator to interact with the surfaces while maintaining a natural hand posture. Additionally, the HFS controller enabled the robotic hand to autonomously traverse vertical step discontinuities without prior knowledge of the environment, visual feedback, or traditional trajectory planning techniques.

Human-inspired feedback synergies for environmental interaction with a dexterous robotic hand

International Nuclear Information System (INIS)

Kent, Benjamin A; Engeberg, Erik D

2014-01-01

Effortless control of the human hand is mediated by the physical and neural couplings inherent in the structure of the hand. This concept was explored for environmental interaction tasks with the human hand, and a novel human-inspired feedback synergy (HFS) controller was developed for a robotic hand which synchronized position and force feedback signals to mimic observed human hand motions. This was achieved by first recording the finger joint motion profiles of human test subjects, where it was observed that the subjects would extend their fingers to maintain a natural hand posture when interacting with different surfaces. The resulting human joint angle data were used as inspiration to develop the HFS controller for the anthropomorphic robotic hand, which incorporated finger abduction and force feedback in the control laws for finger extension. Experimental results showed that by projecting a broader view of the tasks at hand to each specific joint, the HFS controller produced hand motion profiles that closely mimic the observed human responses and allowed the robotic manipulator to interact with the surfaces while maintaining a natural hand posture. Additionally, the HFS controller enabled the robotic hand to autonomously traverse vertical step discontinuities without prior knowledge of the environment, visual feedback, or traditional trajectory planning techniques. (paper)

Hands of beauty, hands of horror: fear and Egyptian art at the Fin de Siècle.

Science.gov (United States)

Briefel, Aviva

2008-01-01

This essay examines the gothicization of Egyptian manual productions in late-Victorian mummy narratives. These narratives often isolate the mummy's hand as a signifier of craftsmanship, a troubling object for a culture that was mourning the figurative loss of its artisans' hands to mechanized production. Focusing on Bram Stoker's 1903 novel, The Jewel of Seven Stars, I contend that the horror of the mummy's hand emanates from its ambiguous position as an artifact that is itself a means of production. It displaces Friedrich Engels's conception of the Western hand as a self-creating appendage into the atavistic domain of a long-lost Egyptian tradition, and in doing so, it forces the English observer to recognize the irrecoverable nature of aesthetic craftsmanship. Brought into violent contact with the creative potential of the mummy's hand, the characters in Stoker's novel try to disassociate the mummy from manual production but only succeed in confirming their own status as products of a mechanized age.

Left hand finger force in violin playing: tempo, loudness, and finger differences.

Science.gov (United States)

Kinoshita, Hiroshi; Obata, Satoshi

2009-07-01

A three-dimensional force transducer was installed in the neck of a violin under the A string at the D5 position in order to study the force with which the violinist clamps the string against the fingerboard under normal playing conditions. Violinists performed repetitive sequences of open A- and fingered D-tones using the ring finger at tempi of 1, 2, 4, 8, and 16 notes/s at mezzo-forte. At selected tempi, the effects of dynamic level and the use of different fingers were investigated as well. The force profiles were clearly dependent on tempo and dynamic level. At slow tempi, the force profiles were characterized by an initial pulse followed by a level force to the end of the finger contact period. At tempi higher than 2 Hz, only pulsed profiles were observed. The peak force exceeded 4.5 N at 1 and 2 Hz and decreased to 1.7 N at 16 Hz. All force and impulse values were lower at softer dynamic levels, and when using the ring or little finger compared to the index finger.

Clinical application of computerized evaluation and re-education biofeedback prototype for sensorimotor control of the hand in stroke patients.

Science.gov (United States)

Hsu, Hsiu-Yun; Lin, Cheng-Feng; Su, Fong-Chin; Kuo, Huan-Ting; Chiu, Haw-Yen; Kuo, Li-Chieh

2012-05-09

Hemianaesthesia patients usually exhibit awkward and inefficient finger movements of the affected hands. Conventionally, most interventions emphasize the improvement of motor deficits, but rarely address sensory capability and sensorimotor control following stroke. Thus it is critical for stroke patients with sensory problems to incorporate appropriate strategies for dealing with sensory impairment, into traditional hand function rehabilitation programs. In this study, we used a custom-designed computerized evaluation and re-education biofeedback (CERB) prototype to analyze hand grasp performances, and monitor the training effects on hand coordination for stroke patients with sensory disturbance and without motor deficiency. The CERB prototype was constructed to detect momentary pinch force modulation for 14 sub-acute and chronic stroke patients with sensory deficiency and 14 healthy controls. The other ten chronic stroke patients (ranges of stroke period: 6-60 months) were recruited to investigate the effects of 4-weeks computerized biofeedback treatments on the hand control ability. The biofeedback procedures provide visual and auditory cues to the participants when the interactive force of hand-to-object exceeded the target latitude in a pinch-up-holding task to trigger optimal motor strategy. Follow-up measurements were conducted one month after training. The hand sensibility, grip forces and results of hand functional tests were recorded and analyzed. The affected hands of the 14 predominant sensory stroke patients exhibited statistically significant elevation in the magnitude of peak pinch force (p = 0.033) in pinching and lifting-up tasks, and poor results for hand function tests (p = 0.005) than sound hands did. In addition, the sound hands of patients were less efficient in force modulation (p = 0.009) than the hands of healthy subjects were. Training with the biofeedback system produced significant improvements in grip force modulation (p = 0.020) and

Clinical application of computerized evaluation and re-education biofeedback prototype for sensorimotor control of the hand in stroke patients

Directory of Open Access Journals (Sweden)

Hsu Hsiu-Yun

2012-05-01

Full Text Available Abstract Background Hemianaesthesia patients usually exhibit awkward and inefficient finger movements of the affected hands. Conventionally, most interventions emphasize the improvement of motor deficits, but rarely address sensory capability and sensorimotor control following stroke. Thus it is critical for stroke patients with sensory problems to incorporate appropriate strategies for dealing with sensory impairment, into traditional hand function rehabilitation programs. In this study, we used a custom-designed computerized evaluation and re-education biofeedback (CERB prototype to analyze hand grasp performances, and monitor the training effects on hand coordination for stroke patients with sensory disturbance and without motor deficiency. Methods The CERB prototype was constructed to detect momentary pinch force modulation for 14 sub-acute and chronic stroke patients with sensory deficiency and 14 healthy controls. The other ten chronic stroke patients (ranges of stroke period: 6–60 months were recruited to investigate the effects of 4-weeks computerized biofeedback treatments on the hand control ability. The biofeedback procedures provide visual and auditory cues to the participants when the interactive force of hand-to-object exceeded the target latitude in a pinch-up-holding task to trigger optimal motor strategy. Follow-up measurements were conducted one month after training. The hand sensibility, grip forces and results of hand functional tests were recorded and analyzed. Results The affected hands of the 14 predominant sensory stroke patients exhibited statistically significant elevation in the magnitude of peak pinch force (p = 0.033 in pinching and lifting-up tasks, and poor results for hand function tests (p = 0.005 than sound hands did. In addition, the sound hands of patients were less efficient in force modulation (p = 0.009 than the hands of healthy subjects were. Training with the biofeedback system produced

White Lies in Hand: Are Other-Oriented Lies Modified by Hand Gestures? Possibly Not

Directory of Open Access Journals (Sweden)

Katarzyna Cantarero

2017-06-01

Full Text Available Previous studies have shown that the hand-over-heart gesture is related to being more honest as opposed to using self-centered dishonesty. We assumed that the hand-over-heart gesture would also relate to other-oriented dishonesty, though the latter differs highly from self-centered lying. In Study 1 (N = 79, we showed that performing a hand-over-heart gesture diminished the tendency to use other-oriented white lies and that the fingers crossed behind one’s back gesture was not related to higher dishonesty. We then pre-registered and conducted Study 2 (N = 88, which was designed following higher methodological standards than Study 1. Contrary, to the findings of Study 1, we found that using the hand-over-heart gesture did not result in refraining from using other-oriented white lies. We discuss the findings of this failed replication indicating the importance of strict methodological guidelines in conducting research and also reflect on relatively small effect sizes related to some findings in embodied cognition.

A multi-DOF robotic exoskeleton interface for hand motion assistance.

Science.gov (United States)

Iqbal, Jamshed; Tsagarakis, Nikos G; Caldwell, Darwin G

2011-01-01

This paper outlines the design and development of a robotic exoskeleton based rehabilitation system. A portable direct-driven optimized hand exoskeleton system has been proposed. The optimization procedure primarily based on matching the exoskeleton and finger workspaces guided the system design. The selection of actuators for the proposed system has emerged as a result of experiments with users of different hand sizes. Using commercial sensors, various hand parameters, e.g. maximum and average force levels have been measured. The results of these experiments have been mapped directly to the mechanical design of the system. An under-actuated optimum mechanism has been analysed followed by the design and realization of the first prototype. The system provides both position and force feedback sensory information which can improve the outcomes of a professional rehabilitation exercise.

Single-limb force data for two lemur species while vertically clinging.

Science.gov (United States)

Johnson, Laura E; Hanna, Jandy; Schmitt, Daniel

2015-11-01

Vertical clinging and climbing have been integral to hypotheses about primate origins, yet little is known about how an animal with nails instead of claws resists gravity while on large, vertical, and cylindrical substrates. Here we test models of how force is applied to maintain posture, predicting (1) the shear component force (Fs ) at the hands will be higher than the feet; (2) the normal component force (Fn ) at the feet will be relatively high compared to the hands; (3) the component force resisting gravity (Fg ) at the feet will be relatively high compared to the hands; (4) species with a high frequency of vertical clinging postures will have low Fg at the hands due to relatively short forelimbs. Using a novel instrumented support, single-limb force data were collected during clinging postures for the hands and feet and compared across limbs and species for Propithecus verreauxi (N = 2), a habitual vertical clinger and leaper, and Varecia variegata (N = 3), a habitual above-branch arboreal quadruped. For both species, hand Fs were significantly higher than at the feet and Fn and Fg at the feet were significantly higher than at the hands. Between species, P. verreauxi has relatively low Fg at the hands and Fn at the feet than V. vareigata. These results support previous models and show that hindlimb loading dominance, characteristic of primate locomotion, is found during clinging behaviors and may allow the forelimbs to be used for foraging while clinging. These findings provide insight into selective pressures on force distribution in primates and primate locomotor evolution. © 2015 Wiley Periodicals, Inc.

[An ethical reflection on outreaching mental health care].

Science.gov (United States)

Liégeois, A; Eneman, M

Care providers have a conflicting societal role: on the one hand they must respect the autonomy of individuals with psychiatric problems, but on the other hand they often feel the need to offer these individuals outreaching care. To compile an ethical reflection on some of the ways in which outreaching mental health care interventions can be provided in a responsible manner. This ethical reflection is based on an ethical advice by the Ethics committee for Mental Health Care of the Brothers of Charity in Flanders. The method combines ethical discussion and a study of the relevant literature. A good starting point is a relational view of the human being that emphasises connectedness and involvement. Consequently, the care provider begins to intervene in the care programme by building a trusting relationship with the person with psychiatric problems. This is how these persons, their close family and friends and care providers exercise their responsibility. There is a gradation of responsibility that extends in a continuous line: personal responsibility develops into shared responsibility which can then become vicarious responsibility. On that basis there is also a gradation in the nature of outreaching care; the care providers first make themselves available and give information, then provide advice, negotiate, persuade, increase pressure, and finally take over and force the person with psychiatric problems. The care providers choose in dialogue and in a considered and consistent way for the appropriate form of outreaching care, in line with the degree of responsibility that the person with psychiatric problems can assume.

Chin force in violin playing.

Science.gov (United States)

Obata, Satoshi; Kinoshita, Hiroshi

2012-06-01

Force generated between the left mandible of violinists and the chinrest of the violin was examined using a force-sensing chinrest developed in this study. A strain-gauge force sensor was built, and it was fixed between the violin's top plate and a chin cup. Fifteen professional/amateur violinists held the violin statically, played musical scales with different sound properties and sounding techniques, as well as an excerpt from a Max Bruch concerto. Peak and mean forces were evaluated for each task. In a separate experiment, lateral movement of the lower teeth due to different levels of voluntary chin force exertion was measured. Static holding forces observed were 15 and 22 N with and without the help of the left hand, respectively. Peak force increased from 16 N at soft dynamics to 20 N at strong dynamics during scales. The force further increased to 29 N with the use of vibrato technique and 35 N during shifts. Tempo and hand position did not affect the force. Playing a Bruch concerto induced a mean peak force of 52 N, ranging from 31 to 82 N among the violinists. The developed force-sensing chinrest could accurately record the generated chin force. Typical chin force to stabilize the violin during ordinary musical performance was less than 30 N, but it could momentarily exceed 50 N when technically demanding musical pieces were performed. The lateral shift of the mandible was fairly small (<0.4 mm) even with high chin-force exertion, possibly due to clenching of the molars.

Hand-eye coordinative remote maintenance in a tokamak vessel

Energy Technology Data Exchange (ETDEWEB)

Qiu, Qiang, E-mail: qiu6401@sjtu.edu.cn; Gu, Kai, E-mail: gukai0707@sjtu.edu.cn; Wang, Pengfei, E-mail: wpf790714@163.com; Bai, Weibang, E-mail: 654253204@qq.com; Cao, Qixin, E-mail: qxcao@sjtu.edu.cn

2016-03-15

Highlights: • If there is not rotation between the visual coordinate frame (O{sub e}X{sub e}Y{sub e}) and hand coordinate frame (O{sub h}X{sub h}Y{sub h}), a person can coordinate the movement between hand and eye easily. • We establish an alignment between the movement of the operator's hand and the visual scene of the end-effector as displayed on the monitor. • A potential function is set up in a simplified vacuum vessel model to provide a fast collision checking, and the alignment between repulsive force and Omega 7 feedback force is accomplished. • We carry out an experiment to evaluate its performance in a remote handling task. - Abstract: The reliability is vitally important for the remote maintenance in a tokamak vessel. In order to establish a more accurate and safer remote handling system, a hand-eye coordination method and an artificial potential function based collision avoidance method were proposed in this paper. At the end of this paper, these methods were implemented to a bolts tightening maintenance task, which was carried out in our 1/10 scale tokamak model. Experiment results have verified the value of the hand-eye coordination method and the collision avoidance method.

Hand-eye coordinative remote maintenance in a tokamak vessel

International Nuclear Information System (INIS)

Qiu, Qiang; Gu, Kai; Wang, Pengfei; Bai, Weibang; Cao, Qixin

2016-01-01

Highlights: • If there is not rotation between the visual coordinate frame (O_eX_eY_e) and hand coordinate frame (O_hX_hY_h), a person can coordinate the movement between hand and eye easily. • We establish an alignment between the movement of the operator's hand and the visual scene of the end-effector as displayed on the monitor. • A potential function is set up in a simplified vacuum vessel model to provide a fast collision checking, and the alignment between repulsive force and Omega 7 feedback force is accomplished. • We carry out an experiment to evaluate its performance in a remote handling task. - Abstract: The reliability is vitally important for the remote maintenance in a tokamak vessel. In order to establish a more accurate and safer remote handling system, a hand-eye coordination method and an artificial potential function based collision avoidance method were proposed in this paper. At the end of this paper, these methods were implemented to a bolts tightening maintenance task, which was carried out in our 1/10 scale tokamak model. Experiment results have verified the value of the hand-eye coordination method and the collision avoidance method.

The Effects of Industrial Protective Gloves and Hand Skin Temperatures on Hand Grip Strength and Discomfort Rating.

Science.gov (United States)

Ramadan, Mohamed Z

2017-12-04

Daily working activities and functions require a high contribution of hand and forearm muscles in executing grip force. To study the effects of wearing different gloves on grip strength, under a variety of hand skin temperatures, an assessment of the maximum grip strength was performed with 32 healthy male workers with a mean age (standard deviation) of 30.44 (5.35) years wearing five industrial gloves at three hand skin temperatures. Their ages and anthropometric characteristics including body mass index (BMI), hand length, hand width, hand depth, hand palm, and wrist circumference were measured. The hand was exposed to different bath temperatures (5 °C, 25 °C, and 45 °C) and hand grip strength was measured using a Jamar hydraulic hand dynamometer with and without wearing the gloves (chemical protection glove, rubber insulating glove, anti-vibration impact glove, cotton yarn knitted glove, and RY-WG002 working glove). The data were analyzed using the Shapiro-Wilk test, Pearson correlation coefficient, Tukey test, and analysis of variance (ANOVA) of the within-subject design analysis. The results showed that wearing gloves significantly affected the maximum grip strength. Wearing the RY-WG002 working glove produced a greater reduction on the maximum grip when compared with the bare hand, while low temperatures (5 °C) had a significant influence on grip when compared to medium (25 °C) and high (45 °C) hand skin temperatures. In addition, participants felt more discomfort in both environmental extreme conditions. Furthermore, they reported more discomfort while wearing neoprene, rubber, and RY-WG002 working gloves.

Language-motor interference reflected in MEG beta oscillations.

Science.gov (United States)

Klepp, Anne; Niccolai, Valentina; Buccino, Giovanni; Schnitzler, Alfons; Biermann-Ruben, Katja

2015-04-01

The involvement of the brain's motor system in action-related language processing can lead to overt interference with simultaneous action execution. The aim of the current study was to find evidence for this behavioural interference effect and to investigate its neurophysiological correlates using oscillatory MEG analysis. Subjects performed a semantic decision task on single action verbs, describing actions executed with the hands or the feet, and abstract verbs. Right hand button press responses were given for concrete verbs only. Therefore, longer response latencies for hand compared to foot verbs should reflect interference. We found interference effects to depend on verb imageability: overall response latencies for hand verbs did not differ significantly from foot verbs. However, imageability interacted with effector: while response latencies to hand and foot verbs with low imageability were equally fast, those for highly imageable hand verbs were longer than for highly imageable foot verbs. The difference is reflected in motor-related MEG beta band power suppression, which was weaker for highly imageable hand verbs compared with highly imageable foot verbs. This provides a putative neuronal mechanism for language-motor interference where the involvement of cortical hand motor areas in hand verb processing interacts with the typical beta suppression seen before movements. We found that the facilitatory effect of higher imageability on action verb processing time is perturbed when verb and motor response relate to the same body part. Importantly, this effect is accompanied by neurophysiological effects in beta band oscillations. The attenuated power suppression around the time of movement, reflecting decreased cortical excitability, seems to result from motor simulation during action-related language processing. This is in line with embodied cognition theories. Copyright © 2015. Published by Elsevier Inc.

Hand and Wrist Injuries in Boxing and the Martial Arts.

Science.gov (United States)

Drury, Benjamin Todd; Lehman, Thomas P; Rayan, Ghazi

2017-02-01

Hand and wrist injuries in martial arts are typically a reflection of the combat nature of this discipline. In striking sports, the axial load mechanism of injury is common and causes fractures and dislocations; in grappling sports, sprain injuries and degenerative changes predominate. There is clear evidence to support that hand protection reduces the risk of hand injury. Traditional training in martial arts on proper technique and target selection in striking sports reduces the risk of hand injury, and is an important component of hand and wrist injury prevention. Copyright © 2016 Elsevier Inc. All rights reserved.

Kinematic hand parameters in front crawl at different paces of swimming.

Science.gov (United States)

Samson, Mathias; Monnet, Tony; Bernard, Anthony; Lacouture, Patrick; David, Laurent

2015-11-05

The aim of this study was to investigate the evolution of kinematic hand parameters (sweepback angle, angle of attack, velocity, acceleration and orientation of the hand relative to the absolute coordinate system) throughout an aquatic stroke and to study the possible modifications caused by a variation of the swimming pace. Seventeen competitive swimmers swam at long distance, middle distance and sprint paces. Parameters were calculated from the trajectory of seven markers on the hand measured with an optoelectronic system. Results showed that kinematic hand parameters evolve differently depending on the pace. Angle of attack, sweepback angle, acceleration and orientation of the hand do not vary significantly. The velocity of the hand increases when the pace increases, but only during the less propulsive phases (entry and stretch and downsweep to catch). The more the pace increases and the more the absolute durations of the entry and stretch and downsweep to catch phases decrease. Absolute durations of the insweep and upsweep phases remain constant. During these phases, the propulsive hand forces calculated do not vary significantly when the pace increases. The increase of swimming pace is then explained by the swimmer's capacity to maintain propulsive phases rather than increasing the force generation within each cycle. Copyright © 2015 Elsevier Ltd. All rights reserved.

Lower reflectivity and higher minority carrier lifetime of hand-tailored porous silicon

International Nuclear Information System (INIS)

Zhang Nansheng; Ma Zhongquan; Zhou Chengyue; He Bo

2009-01-01

Solar cell grade crystalline silicon with very low reflectivity has been obtained by electrochemically selective erosion. The porous silicon (PS) structure with a mixture of nano- and micro-crystals shows good antireflection properties on the surface layer, which has potential for application in commercial silicon photovoltaic devices after optimization. The morphology and reflectivity of the PS layers are easily modulated by controlling the electrochemical formation conditions (i.e., the current density and the anodization time). It has been shown that much a lower reflectivity of approximately 1.42% in the range 380-1100 nm is realized by using optimized conditions. In addition, the minority carrier lifetime of the PS after removing the phosphorus silicon layer is measured to be ∼3.19 μs. These values are very close to the reflectivity and the minority carrier lifetime of Si 3 N 4 as a passivation layer on a bulk silicon-based solar cell (0.33% and 3.03 μs, respectively).

Hands of early primates.

Science.gov (United States)

Boyer, Doug M; Yapuncich, Gabriel S; Chester, Stephen G B; Bloch, Jonathan I; Godinot, Marc

2013-12-01

Questions surrounding the origin and early evolution of primates continue to be the subject of debate. Though anatomy of the skull and inferred dietary shifts are often the focus, detailed studies of postcrania and inferred locomotor capabilities can also provide crucial data that advance understanding of transitions in early primate evolution. In particular, the hand skeleton includes characteristics thought to reflect foraging, locomotion, and posture. Here we review what is known about the early evolution of primate hands from a comparative perspective that incorporates data from the fossil record. Additionally, we provide new comparative data and documentation of skeletal morphology for Paleogene plesiadapiforms, notharctines, cercamoniines, adapines, and omomyiforms. Finally, we discuss implications of these data for understanding locomotor transitions during the origin and early evolutionary history of primates. Known plesiadapiform species cannot be differentiated from extant primates based on either intrinsic hand proportions or hand-to-body size proportions. Nonetheless, the presence of claws and a different metacarpophalangeal [corrected] joint form in plesiadapiforms indicate different grasping mechanics. Notharctines and cercamoniines have intrinsic hand proportions with extremely elongated proximal phalanges and digit rays relative to metacarpals, resembling tarsiers and galagos. But their hand-to-body size proportions are typical of many extant primates (unlike those of tarsiers, and possibly Teilhardina, which have extremely large hands). Non-adapine adapiforms and omomyids exhibit additional carpal features suggesting more limited dorsiflexion, greater ulnar deviation, and a more habitually divergent pollex than observed plesiadapiforms. Together, features differentiating adapiforms and omomyiforms from plesiadapiforms indicate increased reliance on vertical prehensile-clinging and grasp-leaping, possibly in combination with predatory behaviors in

Pilot investigation - Nominal crew induced forces in zero-g

Science.gov (United States)

Klute, Glenn K.

1992-01-01

This report presents pilot-study data of test subject forces induced by intravehicular activities such as push-offs and landings with both hands and feet. Five subjects participated in this investigation. Three orthogonal force axes were measured in the NASA KC-135 research aircraft's 'zero-g' environment. The largest forces were induced during vertical foot push-offs, including one of 534 newtons (120 lbs). The mean vertical foot push-off was 311 newtons (70 lbs). The vertical hand push-off forces were also relatively large, including one of 267 newtons (60 lbs) with a mean of 151 newtons (34 lbs). These force magnitudes of these forces would result in a Shuttle gravity environment of about 1 x exp 10 -4 g's.

An assessment of firework particle persistence on the hands and related police force practices in relation to GSR evidence.

Science.gov (United States)

Grima, Matthew; Hanson, Robert; Tidy, Helen

2014-06-01

In a previous study by Grima et al. Sci. Justice 52 (1) (2012) 49, it was shown that background particles can aid in the exclusion of firework particles which are indistinguishable from GSR. Issues relating to the persistence of such particle populations were presented. The scope of this project was to examine persistence on the hands in the context of possible post-display scene contamination and how this can affect GSR evidence, especially in light of possible GSR/firework mixtures. Persistence was investigated by recovering firework residues eight hours post-display following contact of the hands with bedding. In addition, particle profiling was carried out using SEM-EDX. Firework particle populations exhibited strong persistence in all displays, with not less than 667 particles persisting in each scenario. This factor challenges GSR evidence, especially if personnel stationed at display sites enter scenes of crime or come into contact with suspects after a display. A survey of UK police force practices following firework displays showed that authorities are not aware of the impact particle transfer may have on GSR evidence. Recommendations for the implementation of basic hygiene practices for particle transfer control have also been made. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

The Effects of Industrial Protective Gloves and Hand Skin Temperatures on Hand Grip Strength and Discomfort Rating

Directory of Open Access Journals (Sweden)

Mohamed Z. Ramadan

2017-12-01

Full Text Available Daily working activities and functions require a high contribution of hand and forearm muscles in executing grip force. To study the effects of wearing different gloves on grip strength, under a variety of hand skin temperatures, an assessment of the maximum grip strength was performed with 32 healthy male workers with a mean age (standard deviation of 30.44 (5.35 years wearing five industrial gloves at three hand skin temperatures. Their ages and anthropometric characteristics including body mass index (BMI, hand length, hand width, hand depth, hand palm, and wrist circumference were measured. The hand was exposed to different bath temperatures (5 °C, 25 °C, and 45 °C and hand grip strength was measured using a Jamar hydraulic hand dynamometer with and without wearing the gloves (chemical protection glove, rubber insulating glove, anti-vibration impact glove, cotton yarn knitted glove, and RY-WG002 working glove. The data were analyzed using the Shapiro–Wilk test, Pearson correlation coefficient, Tukey test, and analysis of variance (ANOVA of the within-subject design analysis. The results showed that wearing gloves significantly affected the maximum grip strength. Wearing the RY-WG002 working glove produced a greater reduction on the maximum grip when compared with the bare hand, while low temperatures (5 °C had a significant influence on grip when compared to medium (25 °C and high (45 °C hand skin temperatures. In addition, participants felt more discomfort in both environmental extreme conditions. Furthermore, they reported more discomfort while wearing neoprene, rubber, and RY-WG002 working gloves.

Complex tasks force hand laterality and technological behaviour in naturalistically housed chimpanzees: inferences in hominin evolution.

Science.gov (United States)

Mosquera, M; Geribàs, N; Bargalló, A; Llorente, M; Riba, D

2012-01-01

Clear hand laterality patterns in humans are widely accepted. However, humans only elicit a significant hand laterality pattern when performing complementary role differentiation (CRD) tasks. Meanwhile, hand laterality in chimpanzees is weaker and controversial. Here we have reevaluated our results on hand laterality in chimpanzees housed in naturalistic environments at Fundació Mona (Spain) and Chimfunshi Wild Orphanage (Zambia). Our results show that the difference between hand laterality in humans and chimpanzees is not as great as once thought. Furthermore, we found a link between hand laterality and task complexity and also an even more interesting connection: CRD tasks elicited not only the hand laterality but also the use of tools. This paper aims to turn attention to the importance of this threefold connection in human evolution: the link between CRD tasks, hand laterality, and tool use, which has important evolutionary implications that may explain the development of complex behaviour in early hominins.

Geometry and controls on the development of igneous sill-related forced folds: 2D seismic reflection case study from offshore Southern Australia

Science.gov (United States)

Jackson, Christopher; Schofield, Nick; Magee, Craig; Golenkov, Bogdan

2017-04-01

Emplacement of magma in the shallow subsurface can result in the development of dome-shaped folds at the Earth's surface. These so-called 'forced folds' have been described in the field and in subsurface datasets, although the exact geometry of the folds and the nature of their relationship to underlying sills remains unclear and, in some cases, controversial. As a result, the utility of these features in tracking the subsurface movement of magma, and predicting the potential size and location of potentially hazardous volcanic eruptions, is uncertain. Here we use high-quality, 2D seismic reflection and borehole data from the Ceduna sub-basin, offshore southern Australia to describe the structure and infer the evolution of igneous sill-related forced folds in the Bight Basin Igneous Complex (BBIC). We mapped 33 igneous sills, which were emplaced 200-1500 m below the palaeo-seabed in an Upper Cretaceous, coal-bearing, predominantly coastal-plain succession. The intrusions, which are expressed as packages of high-amplitude reflections, are 32-250 m thick and 7-19 km in diameter. They are overlain by dome-shaped folds, which are up to 17 km wide and display up to 210 m of relief. The edges of these folds coincide with the margins of the underlying sills and the folds display the greatest relief where the underlying sills are thickest; the folds are therefore interpreted as forced folds that formed in response to emplacement of magma in the shallow subsurface. The folds are onlapped by Lutetian (middle Eocene) strata, indicating they formed and the intrusions were emplaced during the latest Ypresian (c. 48 Ma). We demonstrate that fold amplitude is typically less than sill thickness even for sills with very large diameter-to-depth ratios, suggesting that pure elastic bending (forced folding) of the overburden is not the only process accommodating magma emplacement, and that supra-sill compaction may be important even at relatively shallow depths. Based on the

Towards a parameterizable exoskeleton for training of hand function after stroke.

Science.gov (United States)

Weiss, Patrick; Heyer, Lars; Munte, Thomas F; Heldmann, Marcus; Schweikard, Achim; Maehle, Erik

2013-06-01

This paper describes the mechanical design, actuation and sensing of an exoskeleton for hand function training after stroke. The frame is 3D-printed in one piece including the joints. Apart from saving assembly time, this enables parametrization of the link sizes in order to adapt it to the patient's hand and reduce joint misalignment. The joint angles are determined using Hall effect sensors. They measure the change of the magnetic field of in the joints integrated magnets achieving an average accuracy of 1.25 °. Tendons attached to the finger tips transmit forces from motors. The armature current, which is proportional to the force transmitting tendons is measured using a shunt and controlled by a custom-made current-limiter circuit. Preliminary experiments with a force/torque-sensor showed high linearity and accuracy with a root mean square error of 0.5937 N in comparison to the corresponding forces derived from the motor torque constant.

Biomimetic actuator and sensor for robot hand

International Nuclear Information System (INIS)

Kim, Baekchul; Chung, Jinah; Cho, Hanjoung; Shin, Seunghoon; Lee, Hyoungsuk; Moon, Hyungpil; Choi, Hyouk Ryeol; Koo, Jachoon

2012-01-01

To manufacture a robot hand that essentially mimics the functions of a human hand, it is necessary to develop flexible actuators and sensors. In this study, we propose the design, manufacture, and performance verification of flexible actuators and sensors based on Electro Active Polymer (EAP). EAP is fabricated as a type of film, and it moves with changes in the voltage because of contraction and expansion in the polymer film. Furthermore, if a force is applied to an EAP film, its thickness and effective area change, and therefore, the capacitance also changes. By using this mechanism, we produce capacitive actuators and sensors. In this study, we propose an EAP based capacitive sensor and evaluate its use as a robot hand sensor

Biomimetic actuator and sensor for robot hand

Energy Technology Data Exchange (ETDEWEB)

Kim, Baekchul; Chung, Jinah; Cho, Hanjoung; Shin, Seunghoon; Lee, Hyoungsuk; Moon, Hyungpil; Choi, Hyouk Ryeol; Koo, Jachoon [Sungkyunkwan Univ., Seoul (Korea, Republic of)

2012-12-15

To manufacture a robot hand that essentially mimics the functions of a human hand, it is necessary to develop flexible actuators and sensors. In this study, we propose the design, manufacture, and performance verification of flexible actuators and sensors based on Electro Active Polymer (EAP). EAP is fabricated as a type of film, and it moves with changes in the voltage because of contraction and expansion in the polymer film. Furthermore, if a force is applied to an EAP film, its thickness and effective area change, and therefore, the capacitance also changes. By using this mechanism, we produce capacitive actuators and sensors. In this study, we propose an EAP based capacitive sensor and evaluate its use as a robot hand sensor.

Mechanical design and performance specifications of anthropomorphic prosthetic hands: a review.

Science.gov (United States)

Belter, Joseph T; Segil, Jacob L; Dollar, Aaron M; Weir, Richard F

2013-01-01

In this article, we set forth a detailed analysis of the mechanical characteristics of anthropomorphic prosthetic hands. We report on an empirical study concerning the performance of several commercially available myoelectric prosthetic hands, including the Vincent, iLimb, iLimb Pulse, Bebionic, Bebionic v2, and Michelangelo hands. We investigated the finger design and kinematics, mechanical joint coupling, and actuation methods of these commercial prosthetic hands. The empirical findings are supplemented with a compilation of published data on both commercial and prototype research prosthetic hands. We discuss numerous mechanical design parameters by referencing examples in the literature. Crucial design trade-offs are highlighted, including number of actuators and hand complexity, hand weight, and grasp force. Finally, we offer a set of rules of thumb regarding the mechanical design of anthropomorphic prosthetic hands.

Taking nanomedicine teaching into practice with atomic force microscopy and force spectroscopy.

Science.gov (United States)

Carvalho, Filomena A; Freitas, Teresa; Santos, Nuno C

2015-12-01

Atomic force microscopy (AFM) is a useful and powerful tool to study molecular interactions applied to nanomedicine. The aim of the present study was to implement a hands-on atomic AFM course for graduated biosciences and medical students. The course comprises two distinct practical sessions, where students get in touch with the use of an atomic force microscope by performing AFM scanning images of human blood cells and force spectroscopy measurements of the fibrinogen-platelet interaction. Since the beginning of this course, in 2008, the overall rating by the students was 4.7 (out of 5), meaning a good to excellent evaluation. Students were very enthusiastic and produced high-quality AFM images and force spectroscopy data. The implementation of the hands-on AFM course was a success, giving to the students the opportunity of contact with a technique that has a wide variety of applications on the nanomedicine field. In the near future, nanomedicine will have remarkable implications in medicine regarding the definition, diagnosis, and treatment of different diseases. AFM enables students to observe single molecule interactions, enabling the understanding of molecular mechanisms of different physiological and pathological processes at the nanoscale level. Therefore, the introduction of nanomedicine courses in bioscience and medical school curricula is essential. Copyright © 2015 The American Physiological Society.

Continuous theta-burst stimulation to primary motor cortex reveals asymmetric compensation for sensory attenuation in bimanual repetitive force production.

Science.gov (United States)

Therrien, Amanda S; Lyons, James; Balasubramaniam, Ramesh

2013-08-01

Studies of fingertip force production have shown that self-produced forces are perceived as weaker than externally generated forces. This is due to mechanisms of sensory reafference where the comparison between predicted and actual sensory feedback results in attenuated perceptions of self-generated forces. Without an external reference to calibrate attenuated performance judgments, a compensatory overproduction of force is exhibited. It remains unclear whether the force overproduction seen in the absence of visual reference stimuli differs when forces are produced bimanually. We studied performance of two versions of a bimanual sequential force production task compared with each hand performing the task unimanually. When the task goal was shared, force series produced by each hand in bimanual conditions were found to be uncorrelated. When the bimanual task required each hand to reach a target force level, we found asymmetries in the degree of force overproduction between the hands following visual feedback removal. Unilateral continuous theta-burst stimulation of the left primary motor cortex yielded a selective reduction of force overproduction in the hand contralateral to stimulation by disrupting sensory reafference processes. While variability was lower in bimanual trials when the task goal was shared, this influence of hand condition disappeared when the target force level was to be reached by each hand simultaneously. Our findings strengthen the notion that force control in bimanual action is less tightly coupled than other mechanisms of bimanual motor control and show that this effector specificity may be extended to the processing and compensation for mechanisms of sensory reafference.

Development of an MR-compatible hand exoskeleton that is capable of providing interactive robotic rehabilitation during fMRI imaging.

Science.gov (United States)

Kim, Sangjoon J; Kim, Yeongjin; Lee, Hyosang; Ghasemlou, Pouya; Kim, Jung

2018-02-01

Following advances in robotic rehabilitation, there have been many efforts to investigate the recovery process and effectiveness of robotic rehabilitation procedures through monitoring the activation status of the brain. This work presents the development of a two degree-of-freedom (DoF) magnetic resonance (MR)-compatible hand device that can perform robotic rehabilitation procedures inside an fMRI scanner. The device is capable of providing real-time monitoring of the joint angle, angular velocity, and joint force produced by the metacarpophalangeal (MCP) and proximal interphalangeal (PIP) joints of four fingers. For force measurement, a custom reflective optical force sensor was developed and characterized in terms of accuracy error, hysteresis, and repeatability in the MR environment. The proposed device consists of two non-magnetic ultrasonic motors to provide assistive and resistive forces to the MCP and PIP joints. With actuation and sensing capabilities, both non-voluntary-passive movements and active-voluntary movements can be implemented. The MR compatibility of the device was verified via the analysis of the signal-to-noise ratio (SNR) of MR images of phantoms. SNR drops of 0.25, 2.94, and 11.82% were observed when the device was present but not activated, when only the custom force sensor was activated, and when both the custom force sensor and actuators were activated, respectively.

Force Control and Nonlinear Master-Slave Force Profile to Manage an Admittance Type Multi-Fingered Haptic User Interface

Energy Technology Data Exchange (ETDEWEB)

Anthony L. Crawford

2012-08-01

Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in remote and/or hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space to name a few. In order to achieve this end the research presented in this paper has developed an admittance type exoskeleton like multi-fingered haptic hand user interface that secures the user’s palm and provides 3-dimensional force feedback to the user’s fingertips. Atypical to conventional haptic hand user interfaces that limit themselves to integrating the human hand’s characteristics just into the system’s mechanical design this system also perpetuates that inspiration into the designed user interface’s controller. This is achieved by manifesting the property differences of manipulation and grasping activities as they pertain to the human hand into a nonlinear master-slave force relationship. The results presented in this paper show that the admittance-type system has sufficient bandwidth that it appears nearly transparent to the user when the user is in free motion and when the system is subjected to a manipulation task, increased performance is achieved using the nonlinear force relationship compared to the traditional linear scaling techniques implemented in the vast majority of systems.

The Visible Hand of Research Performance Assessment

Science.gov (United States)

Hamann, Julian

2016-01-01

Far from allowing a governance of universities by the invisible hand of market forces, research performance assessments do not just measure differences in research quality, but yield themselves visible symptoms in terms of a stratification and standardization of disciplines. The article illustrates this with a case study of UK history departments…

Driver hand positions on the steering wheel while merging into motorway traffic

NARCIS (Netherlands)

De Waard, D.; Van den Bold, T.G.M.P.R.; Lewis Evans, B.

2010-01-01

It has been suggested that a driver's hand position on the steering wheel can reflect the perceived risk of the road context (Walton, D., & Thomas, J. A. (2005). Naturalistic observations of driver hand positions. Transportation Research Part F, 8. 229-238, Thomas, J. A., & Walton, D. (2007).

Muscle Fatigue in the Three Heads of the Triceps Brachii During a Controlled Forceful Hand Grip Task with Full Elbow Extension Using Surface Electromyography.

Science.gov (United States)

Ali, Asraf; Sundaraj, Kenneth; Badlishah Ahmad, R; Ahamed, Nizam Uddin; Islam, Anamul; Sundaraj, Sebastian

2015-06-27

The objective of the present study was to investigate the time to fatigue and compare the fatiguing condition among the three heads of the triceps brachii muscle using surface electromyography during an isometric contraction of a controlled forceful hand grip task with full elbow extension. Eighteen healthy subjects concurrently performed a single 90 s isometric contraction of a controlled forceful hand grip task and full elbow extension. Surface electromyographic signals from the lateral, long and medial heads of the triceps brachii muscle were recorded during the task for each subject. The changes in muscle activity among the three heads of triceps brachii were measured by the root mean square values for every 5 s period throughout the total contraction period. The root mean square values were then analysed to determine the fatiguing condition for the heads of triceps brachii muscle. Muscle fatigue in the long, lateral, and medial heads of the triceps brachii started at 40 s, 50 s, and 65 s during the prolonged contraction, respectively. The highest fatiguing rate was observed in the long head (slope = -2.863), followed by the medial head (slope = -2.412) and the lateral head (slope = -1.877) of the triceps brachii muscle. The results of the present study concurs with previous findings that the three heads of the triceps brachii muscle do not work as a single unit, and the fiber type/composition is different among the three heads.

Positive Affect Relevant to Epistemic Curiosity to Reflect Continuance Intention to Join a Hands-On Making Contest

Science.gov (United States)

Hong, Jon-Chao; Hwang, Ming-Yueh; Szeto, Elson; Tai, Kai-Hsin; Tsai, Chi-Ruei

2016-01-01

Hands-on making (e.g., "Maker") has become prevalent in current educational settings. To understand the role that students' epistemic curiosity plays in hands-on making contests, this study explored its correlation to students' positive affect and continuance intention to participate in a hands-on making contest called…

Transversal light forces in semiconductors

CERN Document Server

Lindberg, M

2003-01-01

The transversal light force is a well established effect in atomic and molecular systems that are exposed to spatially inhomogeneous light fields. In this paper it is shown theoretically that in an excited semiconductor, containing an electron-hole plasma or excitons, a similar light force exists, if the semiconductor is exposed to an ultrashort spatially inhomogeneous light field. The analysis is based on the equations of motion for the Wigner distribution functions of charge carrier populations and interband polarizations. The results show that, while the light force on the electron-hole plasma or the excitons does exist, its effects on the kinetic behaviour of the electron-hole plasma or the excitons are different compared to the situation in an atomic or molecular system. A detailed analysis presented here traces this difference back to the principal differences between atoms and molecules on the one hand and electron-hole plasmas or excitons on the other hand.

Hand grip strength

DEFF Research Database (Denmark)

Frederiksen, Henrik; Gaist, David; Petersen, Hans Christian

2002-01-01

in life is a major problem in terms of prevalence, morbidity, functional limitations, and quality of life. It is therefore of interest to find a phenotype reflecting physical functioning which has a relatively high heritability and which can be measured in large samples. Hand grip strength is known......-55%). A powerful design to detect genes associated with a phenotype is obtained using the extreme discordant and concordant sib pairs, of whom 28 and 77 dizygotic twin pairs, respectively, were found in this study. Hence grip strength is a suitable phenotype for identifying genetic variants of importance to mid...

ASSESSMENT OF GRIP FORCE CONTROL IN PATIENTS WITH MUSCULAR DYSTROPHY

Directory of Open Access Journals (Sweden)

Gregorij Kurillo

2004-12-01

Full Text Available Background. The majority of hand functionality tests are based on qualitative assessment which largely depends on the experience of the therapist. Computer-assisted methods can provide more objective and accurate measurements of the grip force and other parameters related to grasping.Methods. We analysed the grip force control in 12 patients with muscular dystrophy using the tracking system developed. The system consists of a grip-measuring device with endobjects assessing the force applied in different grips. The device was used as input to a tracking task where the patient applied the grip force according to the visual feedback from the computer screen. Each patient performed two tasks which consisted of tracking a ramp and sinus target.Results. We analysed the maximal grip force as assessed in the ramp task and the tracking accuracy of the sinus task. The results are compared among five different grips (cylindrical, lateral, palmar, pinch and spherical grip, applied with dominant and non-dominant hand. The results show no significant difference in tracking accuracy between the dominant and non-dominant hand.Conclusions. The results obtained in tracking the ramp target showed that the method could be used for the assessment of the muscle fatigue, providing quantitative information on muscle capacity. The results of the sinus-tracking task showed that the method can evaluate the grip force control in different types of grips, providing information on hand dexterity, muscle activation patterns or tremor.

Advanced Myoelectric Control for Robotic Hand-Assisted Training: Outcome from a Stroke Patient.

Science.gov (United States)

Lu, Zhiyuan; Tong, Kai-Yu; Shin, Henry; Li, Sheng; Zhou, Ping

2017-01-01

A hand exoskeleton driven by myoelectric pattern recognition was designed for stroke rehabilitation. It detects and recognizes the user's motion intent based on electromyography (EMG) signals, and then helps the user to accomplish hand motions in real time. The hand exoskeleton can perform six kinds of motions, including the whole hand closing/opening, tripod pinch/opening, and the "gun" sign/opening. A 52-year-old woman, 8 months after stroke, made 20× 2-h visits over 10 weeks to participate in robot-assisted hand training. Though she was unable to move her fingers on her right hand before the training, EMG activities could be detected on her right forearm. In each visit, she took 4× 10-min robot-assisted training sessions, in which she repeated the aforementioned six motion patterns assisted by our intent-driven hand exoskeleton. After the training, her grip force increased from 1.5 to 2.7 kg, her pinch force increased from 1.5 to 2.5 kg, her score of Box and Block test increased from 3 to 7, her score of Fugl-Meyer (Part C) increased from 0 to 7, and her hand function increased from Stage 1 to Stage 2 in Chedoke-McMaster assessment. The results demonstrate the feasibility of robot-assisted training driven by myoelectric pattern recognition after stroke.

Comparison of mechanical properties of silicone and PVC (polyvinylchloride) cosmetic gloves for articulating hand prostheses

NARCIS (Netherlands)

Smit, G.; Plettenburg, D.H.

2013-01-01

Current articulating electric and body-powered hands have a lower pinch force (15–34 N) than electric hands with stiff fingers (55–100 N). The cosmetic glove, which covers a hand prosthesis, negatively affects the mechanical efficiency of a prosthesis. The goal of this study is to mechanically

Determination the validity of the new developed Sport Experts® hand grip dynamometer, measuring continuity of force, and comparison with current Takei and Baseline® dynamometers.

Science.gov (United States)

Güçlüöver, A; Kutlu, M; Ciğerci, A E; Esen, H T; Demirkan, E; Erdoğdu, M

2015-11-01

In this study the Sport Experts ™ brand of hand grip dynamometer, measuring the continuity of force with the new developed load cell technology, was compared with Takei and Baseline® dynamometers, the current in use. It was tried to determine the correlation between them. In a study with provides use of clinical, orthopedic and rehabilitative purposes in the athletes and patient populations, this developed dynamometer can provide useful data by observing the continuity of force. The sample of the study included 60 badminton players in 2010-2011; consisting of Turkish Junior National male players (N.=16, age: 16.8±1.5), Junior National female players (N.=14, age: 16.9±1.6), amateur level male players (N.=15, age: 16.3±0.8) and amateur level female players (N.=15, age: 16.1±0.6). ANOVA was used in the statistical methods in order to compare the hand grip strength made by different brands; Pearson's correlation coefficient was used to determine the relationship level between dynamometers. Furthermore, test-retest reliability analysis was completed the new developed expert dynamometer. There was no statistically significant difference in the comparison of the dynamometers (P>0.05). Besides, a highly significant relationship (r=0.95 to 0.96) was found among all three dynamometers. However, the reliability coefficient was found (Chronbachs α: 0.989, ICC:0.97, r=0.97), (Pexpert dynamometer. Comparison between the dynamometers and the statistical results obtained from the correlation relationships shows interchangeability of dynamometers. As a result, our observation of force continuity (progression) of the athlete and patient populations is thought to be important.

Three-axis force sensor with fiber Bragg grating.

Science.gov (United States)

Hyundo Choi; Yoan Lim; Junhyung Kim

2017-07-01

Haptic feedback is critical for many surgical tasks, and it replicates force reflections at the surgical site. To meet the force reflection requirements, we propose a force sensor with an optical fiber Bragg grating (FBG) for robotic surgery. The force sensor can calculate three directional forces of an instrument from the strain of three FBGs, even under electromagnetic interference. A flexible ring-shape structure connects an instrument tip and fiber strain gages to sense three directional force. And a stopper mechanism is added in the structure to avoid plastic deformation under unexpected large force on the instrument tip. The proposed sensor is experimentally verified to have a sensing range from -12 N to 12 N, and its sensitivity was less than 0.06 N.

Development of isometric force and force control in children

NARCIS (Netherlands)

Smits-Engelsman, B.C.M.; Westenberg, Y.; Duysens, J.E.J.

2004-01-01

Fifty-six children between 5 and 12 years of age and 15 adults performed a task (pressing on a lever with the index finger of the preferred hand), in which a force had to be maintained constant at five levels with on-line visual feedback. Since this is a simple isometric task, the hypothesis is that

Development of isometric force and force control in children.

NARCIS (Netherlands)

Smits-Engelsman, B.C.M.; Westenberg, Y.; Duysens, J.E.J.

2003-01-01

Fifty-six children between 5 and 12 years of age and 15 adults performed a task (pressing on a lever with the index finger of the preferred hand), in which a force had to be maintained constant at five levels with on-line visual feedback. Since this is a simple isometric task, the hypothesis is that

A soft robotic exomusculature glove with integrated sEMG sensing for hand rehabilitation.

Science.gov (United States)

Delph, Michael A; Fischer, Sarah A; Gauthier, Phillip W; Luna, Carlos H Martinez; Clancy, Edward A; Fischer, Gregory S

2013-06-01

Stroke affects 750,000 people annually, and 80% of stroke survivors are left with weakened limbs and hands. Repetitive hand movement is often used as a rehabilitation technique in order to regain hand movement and strength. In order to facilitate this rehabilitation, a robotic glove was designed to aid in the movement and coordination of gripping exercises. This glove utilizes a cable system to open and close a patients hand. The cables are actuated by servomotors, mounted in a backpack weighing 13.2 lbs including battery power sources. The glove can be controlled in terms of finger position and grip force through switch interface, software program, or surface myoelectric (sEMG) signal. The primary control modes of the system provide: active assistance, active resistance and a preprogrammed mode. This project developed a working prototype of the rehabilitative robotic glove which actuates the fingers over a full range of motion across one degree-of-freedom, and is capable of generating a maximum 15N grip force.

One-Channel Surface Electromyography Decomposition for Muscle Force Estimation

Directory of Open Access Journals (Sweden)

Wentao Sun

2018-05-01

Full Text Available Estimating muscle force by surface electromyography (sEMG is a non-invasive and flexible way to diagnose biomechanical diseases and control assistive devices such as prosthetic hands. To estimate muscle force using sEMG, a supervised method is commonly adopted. This requires simultaneous recording of sEMG signals and muscle force measured by additional devices to tune the variables involved. However, recording the muscle force of the lost limb of an amputee is challenging, and the supervised method has limitations in this regard. Although the unsupervised method does not require muscle force recording, it suffers from low accuracy due to a lack of reference data. To achieve accurate and easy estimation of muscle force by the unsupervised method, we propose a decomposition of one-channel sEMG signals into constituent motor unit action potentials (MUAPs in two steps: (1 learning an orthogonal basis of sEMG signals through reconstruction independent component analysis; (2 extracting spike-like MUAPs from the basis vectors. Nine healthy subjects were recruited to evaluate the accuracy of the proposed approach in estimating muscle force of the biceps brachii. The results demonstrated that the proposed approach based on decomposed MUAPs explains more than 80% of the muscle force variability recorded at an arbitrary force level, while the conventional amplitude-based approach explains only 62.3% of this variability. With the proposed approach, we were also able to achieve grip force control of a prosthetic hand, which is one of the most important clinical applications of the unsupervised method. Experiments on two trans-radial amputees indicated that the proposed approach improves the performance of the prosthetic hand in grasping everyday objects.

Wave Reflection Model Tests

DEFF Research Database (Denmark)

Burcharth, H. F.; Larsen, Brian Juul

The investigation concerns the design of a new internal breakwater in the main port of Ibiza. The objective of the model tests was in the first hand to optimize the cross section to make the wave reflection low enough to ensure that unacceptable wave agitation will not occur in the port. Secondly...

The invisible hand: regulation of RHO GTPases by RHOGDIs

OpenAIRE

Garcia-Mata, Rafael; Boulter, Etienne; Burridge, Keith

2011-01-01

The 'invisible hand' is a term originally coined by Adam Smith in the Theory of Moral Sentiments to describe the forces of self-interest, competition, and supply and demand that regulate the resources in society. This metaphor continues to be used by economists to describe the self-regulating nature of a market economy. The same metaphor can be used to describe the RHO-specific guanine nucleotide dissociation inhibitor (RHOGDI) family, which operates in the background, as an invisible hand, u...

Right- and left-handed three-helix proteins. II. Similarity and differences in mechanical unfolding of proteins.

Science.gov (United States)

Glyakina, Anna V; Likhachev, Ilya V; Balabaev, Nikolay K; Galzitskaya, Oxana V

2014-01-01

Here, we study mechanical properties of eight 3-helix proteins (four right-handed and four left-handed ones), which are similar in size under stretching at a constant speed and at a constant force on the atomic level using molecular dynamics simulations. The analysis of 256 trajectories from molecular dynamics simulations with explicit water showed that the right-handed three-helix domains are more mechanically resistant than the left-handed domains. Such results are observed at different extension velocities studied (192 trajectories obtained at the following conditions: v = 0.1, 0.05, and 0.01 Å ps(-1) , T = 300 K) and under constant stretching force (64 trajectories, F = 800 pN, T = 300 K). We can explain this by the fact, at least in part, that the right-handed domains have a larger number of contacts per residue and the radius of cross section than the left-handed domains. Copyright © 2013 Wiley Periodicals, Inc.

Why language matters: a tour through hand hygiene literature

Directory of Open Access Journals (Sweden)

Daniela Pires

2017-06-01

Full Text Available Abstract Background Hand hygiene has evolved over the last decades and many terminologies emerged. We aimed to analyse the evolution in the frequency of utilization of key hand hygiene terms in the literature along the years. Methods We identified keywords and Medical Subject Headings (MeSH used in MEDLINE® indexation related to hand hygiene by searching international guidelines and the MeSH database. We performed a MEDLINE® search combining the selected keywords and MeSH and analysed the number of publications retrieved yearly. Results The literature search yielded 9019 publications when all hand hygiene related search terms were combined, between 1921 and November 2016. The total number of publications per year increased from a median of 4 (IQR 3, 6 in the 1950’s to 554 (IQR 478, 583 between 2011 and 2015. The most frequently used keywords are hand disinfection, hand hygiene, hand washing, handrub, hand sanitizer and alcohol-based hand rub (ABHR. Until the 1990s, hand disinfection and hand washing were the most frequently used terms. Whilst the last decade has seen a remarkable increase in publications mentioning hand disinfection and hand hygiene and for the first time handrub, hand sanitizers and ABHR were introduced in the literature. Hand disinfection, hand hygiene and hand sanitizers are the main MeSH used by MEDLINE®. Since 2013 hand hygiene is the most frequently used MeSH and keyword. Conclusions The change seen in literature in the last two decades, from hand washing and hand disinfection to hand hygiene, most probably reflect the paradigm shift favouring use of ABHR over soap and water promoted by international guidelines in the early 2000s.

Sensing and Force-Feedback Exoskeleton (SAFE) Robotic Glove.

Science.gov (United States)

Ben-Tzvi, Pinhas; Ma, Zhou

2015-11-01

This paper presents the design, implementation and experimental validation of a novel robotic haptic exoskeleton device to measure the user's hand motion and assist hand motion while remaining portable and lightweight. The device consists of a five-finger mechanism actuated with miniature DC motors through antagonistically routed cables at each finger, which act as both active and passive force actuators. The SAFE Glove is a wireless and self-contained mechatronic system that mounts over the dorsum of a bare hand and provides haptic force feedback to each finger. The glove is adaptable to a wide variety of finger sizes without constraining the range of motion. This makes it possible to accurately and comfortably track the complex motion of the finger and thumb joints associated with common movements of hand functions, including grip and release patterns. The glove can be wirelessly linked to a computer for displaying and recording the hand status through 3D Graphical User Interface (GUI) in real-time. The experimental results demonstrate that the SAFE Glove is capable of reliably modeling hand kinematics, measuring finger motion and assisting hand grasping motion. Simulation and experimental results show the potential of the proposed system in rehabilitation therapy and virtual reality applications.

Hand-grip isometric strength in judo

Directory of Open Access Journals (Sweden)

Juan G Bonitch-Góngora

2014-02-01

Full Text Available The grip is an important technical and tactical aspect through which the judokas dominate the adversary, hindering the application of appropriate techniques and favoring their own attack. The judokas must have high levels of isometric force and endurance to this type of force on the gripping muscles of the forearms, as one of the key aspects for success. This article reviews the grip muscular strength and endurance profiles of judokas of different groups (gender, age and competitive level. In general, the peak isometric strength of elite judokas has not changed in the last 40 years and is similar to that reached by non-elite judokas or even registered in large populations. This indicate that the evaluation of the isometric hand grip endurance may be a more relevant parameter than the peak isometric force in judokas, as during the bouts the grip must be maintained for relatively long periods of time and the maximum force cannot be maintained for long. However there are few studies on the ability to resist successive isometric handgrip stress in judokas.

Position calibration of a 3-DOF hand-controller with hybrid structure

Science.gov (United States)

Zhu, Chengcheng; Song, Aiguo

2017-09-01

A hand-controller is a human-robot interactive device, which measures the 3-DOF (Degree of Freedom) position of the human hand and sends it as a command to control robot movement. The device also receives 3-DOF force feedback from the robot and applies it to the human hand. Thus, the precision of 3-DOF position measurements is a key performance factor for hand-controllers. However, when using a hybrid type 3-DOF hand controller, various errors occur and are considered originating from machining and assembly variations within the device. This paper presents a calibration method to improve the position tracking accuracy of hybrid type hand-controllers by determining the actual size of the hand-controller parts. By re-measuring and re-calibrating this kind of hand-controller, the actual size of the key parts that cause errors is determined. Modifying the formula parameters with the actual sizes, which are obtained in the calibrating process, improves the end position tracking accuracy of the device.

Dynamics modeling for parallel haptic interfaces with force sensing and control.

Science.gov (United States)

Bernstein, Nicholas; Lawrence, Dale; Pao, Lucy

2013-01-01

Closed-loop force control can be used on haptic interfaces (HIs) to mitigate the effects of mechanism dynamics. A single multidimensional force-torque sensor is often employed to measure the interaction force between the haptic device and the user's hand. The parallel haptic interface at the University of Colorado (CU) instead employs smaller 1D force sensors oriented along each of the five actuating rods to build up a 5D force vector. This paper shows that a particular manipulandum/hand partition in the system dynamics is induced by the placement and type of force sensing, and discusses the implications on force and impedance control for parallel haptic interfaces. The details of a "squaring down" process are also discussed, showing how to obtain reduced degree-of-freedom models from the general six degree-of-freedom dynamics formulation.

Kinesthetic coupling between operator and remote manipulator

Science.gov (United States)

Bejczy, A. K.; Salisbury, J. K., Jr.

1980-01-01

A universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator. The six-degree-of-freedom controller was designed to generate forces and torques on its three positional and three rotational axes in order to permit the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible. The universal controller has been used in an application involving a six-degree-of-freedom mechanical arm equipped with a six-dimensional force-torque sensor at its base. In this application, the hand controller acts as a position control input device to the arm, while forces and torques sensed at the base of the mechanical hand back drive the hand controller. The positional control relation and the back driving of the controller according to inputs experienced by the force-torque sensor are established through complex mathematical transformations performed by a minicomputer. The hand controller is intended as a development tool for investigating force-reflecting master-slave manipulator control technology.

The Will to Touch: David Copperfield’s Hand

Directory of Open Access Journals (Sweden)

Pamela K. Gilbert

2014-10-01

Full Text Available In the nineteenth century, touch was considered to be a more privileged sense than has been generally noted, and the hand was pre-eminently the site of active touching. The hand comes newly to rival the face in descriptive significance in mid-nineteenth-century fiction, and reflects contemporary notions of the role of touch in the exercise of the will and the development of the sensorium. This article explores medical and philosophical understandings of embodied touch within the period, and examines why the hand emerged as a focal point for scientific, poetic, and popular discussion. Such scientists as Charles Bell, Herbert Spencer, and Alexander Bain tend to work within two paradigms: the hand as a site of sensory input that forms a conduit between inner and outer worlds, and the hand as an instrument of the will. The article explores Dickens's use of these ideas about touch and development in his 1850 'Bildungsroman', 'David Copperfield'. David struggles to establish his proper status as a middle-class male, in part by learning to use his hands to impose his own will and to resist the dominance of inappropriate others through touch.

Setup of a novel biofeedback prototype for sensorimotor control of the hand and preliminary application in patients with peripheral nerve injuries.

Science.gov (United States)

Chiu, Haw-Yen; Hsu, Hsiu-Yun; Su, Fong-Chin; Jou, I-Ming; Lin, Cheng-Feng; Kuo, Li-Chieh

2013-02-01

Biofeedback training is widely used for rehabilitative intervention in patients with central or peripheral nervous impairment to train correct movement patterns; however, no biofeedback apparatus is currently available to correct pinch force ratios for patients with sensory deficiencies. A cross-sectional and longitudinal design was used in an observational measurement study for establishing a prototype and to determine the effects of biofeedback intervention, respectively. This study aimed to develop a computerized evaluation and re-education biofeedback (CERB) prototype for application in clinical settings. A CERB prototype was developed integrating pinch apparatus hardware, a biofeedback user-controlled interface, and a data processing/analysis interface to detect momentary pinch performances in 79 people with normal hand sensation. Nine patients with hand sensory impairments were recruited to investigate the effects of training hand function with the CERB prototype. Hand dominance, pinch pattern, and age significantly affected the peak pinch force and force ratio for lifting a 480-g object with a steel surface. In the case of the 79 volunteers with normal hand sensation, hand dominance affected the time lag between peak pinch force and maximum load; however, it was unaffected by pinch pattern or age. Training with the CERB prototype produced significant improvements in force ratio and better performance in the pin insertion subtests, although the results for both 2-point discriminative and Semmes-Weinstein monofilament tests did not change significantly. The intervention findings are preliminary. This study developed a conjunct system suited for evaluating and restoring sensorimotor function for patients with impaired hand sensibility. The results from the participants with normal hand sensation could serve as a reference database for comparison with patients with nerve injuries.

Morphology of muscle attachment sites in the modern human hand does not reflect muscle architecture.

Science.gov (United States)

Williams-Hatala, E M; Hatala, K G; Hiles, S; Rabey, K N

2016-06-23

Muscle attachment sites (entheses) on dry bones are regularly used by paleontologists to infer soft tissue anatomy and to reconstruct behaviors of extinct organisms. This method is commonly applied to fossil hominin hand bones to assess their abilities to participate in Paleolithic stone tool behaviors. Little is known, however, about how or even whether muscle anatomy and activity regimes influence the morphologies of their entheses, especially in the hand. Using the opponens muscles from a sample of modern humans, we tested the hypothesis that aspects of hand muscle architecture that are known to be influenced by behavior correlate with the size and shape of their associated entheses. Results show no consistent relationships between these behaviorally-influenced aspects of muscle architecture and entheseal morphology. Consequently, it is likely premature to infer patterns of behavior, such as stone tool making in fossil hominins, from these same entheses.

The design and implementation of a windowing interface pinch force measurement system

Science.gov (United States)

Ho, Tze-Yee; Chen, Yuanu-Joan; Chung, Chin-Teng; Hsiao, Ming-Heng

2010-02-01

This paper presents a novel windowing interface pinch force measurement system that is basically based on an USB (Universal Series Bus) microcontroller which mainly processes the sensing data from the force sensing resistance sensors mounted on five digits. It possesses several friendly functions, such as the value and curve trace of the applied force by a hand injured patient displayed in real time on a monitoring screen, consequently, not only the physician can easily evaluate the effect of hand injury rehabilitation, but also the patients get more progressive during the hand physical therapy by interacting with the screen of pinch force measurement. In order to facilitate the pinch force measurement system and make it friendly, the detail hardware design and software programming flowchart are described in this paper. Through a series of carefully and detailed experimental tests, first of all, the relationship between the applying force and the FSR sensors are measured and verified. Later, the different type of pinch force measurements are verified by the oscilloscope and compared with the corresponding values and waveform traces in the window interface display panel to obtain the consistency. Finally, a windowing interface pinch force measurement system based on the USB microcontroller is implemented and demonstrated. The experimental results show the verification and feasibility of the designed system.

A Low-Cost Hand Trainer Device Based On Microcontroller Platform

Science.gov (United States)

Sabor, Muhammad Akmal Mohammad; Thamrin, Norashikin M.

2018-03-01

Conventionally, the rehabilitation equipment used in the hospital or recovery center to treat and train the muscle of the stroke patient is implementing the pneumatic or compressed air machine. The main problem caused by this equipment is that the arrangement of the machine is quite complex and the position of it has been locked and fixed, which can cause uncomfortable feeling to the patients throughout the recovery session. Furthermore, the harsh movement from the machine could harm the patient as it does not allow flexibility movement and the use of pneumatic actuator has increased the gripping force towards the patient which could hurt them. Therefore, the main aim of this paper is to propose the development of the Bionic Hand Trainer based on Arduino platform, for a low-cost solution for rehabilitation machine as well as allows flexibility and smooth hand movement for the patients during the healing process. The scope of this work is to replicate the structure of the hand only at the fingers structure that is the phalanges part, which inclusive the proximal, intermediate and distal of the fingers. In order to do this, a hand glove is designed by equipping with flex sensors at every finger and connected them to the Arduino platform. The movement of the hand will motorize the movement of the dummy hand that has been controlled by the servo motors, which have been equipped along the phalanges part. As a result, the bending flex sensors due to the movement of the fingers has doubled up the rotation of the servo motors to mimic this movement at the dummy hand. The voltage output from the bending sensors are ranging from 0 volt to 5 volts, which are suitable for low-cost hand trainer device implementation. Through this system, the patient will have the power to control their gripping operation slowly without having a painful force from the external actuators throughout the rehabilitation process.

Particle reflection along the magnetic field in nonlinear magnetosonic pulses

Science.gov (United States)

Ohsawa, Yukiharu

2017-11-01

Reflection of electrons and positrons in oblique, nonlinear magnetosonic pulses is theoretically analyzed. With the use of the parallel pseudo potential F, which is the integral of the parallel electric field along the magnetic field, a simple equation for reflection conditions is derived, which shows that reflection along the magnetic field is caused by two forces: one arising from the parallel pseudo potential multiplied by the particle charge and the other from the magnetic mirror effect. The two forces push electrons in the opposite directions. In compressive solitons, in which the magnetic field is intensified, electrons with large magnetic moments can be reflected by the magnetic mirror effect, whereas in rarefactive solitons, in which the magnetic field is weaker than outside, electrons with small magnetic moments can be reflected by the parallel pseudo potential. Although F is basically positive and large in shock waves, it occasionally becomes negative in some regions behind the shock front in nonstationary wave evolution. These negative spikes of F can reflect electrons. In contrast to the case of electrons, the two forces push positrons in the same direction. For this reason, compressive solitons in an electron-positron-ion plasma reflect a large fraction of positrons compared with electrons, whereas rarefactive solitons will reflect no positrons. A shock wave can reflect a majority of positrons with its large F. However, in a pure electron-positron plasma, in which F becomes zero, positron reflection will rarely occur.

A hand tracking algorithm with particle filter and improved GVF snake model

Science.gov (United States)

Sun, Yi-qi; Wu, Ai-guo; Dong, Na; Shao, Yi-zhe

2017-07-01

To solve the problem that the accurate information of hand cannot be obtained by particle filter, a hand tracking algorithm based on particle filter combined with skin-color adaptive gradient vector flow (GVF) snake model is proposed. Adaptive GVF and skin color adaptive external guidance force are introduced to the traditional GVF snake model, guiding the curve to quickly converge to the deep concave region of hand contour and obtaining the complex hand contour accurately. This algorithm realizes a real-time correction of the particle filter parameters, avoiding the particle drift phenomenon. Experimental results show that the proposed algorithm can reduce the root mean square error of the hand tracking by 53%, and improve the accuracy of hand tracking in the case of complex and moving background, even with a large range of occlusion.

Low-cost design and fabrication of an anthropomorphic robotic hand.

Science.gov (United States)

Junaid, Ali Bin; Tahir, Sanan; Rasheed, Tahir; Ahmed, Sharjeel; Sohail, Mehreen; Afzal, Muhammad Raheel; Ali, Muzaffar; Kim, Yoonsoo

2014-10-01

Human hand signifies a magnificent and challenging example for scientists and engineers trying to replicate its complex structure and functionality. This paper proposes a bio-mechatronic approach for the design of an anthropomorphic artificial hand capable of performing basic human hand motions with fundamental gripping functionality. The dexterity of the artificial hand is exhibited by imitating the natural motion of the human fingers. Imitation is produced according to the data acquired from the flex sensors attached to the human fingers. In order to have proper gripping, closed-loop control is implemented using the tactile sensors. Feedback for the closed-loop control is provided by force sensing resistors (FSRs), attached on the fingertips of the robotic hand. These sensors also enable handling of fragile objects. The mathematical model is derived using forward kinematics and also simulated on MATLAB to ascertain the position of robotic fingers in 3D space.

Force and motion

CERN Document Server

Robertson, William C

2002-01-01

Intimidated by inertia? Frightened by forces? Mystified by Newton s law of motion? You re not alone and help is at hand. The stop Faking It! Series is perfect for science teachers, home-schoolers, parents wanting to help with homework all of you who need a jargon-free way to learn the background for teaching middle school physical science with confidence. With Bill Roberton as your friendly, able but somewhat irreverent guide, you will discover you CAN come to grips with the basics of force and motion. Combining easy-to-understand explanations with activities using commonly found equipment, this book will lead you through Newton s laws to the physics of space travel. The book is as entertaining as it is informative. Best of all, the author understands the needs of adults who want concrete examples, hands-on activities, clear language, diagrams and yes, a certain amount of empathy. Ideas For Use Newton's laws, and all of the other motion principles presented in this book, do a good job of helping us to underst...

Soft object deformation monitoring and learning for model-based robotic hand manipulation.

Science.gov (United States)

Cretu, Ana-Maria; Payeur, Pierre; Petriu, Emil M

2012-06-01

This paper discusses the design and implementation of a framework that automatically extracts and monitors the shape deformations of soft objects from a video sequence and maps them with force measurements with the goal of providing the necessary information to the controller of a robotic hand to ensure safe model-based deformable object manipulation. Measurements corresponding to the interaction force at the level of the fingertips and to the position of the fingertips of a three-finger robotic hand are associated with the contours of a deformed object tracked in a series of images using neural-network approaches. The resulting model captures the behavior of the object and is able to predict its behavior for previously unseen interactions without any assumption on the object's material. The availability of such models can contribute to the improvement of a robotic hand controller, therefore allowing more accurate and stable grasp while providing more elaborate manipulation capabilities for deformable objects. Experiments performed for different objects, made of various materials, reveal that the method accurately captures and predicts the object's shape deformation while the object is submitted to external forces applied by the robot fingers. The proposed method is also fast and insensitive to severe contour deformations, as well as to smooth changes in lighting, contrast, and background.

Security enhancement of hand geometry scanners using optical blood flow detection

Science.gov (United States)

Crihalmeanu, Musat C.; Jerabek, Mark A.; Meehan, Kathleen

2004-08-01

In today's security conscious society the efficiency of biometric systems has an increasing tendency to replace the classic but less effective keys and passwords. Hand geometry readers are popular biometrics used for acces control and time and attendance applications. One of their weaknesses is vulnerability to spoofing using fake hands (latex, play-doh or dead-hands). The object of this paper is to design a feature to be added to the hand geometry scanner in order to detect vitality in the hand, reducing the possibilities for spoofing. This paper demonstrates how the hand reader was successfully spoofed and shows the implementation of the vitality detection feature through an inexpensive but efficient electronic design. The method used for detection is photo-plethysmography. The Reflectance Sensor built is of original conception. After amplifying, filtering and processing the sensor's signal, a message is shown via an LCD display, concerning the liveness of the hand and the pulse rate.

Laser radiation forces in laser-produced plasmas

International Nuclear Information System (INIS)

Stamper, J.A.

1975-01-01

There are two contributions to laser radiation forces acting on the electrons. Transfer of momentum from the fields to the electrons results in a field pressure contribution and occurs whenever there is absorption or reflection. The quiver pressure contribution, associated with electron quiver motion, is due to inhomogeneous fields inducing momentum transfer within the electron system. It is shown that the ponderomotive force with force density, (epsilon-1)/8πdel 2 >, does not include the field contribution and does not lead to a general description of macroscopic processes. A theory is discussed which does give a general macroscopic description (absorption, reflection, refraction, and magnetic field generation) and which reduces to the ponderomotive force for purely sinusoidal fields in a neutral, homogeneous, nonabsorbing plasma

DNA under Force: Mechanics, Electrostatics, and Hydration

Directory of Open Access Journals (Sweden)

Jingqiang Li

2015-02-01

Full Text Available Quantifying the basic intra- and inter-molecular forces of DNA has helped us to better understand and further predict the behavior of DNA. Single molecule technique elucidates the mechanics of DNA under applied external forces, sometimes under extreme forces. On the other hand, ensemble studies of DNA molecular force allow us to extend our understanding of DNA molecules under other forces such as electrostatic and hydration forces. Using a variety of techniques, we can have a comprehensive understanding of DNA molecular forces, which is crucial in unraveling the complex DNA functions in living cells as well as in designing a system that utilizes the unique properties of DNA in nanotechnology.

Econophysical visualization of Adam Smith’s invisible hand

Science.gov (United States)

Cohen, Morrel H.; Eliazar, Iddo I.

2013-02-01

Consider a complex system whose macrostate is statistically observable, but yet whose operating mechanism is an unknown black-box. In this paper we address the problem of inferring, from the system’s macrostate statistics, the system’s intrinsic force yielding the observed statistics. The inference is established via two diametrically opposite approaches which result in the very same intrinsic force: a top-down approach based on the notion of entropy, and a bottom-up approach based on the notion of Langevin dynamics. The general results established are applied to the problem of visualizing the intrinsic socioeconomic force-Adam Smith’s invisible hand-shaping the distribution of wealth in human societies. Our analysis yields quantitative econophysical representations of figurative socioeconomic forces, quantitative definitions of “poor” and “rich”, and a quantitative characterization of the “poor-get-poorer” and the “rich-get-richer” phenomena.

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.

Changes in ipsilateral motor cortex activity during a unilateral isometric finger task are dependent on the muscle contraction force

International Nuclear Information System (INIS)

Shibuya, Kenichi; Kuboyama, Naomi; Tanaka, Junya

2014-01-01

It is possible to examine bilateral primary motor cortex (M1) activation during a sustained motor task using near-infrared spectroscopy (NIRS), in which it is assumed that increased oxygenation reflects cortical activation. The purpose of this study was to examine bilateral M1 activation in response to graded levels of force production during a unilateral finger task. Ten healthy right-handed male subjects participated in this study. NIRS probes were placed over the cortex to measure M1 activity while the subjects performed the finger task. The subjects performed a 10 s finger task at 20%, 40%, and 60% of the maximal voluntary contraction (MVC). Symmetrical activation was found over both M1 areas at all force levels investigated. In the contralateral M1, there were significant differences in oxygenation between 20% and 60% MVC, as well as between 40% and 60% MVC. In the ipsilateral M1, there were significant differences among all force levels. These results indicate the ipsilateral M1 takes part in muscle force control. (paper)

Effect of power-assisted hand-rim wheelchair propulsion on shoulder load in experienced wheelchair users: A pilot study with an instrumented wheelchair.

Science.gov (United States)

Kloosterman, Marieke G M; Buurke, Jaap H; de Vries, Wiebe; Van der Woude, Lucas H V; Rietman, Johan S

2015-10-01

This study aims to compare hand-rim and power-assisted hand-rim propulsion on potential risk factors for shoulder overuse injuries: intensity and repetition of shoulder loading and force generation in the extremes of shoulder motion. Eleven experienced hand-rim wheelchair users propelled an instrumented wheelchair on a treadmill while upper-extremity kinematic, kinetic and surface electromyographical data was collected during propulsion with and without power-assist. As a result during power-assisted propulsion the peak resultant force exerted at the hand-rim decreased and was performed with significantly less abduction and internal rotation at the shoulder. At shoulder level the anterior directed force and internal rotation and flexion moments decreased significantly. In addition, posterior and the minimal inferior directed forces and the external rotation moment significantly increased. The stroke angle decreased significantly, as did maximum shoulder flexion, extension, abduction and internal rotation. Stroke-frequency significantly increased. Muscle activation in the anterior deltoid and pectoralis major also decreased significantly. In conclusion, compared to hand-rim propulsion power-assisted propulsion seems effective in reducing potential risk factors of overuse injuries with the highest gain on decreased range of motion of the shoulder joint, lower peak propulsion force on the rim and reduced muscle activity. Copyright © 2015 IPEM. Published by Elsevier Ltd. All rights reserved.

Tracking mechanical and morphological dynamics of regenerating Hydra tissue fragments using a two fingered micro-robotic hand

Science.gov (United States)

Veschgini, M.; Gebert, F.; Khangai, N.; Ito, H.; Suzuki, R.; Holstein, T. W.; Mae, Y.; Arai, T.; Tanaka, M.

2016-03-01

Regeneration of a tissue fragment of freshwater polyp Hydra is accompanied by significant morphological fluctuations, suggesting the generation of active forces. In this study, we utilized a two fingered micro-robotic hand to gain insights into the mechanics of regenerating tissues. Taking advantage of a high force sensitivity (˜1 nN) of our micro-hand, we non-invasively acquired the bulk elastic modulus of tissues by keeping the strain levels low (ɛ < 0.15). Moreover, by keeping the strain at a constant level, we monitored the stress relaxation of the Hydra tissue and determined both viscous modulus and elastic modulus simultaneously, following a simple Maxwell model. We further investigated the correlation between the frequency of force fluctuation and that of morphological fluctuation by monitoring one "tweezed" tissue and the other "intact" tissue at the same time. The obtained results clearly indicated that the magnitude and periodicity of the changes in force and shape are directly correlated, confirming that our two fingered micro-hand can precisely quantify the mechanics of soft, dynamic tissue during the regeneration and development in a non-invasive manner.

Experiments and kinematics analysis of a hand rehabilitation exoskeleton with circuitous joints.

Science.gov (United States)

Zhang, Fuhai; Fu, Yili; Zhang, Qinchao; Wang, Shuguo

2015-01-01

Aiming at the hand rehabilitation of stroke patients, a wearable hand exoskeleton with circuitous joint is proposed. The circuitous joint adopts the symmetric pinion and rack mechanism (SPRM) with the parallel mechanism. The exoskeleton finger is a serial mechanism composed of three closed-chain SPRM joints in series. The kinematic equations of the open chain of the finger and the closed chains of the SPRM joints were built to analyze the kinematics of the hand rehabilitation exoskeleton. The experimental setup of the hand rehabilitation exoskeleton was built and the continuous passive motion (CPM) rehabilitation experiment and the test of human-robot interaction force measurement were conducted. Experiment results show that the mechanical design of the hand rehabilitation robot is reasonable and that the kinematic analysis is correct, thus the exoskeleton can be used for the hand rehabilitation of stroke patients.

Towards the design of a prosthetic underactuated hand

Directory of Open Access Journals (Sweden)

T. Laliberté

2010-12-01

Full Text Available This paper presents recent advances in the design of an underactuated hand for applications in prosthetics. First, the design of the fingers is addressed. Based on previous experiments with prototypes developed in the past, new tendon routings are proposed that lead to a more effective transmission of the forces. A novel elastic tendon routing is also proposed for the passive opening of the hand. A simplified static analysis of the fingers is proposed to support the results. Then, a new kinematic design of the thumb is presented. The thumb is designed to perform out-of-the-plane motions in order to broaden the variety of possible grasps. A mechanism for the implementation of underactuation between the fingers is proposed that alleviates the friction problems encountered in earlier hand designs. Finally, a prototype of the hand is briefly described and typical grasps are shown.

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

Pressure Sensor: State of the Art, Design, and Application for Robotic Hand

Directory of Open Access Journals (Sweden)

Ahmed M. Almassri

2015-01-01

Full Text Available We survey the state of the art in a variety of force sensors for designing and application of robotic hand. Most of the force sensors are examined based on tactile sensing. For a decade, many papers have widely discussed various sensor technologies and transducer methods which are based on microelectromechanical system (MEMS and silicon used for improving the accuracy and performance measurement of tactile sensing capabilities especially for robotic hand applications. We found that transducers and materials such as piezoresistive and polymer, respectively, are used in order to improve the sensing sensitivity for grasping mechanisms in future. This predicted growth in such applications will explode into high risk tasks which requires very precise purposes. It shows considerable potential and significant levels of research attention.

The defence technique in Tai Chi Push Hands: a case study.

Science.gov (United States)

Chen, Hui-Chuan; Cheng, Kuang-You B; Liu, Yu-Jen; Chiu, Hung-Ta; Cheng, Kuang-Yu

2010-12-01

Developed from traditional Chinese martial arts, Tai Chi exercise includes different forms and interactive Push Hands but biomechanical analyses have focused on the former only. To analyse the techniques of Push Hands, an experienced master was asked to defend pushing by four opponents. Movements were videotaped and digitized using a motion analysis system. Surface electrodes were used to record the electromyographic activity of ten muscle groups. Two force plates were used to measure the ground reaction force on each foot. Inexperienced individuals performed the same procedure to serve as the control group. The results indicate that the master adopted a postural adjustment to maintain balance. A clear shift of body weight from the front to the rear foot and mediolateral displacement of the centre of gravity was observed. Low electromyographic activity was observed in the upper body muscle groups, while high electromyographic activity was observed in the right rectus femoris and very high activity in the left rectus femoris during the defence. All inexperienced participants lost their balance in resisting pushing. It is concluded that the Tai Chi defensive technique includes a subtle postural adjustment that slightly changes the pushing force direction, and allows the rear leg to resist the incoming force.

Robotic finger perturbation training improves finger postural steadiness and hand dexterity.

Science.gov (United States)

Yoshitake, Yasuhide; Ikeda, Atsutoshi; Shinohara, Minoru

2018-02-01

The purpose of the study was to understand the effect of robotic finger perturbation training on steadiness in finger posture and hand dexterity in healthy young adults. A mobile robotic finger training system was designed to have the functions of high-speed mechanical response, two degrees of freedom, and adjustable loading amplitude and direction. Healthy young adults were assigned to one of the three groups: random perturbation training (RPT), constant force training (CFT), and control. Subjects in RPT and CFT performed steady posture training with their index finger using the robot in different modes: random force in RPT and constant force in CFT. After the 2-week intervention period, fluctuations of the index finger posture decreased only in RPT during steady position-matching tasks with an inertial load. Purdue pegboard test score improved also in RPT only. The relative change in finger postural fluctuations was negatively correlated with the relative change in the number of completed pegs in the pegboard test in RPT. The results indicate that finger posture training with random mechanical perturbations of varying amplitudes and directions of force is effective in improving finger postural steadiness and hand dexterity in healthy young adults. Copyright © 2017 Elsevier Ltd. All rights reserved.

Distinct neural control of intrinsic and extrinsic muscles of the hand during single finger pressing.

Science.gov (United States)

Dupan, Sigrid S G; Stegeman, Dick F; Maas, Huub

2018-06-01

Single finger force tasks lead to unintended activation of the non-instructed fingers, commonly referred to as enslaving. Both neural and mechanical factors have been associated with this absence of finger individuality. This study investigates the amplitude modulation of both intrinsic and extrinsic finger muscles during single finger isometric force tasks. Twelve participants performed single finger flexion presses at 20% of maximum voluntary contraction, while simultaneously the electromyographic activity of several intrinsic and extrinsic muscles associated with all four fingers was recorded using 8 electrode pairs in the hand and two 30-electrode grids on the lower arm. The forces exerted by each of the fingers, in both flexion and extension direction, were recorded with individual force sensors. This study shows distinct activation patterns in intrinsic and extrinsic hand muscles. Intrinsic muscles exhibited individuation, where the agonistic and antagonistic muscles associated with the instructed fingers showed the highest activation. This activation in both agonistic and antagonistic muscles appears to facilitate finger stabilisation during the isometric force task. Extrinsic muscles show an activation independent from instructed finger in both agonistic and antagonistic muscles, which appears to be associated with stabilisation of the wrist, with an additional finger-dependent modulation only present in the agonistic extrinsic muscles. These results indicate distinct muscle patterns in intrinsic and extrinsic hand muscles during single finger isometric force pressing. We conclude that the finger specific activation of intrinsic muscles is not sufficient to fully counteract enslaving caused by the broad activation of the extrinsic muscles. Copyright © 2018 Elsevier B.V. All rights reserved.

Cerebral asymmetry for mental rotation: effects of response hand, handedness and gender.

Science.gov (United States)

Johnson, Blake W; McKenzie, Kirsten J; Hamm, Jeff P

2002-10-28

We assessed lateralization of brain function during mental rotation, measuring the scalp distribution of a 400-600 ms latency event-related potential (ERP) with 128 recording electrodes. Twenty-four subjects, consisting of equal numbers of dextral and sinistral males and females, performed a mental rotation task under two response conditions (dominant non-dominant hand). For males, ERPs showed a right parietal bias regardless of response hand. For females, the parietal ERPs were slightly left-lateralized when making dominant hand responses, but strongly right-lateralized when making non-dominant hand responses. These results support the notion that visuo-spatial processing is more bilaterally organized in females. However, left hemisphere resources may be allocated to response preparation when using the non-dominant hand, forcing visuo-spatial processing to the right hemisphere.

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.

A synergy-driven approach to a myoelectric hand.

Science.gov (United States)

Godfrey, S B; Ajoudani, A; Catalano, M; Grioli, G; Bicchi, A

2013-06-01

In this paper, we present the Pisa/IIT SoftHand with myoelectric control as a synergy-driven approach for a prosthetic hand. Commercially available myoelectric hands are more expensive, heavier, and less robust than their body-powered counterparts; however, they can offer greater freedom of motion and a more aesthetically pleasing appearance. The Pisa/IIT SoftHand is built on the motor control principle of synergies through which the immense complexity of the hand is simplified into distinct motor patterns. As the SoftHand grasps, it follows a synergistic path with built-in flexibility to allow grasping of a wide variety of objects with a single motor. Here we test, as a proof-of-concept, 4 myoelectric controllers: a standard controller in which the EMG signal is used only as a position reference, an impedance controller that determines both position and stiffness references from the EMG input, a standard controller with vibrotactile force feedback, and finally a combined vibrotactile-impedance (VI) controller. Four healthy subjects tested the control algorithms by grasping various objects. All controllers were sufficient for basic grasping, however the impedance and vibrotactile controllers reduced the physical and cognitive load on the user, while the combined VI mode was the easiest to use of the four. While these results need to be validated with amputees, they suggest a low-cost, robust hand employing hardware-based synergies is a viable alternative to traditional myoelectric prostheses.

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.

Kinematics/statics analysis of a novel serial-parallel robotic arm with hand

Energy Technology Data Exchange (ETDEWEB)

Lu, Yi; Dai, Zhuohong; Ye, Nijia; Wang, Peng [Yanshan University, Hebei (China)

2015-10-15

A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel robotic arm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel robotic arm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPS parallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving the displacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachable workspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics and statics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.

Kinematics/statics analysis of a novel serial-parallel robotic arm with hand

International Nuclear Information System (INIS)

Lu, Yi; Dai, Zhuohong; Ye, Nijia; Wang, Peng

2015-01-01

A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel robotic arm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel robotic arm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPS parallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving the displacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachable workspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics and statics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.

Taking Nanomedicine Teaching into Practice with Atomic Force Microscopy and Force Spectroscopy

Science.gov (United States)

Carvalho, Filomena A.; Freitas, Teresa; Santos, Nuno C.

2015-01-01

Atomic force microscopy (AFM) is a useful and powerful tool to study molecular interactions applied to nanomedicine. The aim of the present study was to implement a hands-on atomic AFM course for graduated biosciences and medical students. The course comprises two distinct practical sessions, where students get in touch with the use of an atomic…

Effect of sensory substitution on suture-manipulation forces for robotic surgical systems.

Science.gov (United States)

Kitagawa, Masaya; Dokko, Daniell; Okamura, Allison M; Yuh, David D

2005-01-01

Direct haptic (force or tactile) feedback is not yet available in commercial robotic surgical systems. Previous work by our group and others suggests that haptic feedback might significantly enhance the execution of surgical tasks requiring fine suture manipulation, specifically those encountered in cardiothoracic surgery. We studied the effects of substituting direct haptic feedback with visual and auditory cues to provide the operating surgeon with a representation of the forces he or she is applying with robotic telemanipulators. Using the robotic da Vinci surgical system (Intuitive Surgical, Inc, Sunnyvale, Calif), we compared applied forces during a standardized surgical knot-tying task under 4 different sensory-substitution scenarios: no feedback, auditory feedback, visual feedback, and combined auditory-visual feedback. The forces applied with these sensory-substitution modes more closely approximate suture tensions achieved under ideal haptic conditions (ie, hand ties) than forces applied without such sensory feedback. The consistency of applied forces during robot-assisted suture tying aided by visual feedback or combined auditory-visual feedback sensory substitution is superior to that achieved with hand ties. Robot-assisted ties aided with auditory feedback revealed levels of consistency that were generally equivalent or superior to those attained with hand ties. Visual feedback and auditory feedback improve the consistency of robotically applied forces. Sensory substitution, in the form of visual feedback, auditory feedback, or both, confers quantifiable advantages in applied force accuracy and consistency during the performance of a simple surgical task.

Comparison of shoulder load during power-assisted and purely hand-rim wheelchair propulsion.

Science.gov (United States)

Kloosterman, Marieke G M; Eising, Hilde; Schaake, Leendert; Buurke, Jaap H; Rietman, Johan S

2012-06-01

Repetitive forces and moments are among the work requirements of hand-rim wheelchair propulsion that are related to shoulder injuries. No previous research has been published about the influence of power-assisted wheelchair propulsion on these work requirements. The purpose of our study was therefore to determine the influence of power-assisted propulsion on shoulder biomechanics and muscle activation patterns. We also explored the theoretical framework for the effectiveness of power-assisted propulsion in preventing shoulder injuries by decreasing the work requirements of hand-rim wheelchair propulsion. Nine non-wheelchair users propelled a hand-rim wheelchair on a treadmill at 0.9 m/s. Shoulder biomechanics, and muscle activation patterns, were compared between propulsion with and without power-assist. Propulsion frequency did not differ significantly between the two conditions (Wilcoxon Signed Rank test/significance level/effect size:4/.314/-.34). During power-assisted propulsion we found significantly decreased maximum shoulder flexion and internal rotation angles (1/.015/-.81 and 0/.008/-.89) and decreased peak force on the rim (0/.008/-.89). This resulted in decreased shoulder flexion, adduction and internal rotation moments (2/.021/-.77; 0/.008/-.89 and 1/.011/-.85) and decreased forces at the shoulder in the posterior, superior and lateral directions (2/.021/-.77; 2/.008/-.89 and 2/.024/-.75). Muscle activation in the pectoralis major, posterior deltoid and triceps brachii was also decreased (2/.038/-.69; 1/.015/-.81 and 1/.021/-.77). Power-assist influenced the work requirements of hand-rim wheelchair propulsion by healthy subjects. It was primarily the kinetics at rim and shoulder which were influenced by power-assisted propulsion. Additional research with actual hand-rim wheelchair users is required before extrapolation to routine clinical practice. Copyright © 2011 Elsevier Ltd. All rights reserved.

Design and Development of a Hand Exoskeleton Robot for Active and Passive Rehabilitation

Directory of Open Access Journals (Sweden)

Oscar Sandoval-Gonzalez

2016-04-01

Full Text Available The present work, which describes the mechatronic design and development of a novel rehabilitation robotic exoskeleton hand, aims to present a solution for neuromusculoskeletal rehabilitation. It presents a full range of motion for all hand phalanges and was specifically designed to carry out position and force-position control for passive and active rehabilitation routines. System integration and preliminary clinical tests are also presented.

Radiative Forcing Over Ocean by Ship Wakes

Science.gov (United States)

Gatebe, Charles K.; Wilcox, E.; Poudyal, R.; Wang, J.

2011-01-01

Changes in surface albedo represent one of the main forcing agents that can counteract, to some extent, the positive forcing from increasing greenhouse gas concentrations. Here, we report on enhanced ocean reflectance from ship wakes over the Pacific Ocean near the California coast, where we determined, based on airborne radiation measurements that ship wakes can increase reflected sunlight by more than 100%. We assessed the importance of this increase to climate forcing, where we estimated the global radiative forcing of ship wakes to be -0.00014 plus or minus 53% Watts per square meter assuming a global distribution of 32331 ships of size of greater than or equal to 100000 gross tonnage. The forcing is smaller than the forcing of aircraft contrails (-0.007 to +0.02 Watts per square meter), but considering that the global shipping fleet has rapidly grown in the last five decades and this trend is likely to continue because of the need of more inter-continental transportation as a result of economic globalization, we argue that the radiative forcing of wakes is expected to be increasingly important especially in harbors and coastal regions.

Effects of hand-training in persons with myotonic dystrophy type 1--a randomised controlled cross-over pilot study.

Science.gov (United States)

Aldehag, Anna; Jonsson, Hans; Lindblad, Jan; Kottorp, Anders; Ansved, Tor; Kierkegaard, Marie

2013-10-01

To investigate the effects of a hand-training programme on grip, pinch and wrist force, manual dexterity and activities of daily living, in adults with myotonic dystrophy type 1 (DM1). In this randomised controlled trial with a crossover design, 35 adults with DM1 were, after stratification for grip force, assigned by lot to two groups. Group A started with 12 weeks of hand training, while group B had no intervention. After a wash-out period of 12 weeks, where none received training, the order was reversed. The Grippit® was used as primary outcome measure and the hand-held Microfet2™ myometer, the Purdue Pegboard, the Canadian Occupational Performance Measure (COPM) and the Assessment of Motor and Process Skills (AMPS) were secondary outcome measures. Assessments were performed before and after training and control periods, i.e. four times altogether. Ten persons dropped out and 13 had acceptable adherence. Intention-to-treat analyses revealed significant intervention effects for isometric wrist flexor force (p = 0.048), and for COPM performance (p = 0.047) and satisfaction (p = 0.027). On an individual level, improvements were in general showed after a training period. The hand-training programme had positive effects on wrist flexor force and self-perception of occupational performance, and of satisfaction with performance. No evident detrimental effects were shown. Myotonic dystrophy type 1 (DM1) is a slowly progressive neuromuscular disease characterised by myotonia and muscle weakness and wasting. People with DM1 are often concerned about their ability to carry out ADL and to participate in, e.g. work, sports and hobbies when they gradually become weaker. This pilot study showed that a hand-training programme improved wrist flexor force and self-perception and satisfaction of occupational performance. Resistance training of hand muscles with a silicon-based putty can be a therapy option for people with DM1 in clinical practise.

Design and fabrication of a three-finger prosthetic hand using SMA muscle wires

Science.gov (United States)

Simone, Filomena; York, Alexander; Seelecke, Stefan

2015-03-01

Bio-inspired hand-like gripper systems based on shape memory alloy (SMA) wire actuation have the potential to enable a number of useful applications in, e.g., the biomedical field or industrial assembly systems. The inherent high energy density makes SMA solutions a natural choice for systems with lightweight, low noise and high force requirements, such as hand prostheses or robotic systems in a human/machine environment. The focus of this research is the development, design and realization of a SMA-actuated prosthetic hand prototype with three fingers. The use of thin wires (100 μm diameter) allows for high cooling rates and therefore fast movement of each finger. Grouping several small wires mechanically in parallel allows for high force actuation. To save space and to allow for a direct transmission of the motion to each finger, the SMA wires are attached directly within each finger, across each phalanx. In this way, the contraction of the wires will allow the movement of the fingers without the use of any additional gears. Within each finger, two different bundles of wires are mounted: protagonist ones that create bending movement and the antagonist ones that enable stretching of each phalanx. The resistance change in the SMA wires is measured during actuation, which allows for monitoring of the wire stroke and potentially the gripping force without the use of additional sensors. The hand is built with modern 3D-printing technologies and its performance while grasping objects of different size and shape is experimentally investigated illustrating the usefulness of the actuator concept.

Supporting the upper body with the hand on the thigh reduces back loading during lifting

NARCIS (Netherlands)

Kingma, I.; Faber, G.S.; van Dieen, J.H.

2016-01-01

When picking objects from the floor, low back pain patients often tend to support the upper body by leaning with one hand on a thigh. While this strategy may reduce back load, this has not yet been assessed, probably due to the difficulty of measuring the forces between hand and thigh.Ten healthy

Functional magnetic resonance imaging exploration of combined hand and speech movements in Parkinson's disease.

Science.gov (United States)

Pinto, Serge; Mancini, Laura; Jahanshahi, Marjan; Thornton, John S; Tripoliti, Elina; Yousry, Tarek A; Limousin, Patricia

2011-10-01

Among the repertoire of motor functions, although hand movement and speech production tasks have been investigated widely by functional neuroimaging, paradigms combining both movements have been studied less so. Such paradigms are of particular interest in Parkinson's disease, in which patients have specific difficulties performing two movements simultaneously. In 9 unmedicated patients with Parkinson's disease and 15 healthy control subjects, externally cued tasks (i.e., hand movement, speech production, and combined hand movement and speech production) were performed twice in a random order and functional magnetic resonance imaging detected cerebral activations, compared to the rest. F-statistics tested within-group (significant activations at P values 10 voxels). For control subjects, the combined task activations comprised the sum of those obtained during hand movement and speech production performed separately, reflecting the neural correlates of performing movements sharing similar programming modalities. In patients with Parkinson's disease, only activations underlying hand movement were observed during the combined task. We interpreted this phenomenon as patients' potential inability to recruit facilitatory activations while performing two movements simultaneously. This lost capacity could be related to a functional prioritization of one movement (i.e., hand movement), in comparison with the other (i.e., speech production). Our observation could also reflect the inability of patients with Parkinson's disease to intrinsically engage the motor coordination necessary to perform a combined task. Copyright © 2011 Movement Disorder Society.

Analytical solution for wave propagation through a graded index interface between a right-handed and a left-handed material

OpenAIRE

Dalarsson, Mariana; Tassin, Philippe

2012-01-01

We have investigated the transmission and reflection properties of structures incorporating left-handed materials with graded index of refraction. We present an exact analytical solution to Helmholtz' equation for a graded index profile changing according to a hyperbolic tangent function along the propagation direction. We derive expressions for the field intensity along the graded index structure, and we show excellent agreement between the analytical solution and the corresponding results o...

Single-cell force spectroscopy of pili-mediated adhesion

Science.gov (United States)

Sullan, Ruby May A.; Beaussart, Audrey; Tripathi, Prachi; Derclaye, Sylvie; El-Kirat-Chatel, Sofiane; Li, James K.; Schneider, Yves-Jacques; Vanderleyden, Jos; Lebeer, Sarah; Dufrêne, Yves F.

2013-12-01

Although bacterial pili are known to mediate cell adhesion to a variety of substrates, the molecular interactions behind this process are poorly understood. We report the direct measurement of the forces guiding pili-mediated adhesion, focusing on the medically important probiotic bacterium Lactobacillus rhamnosus GG (LGG). Using non-invasive single-cell force spectroscopy (SCFS), we quantify the adhesion forces between individual bacteria and biotic (mucin, intestinal cells) or abiotic (hydrophobic monolayers) surfaces. On hydrophobic surfaces, bacterial pili strengthen adhesion through remarkable nanospring properties, which - presumably - enable the bacteria to resist high shear forces under physiological conditions. On mucin, nanosprings are more frequent and adhesion forces larger, reflecting the influence of specific pili-mucin bonds. Interestingly, these mechanical responses are no longer observed on human intestinal Caco-2 cells. Rather, force curves exhibit constant force plateaus with extended ruptures reflecting the extraction of membrane nanotethers. These single-cell analyses provide novel insights into the molecular mechanisms by which piliated bacteria colonize surfaces (nanosprings, nanotethers), and offer exciting avenues in nanomedicine for understanding and controlling the adhesion of microbial cells (probiotics, pathogens).

Hand Gesture Recognition Using Ultrasonic Waves

KAUST Repository

AlSharif, Mohammed Hussain

2016-04-01

Gesturing is a natural way of communication between people and is used in our everyday conversations. Hand gesture recognition systems are used in many applications in a wide variety of fields, such as mobile phone applications, smart TVs, video gaming, etc. With the advances in human-computer interaction technology, gesture recognition is becoming an active research area. There are two types of devices to detect gestures; contact based devices and contactless devices. Using ultrasonic waves for determining gestures is one of the ways that is employed in contactless devices. Hand gesture recognition utilizing ultrasonic waves will be the focus of this thesis work. This thesis presents a new method for detecting and classifying a predefined set of hand gestures using a single ultrasonic transmitter and a single ultrasonic receiver. This method uses a linear frequency modulated ultrasonic signal. The ultrasonic signal is designed to meet the project requirements such as the update rate, the range of detection, etc. Also, it needs to overcome hardware limitations such as the limited output power, transmitter, and receiver bandwidth, etc. The method can be adapted to other hardware setups. Gestures are identified based on two main features; range estimation of the moving hand and received signal strength (RSS). These two factors are estimated using two simple methods; channel impulse response (CIR) and cross correlation (CC) of the reflected ultrasonic signal from the gesturing hand. A customized simple hardware setup was used to classify a set of hand gestures with high accuracy. The detection and classification were done using methods of low computational cost. This makes the proposed method to have a great potential for the implementation in many devices including laptops and mobile phones. The predefined set of gestures can be used for many control applications.

Hand and shoe monitor using air ionization probes

International Nuclear Information System (INIS)

Fergus, R.W.

1981-01-01

A hand and shoe radiation monitor is provided which includes a probe support body defining a plurality of cells, within each cell there being an ionization probe. The support body provides structural strength for protecting the ionization probes from force applied to the support body during a radiation monitoring event. There is also provided a fast response time amplifier circuit for the output from the ionization probes

Forces. Physical Science in Action[TM]. Schlessinger Science Library. [Videotape].

Science.gov (United States)

2000

Forces are all around. Without them, there would be no movement. In fact, Sir Isaac Newton theorized that a force called inertia actually works to keep things exactly as they are at any given moment! Students will learn about Newton's laws and about how forces affect many aspects of life. With clear demonstrations and a unique hands-on activity,…

Postural And Eye-Positional Effects On Human Biting Force: An Experimental Study

Directory of Open Access Journals (Sweden)

Altay Tabancacı

2012-06-01

Full Text Available Muscle groups affected on biting force are called temporal muscle as a major and masseter muscle as a minor. According to the human posture stability, forces of these muscles vary with the force directions. In this case, experimental investigation is strictly important such that biting force under different postural and eye- positional situations is changed. In this study, seven-male and seven-female within the age-range of 17-24 are considered corresponding to having with restorated molar tooth and without that type of tooth. With the help of specially designed biting fork, different posture- and eye-positions are investigated for experimental biting force analysis. Changes in eye-positions are not indicated significant difference for all postural positions. On one hand, it is obtained that biting force of no-filling tooth in men becomes maximum if facial muscles give full effort to biting. On the other hand, effect of facial muscles for women is not clearly noticed depending on the postural differences.

Entropic Movement Complexity Reflects Subjective Creativity Rankings of Visualized Hand Motion Trajectories

Science.gov (United States)

Peng, Zhen; Braun, Daniel A.

2015-01-01

In a previous study we have shown that human motion trajectories can be characterized by translating continuous trajectories into symbol sequences with well-defined complexity measures. Here we test the hypothesis that the motion complexity individuals generate in their movements might be correlated to the degree of creativity assigned by a human observer to the visualized motion trajectories. We asked participants to generate 55 novel hand movement patterns in virtual reality, where each pattern had to be repeated 10 times in a row to ensure reproducibility. This allowed us to estimate a probability distribution over trajectories for each pattern. We assessed motion complexity not only by the previously proposed complexity measures on symbolic sequences, but we also propose two novel complexity measures that can be directly applied to the distributions over trajectories based on the frameworks of Gaussian Processes and Probabilistic Movement Primitives. In contrast to previous studies, these new methods allow computing complexities of individual motion patterns from very few sample trajectories. We compared the different complexity measures to how a group of independent jurors rank ordered the recorded motion trajectories according to their personal creativity judgment. We found three entropic complexity measures that correlate significantly with human creativity judgment and discuss differences between the measures. We also test whether these complexity measures correlate with individual creativity in divergent thinking tasks, but do not find any consistent correlation. Our results suggest that entropic complexity measures of hand motion may reveal domain-specific individual differences in kinesthetic creativity. PMID:26733896

Test-retest reliability of handgrip strength measurement using a hydraulic hand dynamometer in patients with cervical radiculopathy.

Science.gov (United States)

Savva, Christos; Giakas, Giannis; Efstathiou, Michalis; Karagiannis, Christos

2014-01-01

The purpose of this study was to evaluate the test-retest reliability of handgrip strength measurement using a hydraulic hand dynamometer in patients with cervical radiculopathy (CR). A convenience sample of 19 participants (14 men and 5 women; mean ± SD age, 50.5 ± 12 years) with CR was measured using a Jamar hydraulic hand dynamometer by the same rater on 2 different testing sessions with an interval of 7 days between sessions. Data collection procedures followed standardized grip strength testing guidelines established by the American Society of Hand Therapists. During the repeated measures, patients were advised to rest their upper limb in the standardized arm position and encouraged to exert 3 maximum gripping efforts. The mean value of the 3 efforts (measured in kilogram force [Kgf]) was used for data analysis. The intraclass correlation coefficient, SEM, and the Bland-Altman plot were used to estimate test-retest reliability and measurement precision. Grip strength measurement in CR demonstrated an intraclass correlation coefficient of 0.976, suggesting excellent test-retest reliability. The small SEM in both testing sessions (SEM1, 2.41 Kgf; SEM2, 2.51 Kgf) as well as the narrow width of the 95% limits of agreements (95% limits of agreement, -4.9 to 4.4 Kgf) in the Bland-Altman plot reflected precise measurements of grip strength in both occasions. Excellent test-retest reliability for grip strength measurement was measured in patients with CR, demonstrating that a hydraulic hand dynamometer could be used as an outcome measure for these patients. Copyright © 2014 National University of Health Sciences. Published by Mosby, Inc. All rights reserved.

The first step in infection control is hand hygiene.

Science.gov (United States)

Canham, Leslie

2011-01-01

A dental health care worker (DHCW) has an obligation to prevent the spread of health care associated infections. Adhering to proper hand hygiene procedures, selecting appropriate hand hygiene products and the use of gloves are all important elements of infection control. The CDC Guidelines for Hand Hygiene state that improved hand hygiene practices can reduce transmission of pathogenic microorganisms to patients and personnel in health care settings. DHCWs must also protect themselves by recognizing pitfalls such as irritants or allergies that may pose obstacles to proper hand hygiene. Occupational irritants and allergies can be caused by frequent hand washing, exposure to hand hygiene products, exposure to chemicals and shear forces associated with wearing or removing gloves. Since the primary defense against infection and transmission of pathogens is healthy, unbroken skin, DHCWs must take steps to ensure that their skin remains healthy and intact. These steps include evaluating different types of hand hygiene products, lotions and gloves for the best compatibility. If the DHCW sees a breakdown of his or her skin barrier, steps should be taken to determine the cause and remedy. Remedies can include the use of alcohol-based hand sanitizers containing emollients and moisturizers and regular use of a medical grade hand lotion. The bottom line: healthy skin protects you at work and at home. Selection and use of appropriate hand hygiene products, including moisturizers, are an essential part ofa dental office infection control program. My coworker lost the use of her thumb for several months due to complications of a staph infection. She was unable to work and found even simple tasks such as closing a button hard to do. Think of how difficult your work would be if something happened to your hands. Injury, irritation or allergies could alter your ability to work or even perform routine tasks. Our hands provide us with the ability to work in clinical dentistry. It makes

Postural stability when walking and exposed to lateral oscillatory motion: benefits from hand supports.

Science.gov (United States)

Ayık, Hatice Müjde; Griffin, Michael J

2015-01-01

While walking on a treadmill, 20 subjects experienced lateral oscillations: frequencies from 0.5 to 2 Hz and velocities from 0.05 to 0.16 m s(- 1) rms. Postural stability was indicated by ratings of 'discomfort or difficulty in walking', the movement of the centre of pressure beneath the feet and lateral forces applied to a hand support. Hand support improved postural stability with all frequencies and all velocities of oscillatory motion: the lateral velocity of the centre of pressure reduced by 30-50% when using support throughout motion, by 20-30% when instructed to use the support only when required and by 15% during normal walking without oscillation. Improvements in stability, and the forces applied to the hand support, were independent of support height when used continuously throughout motion. When support was used only when required, subjects preferred to hold it 118-134 cm above the surface supporting the feet.

Agent Orange Exposure and Monoclonal Gammopathy of Undetermined Significance: An Operation Ranch Hand Veteran Cohort Study.

Science.gov (United States)

Landgren, Ola; Shim, Youn K; Michalek, Joel; Costello, Rene; Burton, Debra; Ketchum, Norma; Calvo, Katherine R; Caporaso, Neil; Raveche, Elizabeth; Middleton, Dan; Marti, Gerald; Vogt, Robert F

2015-11-01

Multiple myeloma has been classified as exhibiting "limited or suggestive evidence" of an association with exposure to herbicides in Vietnam War veterans. Occupational studies have shown that other pesticides (ie, insecticides, herbicides, fungicides) are associated with excess risk of multiple myeloma and its precursor state, monoclonal gammopathy of undetermined significance (MGUS); however, to our knowledge, no studies have uncovered such an association in Vietnam War veterans. To examine the relationship between MGUS and exposure to Agent Orange, including its contaminant 2,3,7,8-tetrachlorodibenzo-p-dioxin (TCDD), in Vietnam War veterans. This was a prospective cohort study conducted in 2013 to 2014, testing for MGUS in serum specimens collected and stored in 2002 by the Air Force Health Study (AFHS). The relevant exposure data collected by the AFHS was also used. We tested all specimens in 2013 without knowledge of the exposure status. The AFHS included former US Air Force personnel who participated in Operation Ranch Hand (Ranch Hand veterans) and other US Air Force personnel who had similar duties in Southeast Asia during the same time period (1962 to 1971) but were not involved in herbicide spray missions (comparison veterans). Agent Orange was used by the US Air Force personnel who conducted aerial spray missions of herbicides (Operation Ranch Hand) in Vietnam from 1962 to 1971. We included 479 Ranch Hand veterans and 479 comparison veterans who participated in the 2002 follow-up examination of AFHS. Agent Orange and TCDD. Serum TCDD levels were measured in 1987, 1992, 1997, and 2002. Risk of MGUS measured by prevalence, odds ratios (ORs), and 95% CIs. The 479 Ranch Hand veterans and 479 comparison veterans had similar demographic and lifestyle characteristics and medical histories. The crude prevalence of overall MGUS was 7.1% (34 of 479) in Ranch Hand veterans and 3.1% (15 of 479) in comparison veterans. This translated into a 2.4-fold increased risk

Metal muscles and nerves—a self-sensing SMA-actuated hand concept

Science.gov (United States)

Simone, F.; Rizzello, G.; Seelecke, S.

2017-09-01

Bio-inspired hand-like grippers actuated by Shape Memory Alloy (SMA) wires represent an emerging new technology with potential applications in many different fields, ranging from industrial assembly processes to biomedical systems. The inherently high energy density makes SMAs a natural choice for compact, lightweight, and silent actuator systems capable of producing a high amount of work, such as hand prostheses or robotic systems in industrial human/machine environments. In this work, a concept for a compact and versatile gripping system is developed, in which SMA wires are implemented as antagonistic muscles actuating an artificial hand with three fingers. In order to combine high gripping force with sufficient actuation speed, the muscle implementation pursues a multi-wire concept with several 0.1 mm diameter NiTi wires connected in parallel, in order to increase the surface-to-volume ratio for accelerated cooling. The paper starts with an illustration of the design concept of an individual 3-phalanx-finger, along with kinematic considerations for optimal placement of SMA wires. Three identical fingers are subsequently fabricated via 3D printing and assembled into a hand-like gripper. The maximum displacement of each finger phalanx is measured, and an average phalanxes dynamic responsiveness is evaluated. SMA self-sensing is documented by experiments relating the wires change in resistance to the finger motion. Several finger force measurements are also performed. The versatility of the gripper is finally documented by displaying a variety of achievable grasping configurations.

Ion Dynamics at Shocks: Ion Reflection and Beam Formation at Quasi-perpendicular Shocks

International Nuclear Information System (INIS)

Kucharek, Harald; Moebius, Eberhard

2005-01-01

The physics of collisionless shocks is controlled by the ion dynamics. The generation of gyrating ions by reflection as well as the formation of field-aligned ion beams are essential parts of this dynamic. On the one hand reflection is most likely the first interaction of ions with the shock before they undergo the downstream thermalization process. On the other hand field-aligned ion beams, predominately found at the quasi-perpendicular bow shock, propagate into the distant foreshock region and may create wave activity. We revisit ion reflection, the source and basic production mechanism of field-aligned ion beams, by using multi-spacecraft measurements and contrast these observations with existing theories. Finally, we propose an alternative production mechanism

Evaluation of methods to assess push/pull forces in a construction task

NARCIS (Netherlands)

Hoozemans, M J; Van Der Beek, Allard J.; Frings-Dresena, M H; Van der Molen, Henk F.

2001-01-01

The objective of the present study was to determine the validity of methods to assess push/pull forces exerted in a construction task. Forces assessed using a hand-held digital force gauge were compared to those obtained using a highly accurate measuring frame. No significant differences were found

Performance Comparison Between FEDERICA Hand and LARM Hand

OpenAIRE

Carbone, Giuseppe; Rossi, Cesare; Savino, Sergio

2015-01-01

This paper describes two robotic hands that have been\\ud developed at University Federico II of Naples and at the\\ud University of Cassino. FEDERICA Hand and LARM Hand\\ud are described in terms of design and operational features.\\ud In particular, careful attention is paid to the differences\\ud between the above-mentioned hands in terms of transmission\\ud systems. FEDERICA Hand uses tendons and pulleys\\ud to drive phalanxes, while LARM Hand uses cross four-bar\\ud linkages. Results of experime...

Back to basics: hand hygiene and surgical hand antisepsis.

Science.gov (United States)

Spruce, Lisa

2013-11-01

Health care-associated infections (HAIs) are a significant issue in the United States and throughout the world, but following proper hand hygiene practices is the most effective and least expensive way to prevent HAIs. Hand hygiene is inexpensive and protects patients and health care personnel alike. The four general types of hand hygiene that should be performed in the perioperative environment are washing hands that are visibly soiled, hand hygiene using alcohol-based products, surgical hand scrubs, and surgical hand scrubs using an alcohol-based surgical hand rub product. Barriers to proper hand hygiene may include not thinking about it, forgetting, skin irritation, a lack of role models, or a lack of a safety culture. One strategy for improving hand hygiene practices is monitoring hand hygiene as part of a quality improvement project, but the most important aspect for perioperative team members is to set an example for other team members by following proper hand hygiene practices and reminding each other to perform hand hygiene. Copyright © 2013 AORN, Inc. Published by Elsevier Inc. All rights reserved.

Innovative hand exoskeleton design for extravehicular activities in space

CERN Document Server

Freni, Pierluigi; Randazzo, Luca; Ariano, Paolo

2014-01-01

Environmental conditions and pressurized spacesuits expose astronauts to problems of fatigue during lengthy extravehicular activities, with adverse impacts especially on the dexterity, force and endurance of the hands and arms. A state-of-the-art exploration in the field of hand exoskeletons revealed that available products are unsuitable for space applications because of their bulkiness and mass. This book proposes a novel approach to the development of hand exoskeletons, based on an innovative soft robotics concept that relies on the exploitation of electroactive polymers operating as sensors and actuators, on a combination of electromyography and mechanomyography for detection of the user’s will and on neural networks for control. The result is a design that should enhance astronauts’ performance during extravehicular activities. In summary, the advantages of the described approach are a low-weight, high-flexibility exoskeleton that allows for dexterity and compliance with the user’s will.

Establishing Criteria for Assigning Personnel to Air Force Jobs Requiring Heavy Work

Science.gov (United States)

1978-07-01

loads (for example, carrying meat at the slaughterhouse , carrying of sacks, loading wood by hand) wood cutting in the forest by hand tools, agricultural...8217 factor history. Medical Service Digest (United States Air Force), 27(2), 1976, pp. 14-16. 186 Trimeloni, Col. B.D. The Role of Women in the Air Force...Rahden. Effect of training on maximum oxygen intake and on anaerobic metabolism in man. Int. Z. Angew Physiol., 24(2), 1967, pp. 102-110. 188 Wyndham, C.H

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

Stiff Hands

Science.gov (United States)

... All Topics A-Z Videos Infographics Symptom Picker Anatomy Bones Joints Muscles Nerves Vessels Tendons About Hand Surgery What is a Hand Surgeon? What is a Hand Therapist? Media Find a Hand Surgeon Home Anatomy Stiff Hands Email to a friend * required fields ...

Hand Infections

Science.gov (United States)

... All Topics A-Z Videos Infographics Symptom Picker Anatomy Bones Joints Muscles Nerves Vessels Tendons About Hand Surgery What is a Hand Surgeon? What is a Hand Therapist? Media Find a Hand Surgeon Home Anatomy Hand Infections Email to a friend * required fields ...

Vision-Based Pose Estimation for Robot-Mediated Hand Telerehabilitation

Directory of Open Access Journals (Sweden)

Giuseppe Airò Farulla

2016-02-01

Full Text Available Vision-based Pose Estimation (VPE represents a non-invasive solution to allow a smooth and natural interaction between a human user and a robotic system, without requiring complex calibration procedures. Moreover, VPE interfaces are gaining momentum as they are highly intuitive, such that they can be used from untrained personnel (e.g., a generic caregiver even in delicate tasks as rehabilitation exercises. In this paper, we present a novel master–slave setup for hand telerehabilitation with an intuitive and simple interface for remote control of a wearable hand exoskeleton, named HX. While performing rehabilitative exercises, the master unit evaluates the 3D position of a human operator’s hand joints in real-time using only a RGB-D camera, and commands remotely the slave exoskeleton. Within the slave unit, the exoskeleton replicates hand movements and an external grip sensor records interaction forces, that are fed back to the operator-therapist, allowing a direct real-time assessment of the rehabilitative task. Experimental data collected with an operator and six volunteers are provided to show the feasibility of the proposed system and its performances. The results demonstrate that, leveraging on our system, the operator was able to directly control volunteers’ hands movements.

Prosthetic finger phalanges with lifelike skin compliance for low-force social touching interactions

Directory of Open Access Journals (Sweden)

Ge Shuzhi

2011-03-01

Full Text Available Abstract Background Prosthetic arms and hands that can be controlled by the user's electromyography (EMG signals are emerging. Eventually, these advanced prosthetic devices will be expected to touch and be touched by other people. As realistic as they may look, the currently available prosthetic hands have physical properties that are still far from the characteristics of human skins because they are much stiffer. In this paper, different configurations of synthetic finger phalanges have been investigated for their skin compliance behaviour and have been compared with the phalanges of the human fingers and a phalanx from a commercially available prosthetic hand. Methods Handshake tests were performed to identify which areas on the human hand experience high contact forces. After these areas were determined, experiments were done on selected areas using an indenting probe to obtain the force-displacement curves. Finite element simulations were used to compare the force-displacement results of the synthetic finger phalanx designs with that of the experimental results from the human and prosthetic finger phalanges. The simulation models were used to investigate the effects of (a varying the internal topology of the finger phalanx and (b varying different materials for the internal and external layers. Results and Conclusions During handshake, the high magnitudes of contact forces were observed at the areas where the full grasping enclosure of the other person's hand can be achieved. From these areas, the middle phalanges of the (a little, (b ring, and (c middle fingers were selected. The indentation experiments on these areas showed that a 2 N force corresponds to skin tissue displacements of more than 2 mm. The results from the simulation model show that introducing an open pocket with 2 mm height on the internal structure of synthetic finger phalanges increased the skin compliance of the silicone material to 235% and the polyurethane material to

Manipulating Light and Matter with Photonic Structures: Numerical Investigations on Photonic Crystals and Optical Forces

Science.gov (United States)

Zhang, Peng

The highly developed nano-fabrication techniques allow light to be modulated with photonic structures in a more intensive way. These photonic structures involve photonic crystals, metals supporting surface plasmon polaritons, metamaterials, etc. In this thesis work, three different ways for light manipulation are numerically investigated. First, the light propagation is modulated using a photonic crystal with Dirac cones. It is demonstrated that the zero-index behavior of this photonic crystal which happens for normal incident waves, is lost at oblique incidence. A new method combining complex-k band calculations and absorbing boundary conditions for Bloch modes is developed to analyze the Bloch mode interaction in details. Second, the mechanic states of graphene are modulated through the optical gradient force. This force is induced by the coupled surface plasmons on the double graphene sheets and is greatly enhanced in comparison to the regular waveguides. By applying different strengths of forces in accordance to the input power, the mechanic state transition is made possible, accompanied by an abrupt change in the transmission and reflection spectra. Third, the helicity/chirality of light is studied to modulate the lateral force on a small particle. A left-hand material slab which supports coherent TE ad TM plasmons simultaneously is introduced. By mixing the TE and TM surface plasmons with different relative phases, the lateral force on a chiral particle can be changed, which will be beneficial for chiral particle sorting.

Magnetic force microscopy : Quantitative issues in biomaterials

NARCIS (Netherlands)

Passeri, D.; Dong, C.; Reggente, M.; Angeloni, L.; Barteri, M.; Scaramuzzo, F.A.; De Angelis, F.; Marinelli, F.; Antonelli, F.; Rinaldi, F.; Marianecci, C.; Carafa, M.; Sorbo, A.; Sordi, D.; Arends, I.W.C.E.; Rossi, M.

2014-01-01

Magnetic force microscopy (MFM) is an atomic force microscopy (AFM) based technique in which an AFM tip with a magnetic coating is used to probe local magnetic fields with the typical AFM spatial resolution, thus allowing one to acquire images reflecting the local magnetic properties of the samples

Investigating the build-up of precedence effect using reflection masking

DEFF Research Database (Denmark)

Hartcher-O'Brien, Jessica; Buchholz, Jörg

2006-01-01

signal processing, such an approach represents a bottom-up approach to the buildup of precedence. Three conditioner configurations measuring a possible buildup of reflection suppression were compared to the baseline RMT for four reflection delays ranging from 2.5–15 ms. No buildup of reflection...... suppression was observed for any of the conditioner configurations. Buildup of template (decrease in RMT for two of the conditioners), on the other hand, was found to be delay dependent. For five of six listeners, with reflection delay=2.5 and 15 ms, RMT decreased relative to the baseline. For 5- and 10-ms...

Effect of power-assisted hand-rim wheelchair propulsion on shoulder load in experienced wheelchair users : A pilot study with an instrumented wheelchair

NARCIS (Netherlands)

Kloosterman, Marieke G. M.; Buurke, Jaap H.; de Vries, Wiebe; Van der Woude, Lucas H. V.; Rietman, Johan S.

2015-01-01

This study aims to compare hand-rim and power-assisted hand-rim propulsion on potential risk factors for shoulder overuse injuries: intensity and repetition of shoulder loading and force generation in the extremes of shoulder motion. Eleven experienced hand-rim wheelchair users propelled an

Effect of power-assisted hand-rim wheelchair propulsion on shoulder load in experienced wheelchair users: A pilot study with an instrumented wheelchair

NARCIS (Netherlands)

Kloosterman, Marieke; Buurke, Jaap; de Vries, W.; de Vries, W.; van der Woude, L.H.V.; Rietman, Johan Swanik

2015-01-01

This study aims to compare hand-rim and power-assisted hand-rim propulsion on potential risk factors for shoulder overuse injuries: intensity and repetition of shoulder loading and force generation in the extremes of shoulder motion. Eleven experienced hand-rim wheelchair users propelled an

Robotic approaches for rehabilitation of hand function after stroke.

Science.gov (United States)

Lum, Peter S; Godfrey, Sasha B; Brokaw, Elizabeth B; Holley, Rahsaan J; Nichols, Diane

2012-11-01

The goal of this review was to discuss the impairments in hand function after stroke and present previous work on robot-assisted approaches to movement neurorehabilitation. Robotic devices offer a unique training environment that may enhance outcomes beyond what is possible with conventional means. Robots apply forces to the hand, allowing completion of movements while preventing inappropriate movement patterns. Evidence from the literature is emerging that certain characteristics of the human-robot interaction are preferable. In light of this evidence, the robotic hand devices that have undergone clinical testing are reviewed, highlighting the authors' work in this area. Finally, suggestions for future work are offered. The ability to deliver therapy doses far higher than what has been previously tested is a potentially key advantage of robotic devices that needs further exploration. In particular, more efforts are needed to develop highly motivating home-based devices, which can increase access to high doses of assisted movement therapy.

Coherence and interlimb force control: Effects of visual gain.

Science.gov (United States)

Kang, Nyeonju; Cauraugh, James H

2018-03-06

Neural coupling across hemispheres and homologous muscles often appears during bimanual motor control. Force coupling in a specific frequency domain may indicate specific bimanual force coordination patterns. This study investigated coherence on pairs of bimanual isometric index finger force while manipulating visual gain and task asymmetry conditions. We used two visual gain conditions (low and high gain = 8 and 512 pixels/N), and created task asymmetry by manipulating coefficient ratios imposed on the left and right index finger forces (0.4:1.6; 1:1; 1.6:0.4, respectively). Unequal coefficient ratios required different contributions from each hand to the bimanual force task resulting in force asymmetry. Fourteen healthy young adults performed bimanual isometric force control at 20% of their maximal level of the summed force of both fingers. We quantified peak coherence and relative phase angle between hands at 0-4, 4-8, and 8-12 Hz, and estimated a signal-to-noise ratio of bimanual forces. The findings revealed higher peak coherence and relative phase angle at 0-4 Hz than at 4-8 and 8-12 Hz for both visual gain conditions. Further, peak coherence and relative phase angle values at 0-4 Hz were larger at the high gain than at the low gain. At the high gain, higher peak coherence at 0-4 Hz collapsed across task asymmetry conditions significantly predicted greater signal-to-noise ratio. These findings indicate that a greater level of visual information facilitates bimanual force coupling at a specific frequency range related to sensorimotor processing. Copyright © 2018 Elsevier B.V. All rights reserved.

Support force measures of midsized men in seated positions.

Science.gov (United States)

Bush, Tamara Reid; Hubbard, Robert P

2007-02-01

Two areas not well researched in the field of seating mechanics are the distribution of normal and shear forces, and how those forces change with seat position. The availability of these data would be beneficial for the design and development of office, automotive and medical seats. To increase our knowledge in the area of seating mechanics, this study sought to measure the normal and shear loads applied to segmental supports in 12 seated positions, utilizing three inclination angles and four levels of seat back articulation that were associated with automotive driving positions. Force data from six regions, including the thorax, sacral region, buttocks, thighs, feet, and hand support were gathered using multi-axis load cells. The sample contained 23 midsized subjects with an average weight of 76.7 kg and a standard deviation of 4.2 kg, and an average height of 1745 mm with a standard deviation of 19 mm. Results were examined in terms of seat back inclination and in terms of torso articulation for relationships between seat positions and support forces. Using a repeated measures analysis, significant differences (p<0.05) were identified for normal forces relative to all inclination angles except for forces occurring at the hand support. Other significant differences were observed between normal forces behind the buttocks, pelvis, and feet for torso articulations. Significant differences in the shear forces occurred under the buttocks and posterior pelvis during changes in seat back inclination. Significant differences in shear forces were also identified for torso articulations. These data suggest that as seat back inclination or torso articulation change, significant shifts in force distribution occur.

The reflection component in NS LMXBs

Directory of Open Access Journals (Sweden)

D’Aí A.

2014-01-01

Full Text Available Thanks to the good spectral resolution and large effective area of the EPIC/PN instrument on board of XMM-Newton, we have at hand a large number of observations of accreting low-mass X-ray binaries, that allow for the fist time a comprehensive view on the characteristics of the reflection component at different accretion regimes and to probe the effects of a magnetosphere on its formation. We focus here on a comparative analysis of the reflection component from a series of spectroscopic studies on selected sources: 4U 1705-44, observed both in the soft and hard state, the pulsating ms pulsars SAX J1808.4-3658 and IGR J17511-3057, and the intermittent pulsar HETE J1900-2455. Although the sources can present very similar accretion rates and continuum shapes, the reflection parameters do not generally result the same, moreover the effect of a magnetosphere on the formation of the reflection component appears elusive.

"Hand down, man down." Analysis of defensive adjustments in response to the hot hand in basketball using novel defense metrics.

Science.gov (United States)

Csapo, Peter; Raab, Markus

2014-01-01

The hot-hand phenomenon, according to which a player's performance is significantly elevated during certain phases relative to the expected performance based on the player's base rate, has left many researchers and fans in basketball puzzled: The vast majority of players, coaches and fans believe in its existence but statistical evidence supporting this belief has been scarce. It has frequently been argued that the hot hand in basketball is unobservable because of strategic adjustments and defensive interference of the opposing team. We use a dataset with novel metrics, such as the number of defenders and the defensive intensity for each shot attempt, which enable us to directly measure defensive pressure. First, we examine how the shooting percentage of NBA players changes relative to the attributes of each metric. We find that it is of lesser importance by how many defenders a player is guarded but that defensive intensity, e.g., whether a defender raises his hand when his opponent shoots, has a larger impact on shot difficulty. Second, we explore how the underlying metrics and shooting accuracy change as a function of streak length. Our results indicate that defensive pressure and shot difficulty increase (decrease) during hot (cold) streaks, so that defenders seem to behave according to the hot-hand belief and try to force hot players into more difficult shots. However, we find that shooting percentages of presumably hot players do not increase and that shooting performance is not related to streakiness, so that the defenders' hot-hand behavior cannot be considered ecologically rational. Therefore, we are unable to find evidence in favor of the hot-hand effect even when accounting for defensive pressure.

"Hand down, man down." Analysis of defensive adjustments in response to the hot hand in basketball using novel defense metrics.

Directory of Open Access Journals (Sweden)

Peter Csapo

Full Text Available The hot-hand phenomenon, according to which a player's performance is significantly elevated during certain phases relative to the expected performance based on the player's base rate, has left many researchers and fans in basketball puzzled: The vast majority of players, coaches and fans believe in its existence but statistical evidence supporting this belief has been scarce. It has frequently been argued that the hot hand in basketball is unobservable because of strategic adjustments and defensive interference of the opposing team. We use a dataset with novel metrics, such as the number of defenders and the defensive intensity for each shot attempt, which enable us to directly measure defensive pressure. First, we examine how the shooting percentage of NBA players changes relative to the attributes of each metric. We find that it is of lesser importance by how many defenders a player is guarded but that defensive intensity, e.g., whether a defender raises his hand when his opponent shoots, has a larger impact on shot difficulty. Second, we explore how the underlying metrics and shooting accuracy change as a function of streak length. Our results indicate that defensive pressure and shot difficulty increase (decrease during hot (cold streaks, so that defenders seem to behave according to the hot-hand belief and try to force hot players into more difficult shots. However, we find that shooting percentages of presumably hot players do not increase and that shooting performance is not related to streakiness, so that the defenders' hot-hand behavior cannot be considered ecologically rational. Therefore, we are unable to find evidence in favor of the hot-hand effect even when accounting for defensive pressure.

Neural basis for hand muscle synergies in the primate spinal cord.

Science.gov (United States)

Takei, Tomohiko; Confais, Joachim; Tomatsu, Saeka; Oya, Tomomichi; Seki, Kazuhiko

2017-08-08

Grasping is a highly complex movement that requires the coordination of multiple hand joints and muscles. Muscle synergies have been proposed to be the functional building blocks that coordinate such complex motor behaviors, but little is known about how they are implemented in the central nervous system. Here we demonstrate that premotor interneurons (PreM-INs) in the primate cervical spinal cord underlie the spatiotemporal patterns of hand muscle synergies during a voluntary grasping task. Using spike-triggered averaging of hand muscle activity, we found that the muscle fields of PreM-INs were not uniformly distributed across hand muscles but rather distributed as clusters corresponding to muscle synergies. Moreover, although individual PreM-INs have divergent activation patterns, the population activity of PreM-INs reflects the temporal activation of muscle synergies. These findings demonstrate that spinal PreM-INs underlie the muscle coordination required for voluntary hand movements in primates. Given the evolution of neural control of primate hand functions, we suggest that spinal premotor circuits provide the fundamental coordination of multiple joints and muscles upon which more fractionated control is achieved by superimposed, phylogenetically newer, pathways.

Stable Myoelectric Control of a Hand Prosthesis using Non-Linear Incremental Learning

Directory of Open Access Journals (Sweden)

Arjan eGijsberts

2014-02-01

Full Text Available Stable myoelectric control of hand prostheses remains an open problem. The only successful human-machine interface is surface electromyography, typically allowing control of a few degrees of freedom. Machine learning techniques may have the potential to remove these limitations, but their performance is thus far inadequate: myoelectric signals change over time under the influence of various factors, deteriorating control performance. It is therefore necessary, in the standard approach, to regularly retrain a new model from scratch.We hereby propose a non-linear incremental learning method in which occasional updates with a modest amount of novel training data allow continual adaptation to the changes in the signals. In particular, Incremental Ridge Regression and an approximation of the Gaussian Kernel known as Random Fourier Features are combined to predict finger forces from myoelectric signals, both finger-by-finger and grouped in grasping patterns.We show that the approach is effective and practically applicable to this problem by first analyzing its performance while predicting single-finger forces. Surface electromyography and finger forces were collected from 10 intact subjects during four sessions spread over two different days; the results of the analysis show that small incremental updates are indeed effective to maintain a stable level of performance.Subsequently, we employed the same method on-line to teleoperate a humanoid robotic arm equipped with a state-of-the-art commercial prosthetic hand. The subject could reliably grasp, carry and release everyday-life objects, enforcing stable grasping irrespective of the signal changes, hand/arm movements and wrist pronation and supination.

Application of fixed point theory to chaotic attractors of forced oscillators

International Nuclear Information System (INIS)

Stewart, H.B.

1990-11-01

A review of the structure of chaotic attractors of periodically forced second order nonlinear oscillators suggests that the theory of fixed points of transformations gives information about the fundamental topological structure of attractors. First a simple extension of the Levinson index formula is proved. Then numerical evidence is used to formulate plausible conjectures about absorbing regions containing chaotic attractors in forced oscillators. Applying the Levinson formula suggests a fundamental relation between the number of fixed points or periodic points in a section of the chaotic attractor on the one hand, and a topological invariant of an absorbing region on the other hand. (author)

Validity of maximal isometric knee extension strength measurements obtained via belt-stabilized hand-held dynamometry in healthy adults.

Science.gov (United States)

Ushiyama, Naoko; Kurobe, Yasushi; Momose, Kimito

2017-11-01

[Purpose] To determine the validity of knee extension muscle strength measurements using belt-stabilized hand-held dynamometry with and without body stabilization compared with the gold standard isokinetic dynamometry in healthy adults. [Subjects and Methods] Twenty-nine healthy adults (mean age, 21.3 years) were included. Study parameters involved right side measurements of maximal isometric knee extension strength obtained using belt-stabilized hand-held dynamometry with and without body stabilization and the gold standard. Measurements were performed in all subjects. [Results] A moderate correlation and fixed bias were found between measurements obtained using belt-stabilized hand-held dynamometry with body stabilization and the gold standard. No significant correlation and proportional bias were found between measurements obtained using belt-stabilized hand-held dynamometry without body stabilization and the gold standard. The strength identified using belt-stabilized hand-held dynamometry with body stabilization may not be commensurate with the maximum strength individuals can generate; however, it reflects such strength. In contrast, the strength identified using belt-stabilized hand-held dynamometry without body stabilization does not reflect the maximum strength. Therefore, a chair should be used to stabilize the body when performing measurements of maximal isometric knee extension strength using belt-stabilized hand-held dynamometry in healthy adults. [Conclusion] Belt-stabilized hand-held dynamometry with body stabilization is more convenient than the gold standard in clinical settings.

An active one-particle microrheometer: incorporating magnetic tweezers to total internal reflection microscopy.

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Gong, Xiangjun; Hua, Li; Wu, Chi; Ngai, To

2013-03-01

We present a novel microrheometer by incorporating magnetic tweezers in the total internal reflection microscopy (TIRM) that enables measuring of viscoelastic properties of materials near solid surface. An evanescent wave generated by a solid∕liquid interface in the TIRM is used as the incident light source in the microrheometer. When a probe particle (of a few micrometers diameter) moves near the interface, it can interact with the evanescent field and reflect its position with respect to the interface by the scattered light intensity. The exponential distance dependence of the evanescent field, on the one hand, makes this technique extremely sensitive to small changes from z-fluctuations of the probe (with a resolution of several nanometers), and on the other, it does not require imaging of the probe with high lateral resolution. Another distinct advantage is the high sensitivity in determining the z position of the probe in the absence of any labeling. The incorporated magnetic tweezers enable us to effectively manipulate the distance of the embedded particle from the interface either by a constant or an oscillatory force. The force ramp is easy to implement through a coil current ramp. In this way, the local viscous and elastic properties of a given system under different confinements can therefore be measured by resolving the near-surface particle motion. To test the feasibility of applying this microrheology to soft materials, we measured the viscoelastic properties of sucrose and poly(ethylene glycol) solutions and compared the results to bulk rheometry. In addition, we applied this technique in monitoring the structure and properties of deformable microgel particles near the flat surface.

Coupling forces resulting from the type of chain saw used

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Jolanta Malinowska-Borowska

2014-03-01

Full Text Available Introduction. Woodcutters’ working conditions are difficult due to the presence of numerous occupational hazards. Petrol –fuelled chain saws commonly used in forestry produce vibration, which may lead to the development of non-specific disorders in the upper extremities of the chain saw operator, referred to as hand-arm vibration syndrome (HAVS. The magnitude of coupling forces exerted on a vibrating tool handle may affect the severity of HAVS and hand-wrist cumulative trauma disorders. The aim of the presented study was to measure coupling forces exerted by fellers on various chain saws and to find correlation between force magnitude and type of tool used. Material and methods. Coupling forces applied by workers on different types of chain saws were measured by means of a hydro-electronic force meter. All measurements were carried out during the harvesting of wood in real work conditions. Results. Mean force applied by forestry workers on their tools was 44.2 N. Coupling forces registered during cutting wood with small universal chain saws were larger than forces exerted on models characterized by higher power profile. Forces applied on comparable tools produced by various manufacturers also differed. Conclusions. The relationship between coupling forces and power of the chain saw should lead to ergonomic improvements of the tool and vibration-reducing devices. These results can also be used as a recommendation for fellers in a range of using proper machines for different types of cut or types of wood. They may also be applicable to develop more effective methods for assessing vibration exposure risks among woodcutters.

Design and implementation of adaptive inverse control algorithm for a micro-hand control system

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Wan-Cheng Wang

2014-01-01

Full Text Available The Letter proposes an online tuned adaptive inverse position control algorithm for a micro-hand. First, the configuration of the micro-hand is discussed. Next, a kinematic analysis of the micro-hand is investigated and then the relationship between the rotor position of micro-permanent magnet synchronous motor and the tip of the micro-finger is derived. After that, an online tuned adaptive inverse control algorithm, which includes an adaptive inverse model and an adaptive inverse control, is designed. The online tuned adaptive inverse control algorithm has better performance than the proportional–integral control algorithm does. In addition, to avoid damaging the object during the grasping process, an online force control algorithm is proposed here as well. An embedded micro-computer, cRIO-9024, is used to realise the whole position control algorithm and the force control algorithm by using software. As a result, the hardware circuit is very simple. Experimental results show that the proposed system can provide fast transient responses, good load disturbance responses, good tracking responses and satisfactory grasping responses.

EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation

OpenAIRE

Konnaris, C; Gavriel, C; Thomik, AAC; Aldo Faisal, A

2016-01-01

Our dexterous hand is a fundmanetal human feature that distinguishes us from other animals by enabling us to go beyond grasping to support sophisticated in-hand object manipulation. Our aim was the design of a dexterous anthropomorphic robotic hand that matches the human hand's 24 degrees of freedom, under-actuated by seven motors. With the ability to replicate human hand movements in a naturalistic manner including in-hand object manipulation. Therefore, we focused on the development of a no...

Experiences in the creation of an electromyography database to help hand amputated persons.

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Atzori, Manfredo; Gijsberts, Arjan; Heynen, Simone; Hager, Anne-Gabrielle Mittaz; Castellimi, Claudio; Caputo, Barbara; Müller, Henning

2012-01-01

Currently, trans-radial amputees can only perform a few simple movements with prosthetic hands. This is mainly due to low control capabilities and the long training time that is required to learn controlling them with surface electromyography (sEMG). This is in contrast with recent advances in mechatronics, thanks to which mechanical hands have multiple degrees of freedom and in some cases force control. To help improve the situation, we are building the NinaPro (Non-Invasive Adaptive Prosthetics) database, a database of about 50 hand and wrist movements recorded from several healthy and currently very few amputated persons that will help the community to test and improve sEMG-based natural control systems for prosthetic hands. In this paper we describe the experimental experiences and practical aspects related to the data acquisition.

Force feedback in a piezoelectric linear actuator for neurosurgery.

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De Lorenzo, Danilo; De Momi, Elena; Dyagilev, Ilya; Manganelli, Rudy; Formaglio, Alessandro; Prattichizzo, Domenico; Shoham, Moshe; Ferrigno, Giancarlo

2011-09-01

Force feedback in robotic minimally invasive surgery allows the human operator to manipulate tissues as if his/her hands were in contact with the patient organs. A force sensor mounted on the probe raises problems with sterilization of the overall surgical tool. Also, the use of off-axis gauges introduces a moment that increases the friction force on the bearing, which can easily mask off the signal, given the small force to be measured. This work aims at designing and testing two methods for estimating the resistance to the advancement (force) experienced by a standard probe for brain biopsies within a brain-like material. The further goal is to provide a neurosurgeon using a master-slave tele-operated driver with direct feedback on the tissue mechanical characteristics. Two possible sensing methods, in-axis strain gauge force sensor and position-position error (control-based method), were implemented and tested, both aimed at device miniaturization. The analysis carried out was aimed at fulfilment of the psychophysics requirements for force detection and delay tolerance, also taking into account safety, which is directly related to the last two issues. Controller parameters definition is addressed and consideration is given to development of the device with integration of a haptic interface. Results show better performance of the control-based method (RMSE sensors. Force feedback in minimally invasive surgery allows the human operator to manipulate tissues as if his/her hands were in contact with the patient organs. Copyright © 2011 John Wiley & Sons, Ltd.

Hand-related physical function in rheumatic hand conditions

DEFF Research Database (Denmark)

Klokker, Louise; Terwee, Caroline B; Wæhrens, Eva Ejlersen

2016-01-01

as well as those items from the Patient Reported Outcomes Measurement Information System (PROMIS) Physical Function (PF) item bank that are relevant to patients with rheumatic hand conditions. Selection will be based on consensus among reviewers. Content validity of selected items will be established......INTRODUCTION: There is no consensus about what constitutes the most appropriate patient-reported outcome measurement (PROM) instrument for measuring physical function in patients with rheumatic hand conditions. Existing instruments lack psychometric testing and vary in feasibility...... and their psychometric qualities. We aim to develop a PROM instrument to assess hand-related physical function in rheumatic hand conditions. METHODS AND ANALYSIS: We will perform a systematic search to identify existing PROMs to rheumatic hand conditions, and select items relevant for hand-related physical function...

Hand-related physical function in rheumatic hand conditions

DEFF Research Database (Denmark)

Klokker, Louise; Terwee, Caroline; Wæhrens, Eva Elisabet Ejlersen

2016-01-01

INTRODUCTION: There is no consensus about what constitutes the most appropriate patient-reported outcome measurement (PROM) instrument for measuring physical function in patients with rheumatic hand conditions. Existing instruments lack psychometric testing and vary in feasibility...... and their psychometric qualities. We aim to develop a PROM instrument to assess hand-related physical function in rheumatic hand conditions. METHODS AND ANALYSIS: We will perform a systematic search to identify existing PROMs to rheumatic hand conditions, and select items relevant for hand-related physical function...... as well as those items from the Patient Reported Outcomes Measurement Information System (PROMIS) Physical Function (PF) item bank that are relevant to patients with rheumatic hand conditions. Selection will be based on consensus among reviewers. Content validity of selected items will be established...

Analytical solution for wave propagation through a graded index interface between a right-handed and a left-handed material.

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Dalarsson, Mariana; Tassin, Philippe

2009-04-13

We have investigated the transmission and reflection properties of structures incorporating left-handed materials with graded index of refraction. We present an exact analytical solution to Helmholtz' equation for a graded index profile changing according to a hyperbolic tangent function along the propagation direction. We derive expressions for the field intensity along the graded index structure, and we show excellent agreement between the analytical solution and the corresponding results obtained by accurate numerical simulations. Our model straightforwardly allows for arbitrary spectral dispersion.

Nietzsche et les paradoxes de la force

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Arnaud François

2011-06-01

Full Text Available According to this paper, the Nietzschean notion of force actually consists of a number of paradoxes, which I seek to formulate through the philosophical problems they pose. These paradoxes revolve around this fundamental paradox: on the one hand, force is able to rise and fall, but precisely how could such an increase and such a decrease be designed, as far as only what is given once for all can accept quantitative determinations? I come to draw two methods to answer this question (contrariety between two positive forces, reactivity of one force against the other, which suggest two ways of posing the biological and medical problems today, related to the notions of health and disease, in the scope of which Nietzsche has encountered it.

Hand Motion Classification Using a Multi-Channel Surface Electromyography Sensor

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Dong Sun

2012-01-01

Full Text Available The human hand has multiple degrees of freedom (DOF for achieving high-dexterity motions. Identifying and replicating human hand motions are necessary to perform precise and delicate operations in many applications, such as haptic applications. Surface electromyography (sEMG sensors are a low-cost method for identifying hand motions, in addition to the conventional methods that use data gloves and vision detection. The identification of multiple hand motions is challenging because the error rate typically increases significantly with the addition of more hand motions. Thus, the current study proposes two new methods for feature extraction to solve the problem above. The first method is the extraction of the energy ratio features in the time-domain, which are robust and invariant to motion forces and speeds for the same gesture. The second method is the extraction of the concordance correlation features that describe the relationship between every two channels of the multi-channel sEMG sensor system. The concordance correlation features of a multi-channel sEMG sensor system were shown to provide a vast amount of useful information for identification. Furthermore, a new cascaded-structure classifier is also proposed, in which 11 types of hand gestures can be identified accurately using the newly defined features. Experimental results show that the success rate for the identification of the 11 gestures is significantly high.

Hand motion classification using a multi-channel surface electromyography sensor.

Science.gov (United States)

Tang, Xueyan; Liu, Yunhui; Lv, Congyi; Sun, Dong

2012-01-01

The human hand has multiple degrees of freedom (DOF) for achieving high-dexterity motions. Identifying and replicating human hand motions are necessary to perform precise and delicate operations in many applications, such as haptic applications. Surface electromyography (sEMG) sensors are a low-cost method for identifying hand motions, in addition to the conventional methods that use data gloves and vision detection. The identification of multiple hand motions is challenging because the error rate typically increases significantly with the addition of more hand motions. Thus, the current study proposes two new methods for feature extraction to solve the problem above. The first method is the extraction of the energy ratio features in the time-domain, which are robust and invariant to motion forces and speeds for the same gesture. The second method is the extraction of the concordance correlation features that describe the relationship between every two channels of the multi-channel sEMG sensor system. The concordance correlation features of a multi-channel sEMG sensor system were shown to provide a vast amount of useful information for identification. Furthermore, a new cascaded-structure classifier is also proposed, in which 11 types of hand gestures can be identified accurately using the newly defined features. Experimental results show that the success rate for the identification of the 11 gestures is significantly high.

Assessment of biases in MODIS surface reflectance due to Lambertian approximation

Energy Technology Data Exchange (ETDEWEB)

Cook, Robert B [ORNL; SanthanaVannan, Suresh K [ORNL

2010-08-01

Using MODIS data and the AERONET-based Surface Reflectance Validation Network (ASRVN), this work studies errors of MODIS atmospheric correction caused by the Lambertian approximation. On one hand, this approximation greatly simplifies the radiative transfer model, reduces the size of the look-up tables, and makes operational algorithm faster. On the other hand, uncompensated atmospheric scattering caused by Lambertian model systematically biases the results. For example, for a typical bowl-shaped bidirectional reflectance distribution function (BRDF), the derived reflectance is underestimated at high solar or view zenith angles, where BRDF is high, and is overestimated at low zenith angles where BRDF is low. The magnitude of biases grows with the amount of scattering in the atmosphere, i.e., at shorter wavelengths and at higher aerosol concentration. The slope of regression of Lambertian surface reflectance vs. ASRVN bidirectional reflectance factor (BRF) is about 0.85 in the red and 0.6 in the green bands. This error propagates into the MODIS BRDF/albedo algorithm, slightly reducing the magnitude of overall reflectance and anisotropy of BRDF. This results in a small negative bias of spectral surface albedo. An assessment for the GSFC (Greenbelt, USA) validation site shows the albedo reduction by 0.004 in the near infrared, 0.005 in the red, and 0.008 in the green MODIS bands.

Compact and low-cost humanoid hand powered by nylon artificial muscles.

Science.gov (United States)

Wu, Lianjun; Jung de Andrade, Monica; Saharan, Lokesh Kumar; Rome, Richard Steven; Baughman, Ray H; Tadesse, Yonas

2017-02-03

This paper focuses on design, fabrication and characterization of a biomimetic, compact, low-cost and lightweight 3D printed humanoid hand (TCP Hand) that is actuated by twisted and coiled polymeric (TCP) artificial muscles. The TCP muscles were recently introduced and provided unprecedented strain, mechanical work, and lifecycle (Haines et al 2014 Science 343 868-72). The five-fingered humanoid hand is under-actuated and has 16 degrees of freedom (DOF) in total (15 for fingers and 1 at the palm). In the under-actuated hand designs, a single actuator provides coupled motions at the phalanges of each finger. Two different designs are presented along with the essential elements consisting of actuators, springs, tendons and guide systems. Experiments were conducted to investigate the performance of the TCP muscles in response to the power input (power magnitude, type of wave form such as pulsed or square wave, and pulse duration) and the resulting actuation stroke and force generation. A kinematic model of the flexor tendons was developed to simulate the flexion motion and compare with experimental results. For fast finger movements, short high-power pulses were employed. Finally, we demonstrated the grasping of various objects using the humanoid TCP hand showing an array of functions similar to a natural hand.

Hand Fractures

Science.gov (United States)

... All Topics A-Z Videos Infographics Symptom Picker Anatomy Bones Joints Muscles Nerves Vessels Tendons About Hand Surgery What is ... Hand Therapist? Media Find a Hand Surgeon Home Anatomy ... DESCRIPTION The bones of the hand serve as a framework. This framework supports the muscles that make the wrist and fingers move. When ...

Myoelectric control of prosthetic hands: state-of-the-art review

Directory of Open Access Journals (Sweden)

Geethanjali P

2016-07-01

Full Text Available Purushothaman Geethanjali School of Electrical Engineering Department of Control and Automation VIT University, Vellore, Tamil Nadu, India Abstract: Myoelectric signals (MES have been used in various applications, in particular, for identification of user intention to potentially control assistive devices for amputees, orthotic devices, and exoskeleton in order to augment capability of the user. MES are also used to estimate force and, hence, torque to actuate the assistive device. The application of MES is not limited to assistive devices, and they also find potential applications in teleoperation of robots, haptic devices, virtual reality, and so on. The myoelectric control-based prosthetic hand aids to restore activities of daily living of amputees in order to improve the self-esteem of the user. All myoelectric control-based prosthetic hands may not have similar operations and exhibit variation in sensing input, deciphering the signals, and actuating prosthetic hand. Researchers are focusing on improving the functionality of prosthetic hand in order to suit the user requirement with the different operating features. The myoelectric control differs in operation to accommodate various external factors. This article reviews the state of the art of myoelectric prosthetic hand, giving description of each control strategy. Keywords: EMG, assistive device, amputee, myoelectric control, electric powered, body ­powered, bioelectric signal control

Robotic Hand-Assisted Training for Spinal Cord Injury Driven by Myoelectric Pattern Recognition: A Case Report.

Science.gov (United States)

Lu, Zhiyuan; Tong, Kai-Yu; Shin, Henry; Stampas, Argyrios; Zhou, Ping

2017-10-01

A 51-year-old man with an incomplete C6 spinal cord injury sustained 26 yrs ago attended twenty 2-hr visits over 10 wks for robot-assisted hand training driven by myoelectric pattern recognition. In each visit, his right hand was assisted to perform motions by an exoskeleton robot, while the robot was triggered by his own motion intentions. The hand robot was designed for this study, which can perform six kinds of motions, including hand closing/opening; thumb, index finger, and middle finger closing/opening; and middle, ring, and little fingers closing/opening. After the training, his grip force increased from 13.5 to 19.6 kg, his pinch force remained the same (5.0 kg), his score of Box and Block test increased from 32 to 39, and his score from the Graded Redefined Assessment of Strength, Sensibility, and Prehension test Part 4.B increased from 22 to 24. He accomplished the tasks in the Graded Redefined Assessment of Strength, Sensibility, and Prehension test Part 4.B 28.8% faster on average. The results demonstrate the feasibility and effectiveness of robot-assisted training driven by myoelectric pattern recognition after spinal cord injury.

Use of Item Response Curves of the Force and Motion Conceptual Evaluation to Compare Japanese and American Students' Views on Force and Motion

Science.gov (United States)

Ishimoto, Michi; Davenport, Glen; Wittmann, Michael C.

2017-01-01

Student views of force and motion reflect the personal experiences and physics education of the student. With a different language, culture, and educational system, we expect that Japanese students' views on force and motion might be different from those of American students. The Force and Motion Conceptual Evaluation (FMCE) is an instrument used…

Force Maintenance Accuracy Using a Tool: Effects of Magnitude and Feedback.

Science.gov (United States)

Wang, Dangxiao; Jiao, Jian; Yang, Gaofeng; Zhang, Yuru

2016-01-01

The ability to precisely produce a force via a hand-held tool is crucial in fine manipulations. In this paper, we study the error in maintaining a target force ranging from 0.5 to 5 N under two concurrent feedback conditions: pure haptic feedback (H), and visual plus haptic feedback (V + H). The results show that absolute error (AE) increases along with the increasing force magnitudes under both feedback conditions. For target forces ranging from 1.5 to 5 N, the relative error (RE) is approximately constant under both feedback conditions, while the RE significantly increases for the small target forces of 0.5 and 1 N. The effect of force magnitude on the coefficient of variation (CoV) is not significant for target forces ranging from 1.5 to 5 N. For both the RE and the CoV, the values under the H condition are significantly larger than those under the V + H condition. The effect of manipulation mode (i.e., a hand-held tool or a fingertip) on force maintenance accuracy is complex, i.e., its effect on RE is not significant while its effect on CoV is significant. Only for the magnitude of 0.5 N, the RE of using the tool was significantly greater than that of using the fingertip under both feedback conditions. For both the RE and the CoV, no interaction effect exists between manipulation mode, force magnitude and feedback condition.

Injury Risk Assessment of Extravehicular Mobility Unit (EMU) Phase VI and Series 4000 Gloves During Extravehicular Activity (EVA) Hand Manipulation Tasks

Science.gov (United States)

Kilby, Melissa

2015-01-01

Functional Extravehicular Mobility Units (EMUs) with high precision gloves are essential for the success of Extravehicular Activity (EVA). Previous research done at NASA has shown that total strength capabilities and performance are reduced when wearing a pressurized EMU. The goal of this project was to characterize the human-space suit glove interaction and assess the risk of injury during common EVA hand manipulation tasks, including pushing, pinching and gripping objects. A custom third generation sensor garment was designed to incorporate a combination of sensors, including force sensitive resistors, strain gauge sensors, and shear force sensors. The combination of sensors was used to measure the forces acting on the finger nails, finger pads, finger tips, as well as the knuckle joints. In addition to measuring the forces, data was collected on the temperature, humidity, skin conductance, and blood perfusion of the hands. Testing compared both the Phase VI and Series 4000 glove against an ungloved condition. The ungloved test was performed wearing the sensor garment only. The project outcomes identified critical landmarks that experienced higher workloads and are more likely to suffer injuries. These critical landmarks varied as a function of space suit glove and task performed. The results showed that less forces were acting on the hands while wearing the Phase VI glove as compared to wearing the Series 4000 glove. Based on our findings, the engineering division can utilize these methods for optimizing the current space suit glove and designing next generation gloves to prevent injuries and optimize hand mobility and comfort.

Investigation of index finger triggering force using a cadaver experiment: Effects of trigger grip span, contact location, and internal tendon force.

Science.gov (United States)

Chang, Joonho; Freivalds, Andris; Sharkey, Neil A; Kong, Yong-Ku; Mike Kim, H; Sung, Kiseok; Kim, Dae-Min; Jung, Kihyo

2017-11-01

A cadaver study was conducted to investigate the effects of triggering conditions (trigger grip span, contact location, and internal tendon force) on index finger triggering force and the force efficiency of involved tendons. Eight right human cadaveric hands were employed, and a motion simulator was built to secure and control the specimens. Index finger triggering forces were investigated as a function of different internal tendon forces (flexor digitorum profundus + flexor digitorum superficialis = 40, 70, and 100 N), trigger grip spans (40, 50, and 60 mm), and contact locations between the index finger and a trigger. Triggering forces significantly increased when internal tendon forces increased from 40 to 100 N. Also, trigger grip spans and contact locations had significant effects on triggering forces; maximum triggering forces were found at a 50 mm span and the most proximal contact location. The results revealed that only 10-30% of internal tendon forces were converted to their external triggering forces. Copyright © 2017 Elsevier Ltd. All rights reserved.

Influence of some factors upon forces transmission during UO2 powders compaction

International Nuclear Information System (INIS)

Deju, R.; Georgeoni, P.; Turcanu, N.C.; Dobos, I.

1979-01-01

The ratio between the transmitted force to the lower punch and the force applied to the upper punch is a constant, k, on given conditions. The obtained results have shown the validity of the proposed relation between the ratio, k, on the one hand, and the inverse of mass compact, the ratio between height and diameter, the average density of the compact, on the other hand. The influence of the powder quality, powder conditioning, granulometry of the conditioned material, quality and quantity of the lubricant, over the k ratio, during the uranium dioxide powder compaction, were studied. (author)

The Case for Hand Stencils and Prints as Proprio-Performative

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Patricia Dobrez

2013-12-01

Full Text Available Hand stencils and prints are found globally in rock art, reflecting the sine qua non role of the hand in human evolution. The body itself is the tool, and it affords the registering, in the form of a trace, of what perceptual psychology terms an “ecological self”. More than a “signature”, a hand mark is uniquely “proprio-performative”, combining inscription of individuality with direct address. The first part of this paper looks at what might get in the way of a universally readable primary meaning by methodically addressing issues of technique and cultural specificity. Having cleared the ground, it proceeds to make its argument for hand stencils and prints as constituting a special category of rock art imagery. It does this by having recourse to ideas currently under discussion in cognitive psychology: awareness of self-agency and body-ownership, as well as the notion of perceived looming in pictures. Finally, an appeal is made to the claim for a key mirror neuron role in communication. Because they are traces of actions eliciting mirror-neuronal responses, hand marks are seen as affording a readily accessible external term in an exchange of meaning on which a system of graphic communication might be built.

Hand Matters: Left-Hand Gestures Enhance Metaphor Explanation

Science.gov (United States)

Argyriou, Paraskevi; Mohr, Christine; Kita, Sotaro

2017-01-01

Research suggests that speech-accompanying gestures influence cognitive processes, but it is not clear whether the gestural benefit is specific to the gesturing hand. Two experiments tested the "(right/left) hand-specificity" hypothesis for self-oriented functions of gestures: gestures with a particular hand enhance cognitive processes…

[Hand osteoarthritis].

Science.gov (United States)

Šenolt, Ladislav

Hand osteoarthritis (OA) is a common chronic disorder causing pain and limitation of mobility of affected joints. The prevalence of hand OA increases with age and more often affects females. Clinical signs obviously do not correlate with radiographic findings - symptomatic hand OA affects approximately 26 % of adult subjects, but radiographic changes can be found in up to two thirds of females and half of males older than 55 years.Disease course differ among individual patients. Hand OA is a heterogeneous disease. Nodal hand OA is the most common subtype affecting interphalangeal joints, thumb base OA affects first carpometacarpal joint. Erosive OA represents a specific subtype of hand OA, which is associated with joint inflammation, more pain, functional limitation and erosive findings on radiographs.Treatment of OA is limited. Analgesics and nonsteroidal anti-inflammatory drugs are the only agents reducing symptoms. New insights into the pathogenesis of disease should contribute to the development of novel effective treatment of hand OA.

Low frequency temperature forcing of chemical oscillations.

Science.gov (United States)

Novak, Jan; Thompson, Barnaby W; Wilson, Mark C T; Taylor, Annette F; Britton, Melanie M

2011-07-14

The low frequency forcing of chemical oscillations by temperature is investigated experimentally in the Belousov-Zhabotinsky (BZ) reaction and in simulations of the Oregonator model with Arrhenius temperature dependence of the rate constants. Forcing with temperature leads to modulation of the chemical frequency. The number of response cycles per forcing cycle is given by the ratio of the natural frequency to the forcing frequency and phase locking is only observed in simulations when this ratio is a whole number and the forcing amplitude is small. The global temperature forcing of flow-distributed oscillations in a tubular reactor is also investigated and synchronisation is observed in the variation of band position with the external signal, reflecting the periodic modulation of chemical oscillations by temperature.

Factors which influence on force of boxers` and footballers` shots on the stage of base pre-treatment

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Nikitenko S.A.

2011-02-01

Full Text Available On the stage of base pre-treatment factors which influence on force of shots the hands of boxers and feet of footballers as a criterion of competition activity efficiency are certain. Connections are certain between force of shots by hands and feet. The objective test of the specialized sense determination of boxers` and footballers` shots is offered. It is recommended to develop maximal and explosive force of all parts of sportsman body at implementation preparatory exercises with the further transfer of physical qualities on implementation of the special exercises.

Time as a Measure: Elementary Students Positioning the Hands of an Analog Clock

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Darrell Earnest

2018-06-01

Full Text Available Elementary students have difficulty with the topic of time. The present study investigated students’ actions to position hour and minute hands on an analog clock to indicate particular times of the day. Using one-on-one interviews with students in Grades 2 and 4 (n = 48, we analyzed whether students were more accurate for one hand indicator (hour or minute versus the other as well as their solution approaches as they positioned each hand. We first present a quantitative analysis of student performance to document whether hour and minute hands posed differential challenges for students as they positioned hands to indicate particular times. Results indicate the hour hand is significantly more challenging to position accurately than the minute hand. Students’ solutions reflected varied approaches, including consideration of the quantitative hour-minute multiplicative relationship, attention to part-whole relations, and matching numbers from the provided time to numerals on the clock. We discuss implications for theory and instruction, including the relationship of time to length measure learning trajectories and the current treatment of time in K-12 mathematics standards for the United States.

Toward the restoration of hand use to a paralyzed monkey: brain-controlled functional electrical stimulation of forearm muscles.

Directory of Open Access Journals (Sweden)

Eric A Pohlmeyer

2009-06-01

Full Text Available Loss of hand use is considered by many spinal cord injury survivors to be the most devastating consequence of their injury. Functional electrical stimulation (FES of forearm and hand muscles has been used to provide basic, voluntary hand grasp to hundreds of human patients. Current approaches typically grade pre-programmed patterns of muscle activation using simple control signals, such as those derived from residual movement or muscle activity. However, the use of such fixed stimulation patterns limits hand function to the few tasks programmed into the controller. In contrast, we are developing a system that uses neural signals recorded from a multi-electrode array implanted in the motor cortex; this system has the potential to provide independent control of multiple muscles over a broad range of functional tasks. Two monkeys were able to use this cortically controlled FES system to control the contraction of four forearm muscles despite temporary limb paralysis. The amount of wrist force the monkeys were able to produce in a one-dimensional force tracking task was significantly increased. Furthermore, the monkeys were able to control the magnitude and time course of the force with sufficient accuracy to track visually displayed force targets at speeds reduced by only one-third to one-half of normal. Although these results were achieved by controlling only four muscles, there is no fundamental reason why the same methods could not be scaled up to control a larger number of muscles. We believe these results provide an important proof of concept that brain-controlled FES prostheses could ultimately be of great benefit to paralyzed patients with injuries in the mid-cervical spinal cord.

“Hand down, Man down.” Analysis of Defensive Adjustments in Response to the Hot Hand in Basketball Using Novel Defense Metrics

Science.gov (United States)

Csapo, Peter; Raab, Markus

2014-01-01

The hot-hand phenomenon, according to which a player’s performance is significantly elevated during certain phases relative to the expected performance based on the player’s base rate, has left many researchers and fans in basketball puzzled: The vast majority of players, coaches and fans believe in its existence but statistical evidence supporting this belief has been scarce. It has frequently been argued that the hot hand in basketball is unobservable because of strategic adjustments and defensive interference of the opposing team. We use a dataset with novel metrics, such as the number of defenders and the defensive intensity for each shot attempt, which enable us to directly measure defensive pressure. First, we examine how the shooting percentage of NBA players changes relative to the attributes of each metric. We find that it is of lesser importance by how many defenders a player is guarded but that defensive intensity, e.g., whether a defender raises his hand when his opponent shoots, has a larger impact on shot difficulty. Second, we explore how the underlying metrics and shooting accuracy change as a function of streak length. Our results indicate that defensive pressure and shot difficulty increase (decrease) during hot (cold) streaks, so that defenders seem to behave according to the hot-hand belief and try to force hot players into more difficult shots. However, we find that shooting percentages of presumably hot players do not increase and that shooting performance is not related to streakiness, so that the defenders’ hot-hand behavior cannot be considered ecologically rational. Therefore, we are unable to find evidence in favor of the hot-hand effect even when accounting for defensive pressure. PMID:25474443

Denmark: HAND in HAND Policy Questionnaire

DEFF Research Database (Denmark)

Laursen, Hilmar Dyrborg; Nielsen, Birgitte Lund

2018-01-01

Som del af det internationale EU finansierede projekt Hand in Hand, der fokuserer på de såkaldte SEI-kompetencer (Social, Emotional, Intercultural), er dansk policy i relation til elevernes sociale, emotionelle og interkulturelle læring kortlagt i denne rapport. Der refereres bl.a. til "elevernes...

Hand exposure of nuclear medicine workers

International Nuclear Information System (INIS)

Jankowski, J.; Wrzesien, M.; Olszewski, J.

2007-01-01

Full text: Workers of Nuclear Medicine units labelling radiopharmaceuticals with technetium 99mTc are exposed to gamma radiation. The general opinion that individual dosimetry, with the aid of personal dose meters worn on the radiopharmacists' body, reflects true exposure of that occupational group is false. The use of ring dose meters worn on the fingers does not provide a true indication of the exposure of the radiopharmacists' hands. Measurements performed in 2001 - 2005 by the Institute of Occupational Medicine, with the use of dose meters placed on radiopharmacists' fingers, revealed that the equivalent dose to the hands ranged from 5.5 mSv to 95 mSv. Mean annual dose was 29 mSv. The finger dose meter is usually worn at the base of the middle finger, even if it is the fingertips that are most exposed to the radiation. In 2004-2005, we determined the distributions of the doses to the radiopharmacists' hands. The determinations were performed during one working day. During those determinations, thermo luminescence detectors were placed at 19 locations on the left and right hands. The subjects were 13 workers of 5 nuclear medicine units. The recorded doses ranged from 0.02 to 28 mSv for the left hand, and from 0.01 to 18 mSv for the right hand. The results show that the tips of the thumb, index finger and middle finger were the most exposed areas. The chances that the skin of those three fingertips receives yearly doses in excess of the current limit of 500 mSv are fairly high. It is recommended, therefore, to use annual dose constraints for the dose recorded by the ring dose meter at the level of 100 mSv per year as a safe limit to protect workers from the risk of exceeding the limit value for the dermal exposure. Whenever the dose value approaches 100 mSv/u, where u is the number of determinations of the partial doses performed during the period of one year, steps must be undertaken to explain the reasons why such a level has been reached and suitable

Hand Surgery: Anesthesia

Science.gov (United States)

... All Topics A-Z Videos Infographics Symptom Picker Anatomy Bones Joints Muscles Nerves Vessels Tendons About Hand Surgery What is a Hand Surgeon? What is a Hand Therapist? Media Find a Hand Surgeon Home Anatomy Hand Surgery Anesthesia Email to a friend * required ...

Measuring Agglomeration Forces in a Financial Center

OpenAIRE

Bourgain, Arnaud; Pieretti, Patrice

2006-01-01

Basing on Scitovsky's (1954) definition of external economies and applying the method of Caballero and Lyons (1990) to macro data of Luxembourg services industry, we find significant agglomeration forces between financial intermediaries (downstream industry) on the one hand and business services and computer industry (upstream industries) on the other.

U.S. Special Forces: culture warriors

OpenAIRE

Hill, Joshua L.

2014-01-01

Approved for public release; distribution is unlimited U.S. Army Special Forces (SF) are consistently called upon to work by, with, and through indigenous forces to conduct special warfare. Current SF doctrine reflects an increasing desire for SF operators to be culturally proficient in order to work closely with locals, advise foreign militaries, and build relationships with host-nation counterparts. Despite the doctrinal emphasis on cultural proficiency, SF doctrine offers little concret...

Hand Anatomy

Science.gov (United States)

... All Topics A-Z Videos Infographics Symptom Picker Anatomy Bones Joints Muscles Nerves Vessels Tendons About Hand Surgery What is ... Hand Therapist? Media Find a Hand Surgeon Home Anatomy Bones Joints Muscles Nerves Vessels Tendons Anatomy The upper extremity is ...

A METHOD USING GNSS LH-REFLECTED SIGNALS FOR SOIL ROUGHNESS ESTIMATION

Directory of Open Access Journals (Sweden)

Y. Jia

2018-04-01

Full Text Available Global Navigation Satellite System Reflectometry (GNSS-R is based on the concept of receiving GPS signals reflected by the ground using a passive receiver. The receiver can be on the ground or installed on a small aircraft or UAV and collects the electromagnetic field scattered from the surface of the Earth. The received signals are then analyzed to determine the characteristics of the surface. Many research has been reported showing the capability of the GNSS-R technique. However, the roughness of the surface impacts the phase and amplitude of the received signals, which is still a worthwhile study. This paper presented a method can be used by GNSS-R to estimate the surface roughness. First, the data was calculated in the specular reflection with the assumption of a flat surface with different permittivity. Since the power reflectivity can be evaluated as the ratio of left-hand (LH reflected signal to the direct right-hand (RH signal. Then a semi-empirical roughness model was applied to the data for testing. The results showed the method can distinguish the water and the soil surface. The sensitivity of the parameters was also analyzed. It indicates this method for soil roughness estimation can be used by GNSS-R LH reflected signals. In the next step, several experiments need to be done for improving the model and exploring the way of the estimation.

a Method Using Gnss Lh-Reflected Signals for Soil Roughness Estimation

Science.gov (United States)

Jia, Y.; Li, W.; Chen, Y.; Lv, H.; Pei, Y.

2018-04-01

Global Navigation Satellite System Reflectometry (GNSS-R) is based on the concept of receiving GPS signals reflected by the ground using a passive receiver. The receiver can be on the ground or installed on a small aircraft or UAV and collects the electromagnetic field scattered from the surface of the Earth. The received signals are then analyzed to determine the characteristics of the surface. Many research has been reported showing the capability of the GNSS-R technique. However, the roughness of the surface impacts the phase and amplitude of the received signals, which is still a worthwhile study. This paper presented a method can be used by GNSS-R to estimate the surface roughness. First, the data was calculated in the specular reflection with the assumption of a flat surface with different permittivity. Since the power reflectivity can be evaluated as the ratio of left-hand (LH) reflected signal to the direct right-hand (RH) signal. Then a semi-empirical roughness model was applied to the data for testing. The results showed the method can distinguish the water and the soil surface. The sensitivity of the parameters was also analyzed. It indicates this method for soil roughness estimation can be used by GNSS-R LH reflected signals. In the next step, several experiments need to be done for improving the model and exploring the way of the estimation.

Slip detection with accelerometer and tactile sensors in a robotic hand model

Science.gov (United States)

Al-Shanoon, Abdulrahman Abdulkareem S.; Anom Ahmad, Siti; Hassan, Mohd. Khair b.

2015-11-01

Grasp planning is an interesting issue in studies that dedicated efforts to investigate tactile sensors. This study investigated the physical force interaction between a tactile pressure sensor and a particular object. It also characterized object slipping during gripping operations and presented secure regripping of an object. Acceleration force was analyzed using an accelerometer sensor to establish a completely autonomous robotic hand model. An automatic feedback control system was applied to regrip the particular object when it commences to slip. Empirical findings were presented in consideration of the detection and subsequent control of the slippage situation. These findings revealed the correlation between the distance of the object slipping and the required force to regrip the object safely. This approach is similar to Hooke's law formula.

The thickness of the A1 pulleys reflects the disability of hand mobility in scleroderma. A pilot study using high-frequency ultrasound

Energy Technology Data Exchange (ETDEWEB)

Tagliafico, Alberto, E-mail: atagliafico@sirm.org [Department of Radiology, National Institute for Cancer Research, Genova (Italy); Panico, Nicoletta [Division of Immunology, Department of Internal Medicine, University of Genova, Genova (Italy); Serafini, Giovanni [Department of Radiology, Santa Corona Hospital, Pietra Ligure (Italy); Ghio, Massimo [Division of Immunology, Department of Internal Medicine, University of Genova, Genova (Italy); Martinoli, Carlo [Department of Radiology, University of Genova, Genova (Italy)

2011-02-15

Background: Hand involvement in scleroderma is a serious concern. Clinical tests to asses hand dysfunction are based on the experience of the clinician. Objective: To asses if utrasonographic (US) measurement of A1 pulley thickness may be used as an indicator of hand mobility in scleroderma. Materials and methods: Institutional review board approval and patient informed consent was obtained. Twenty-eight patients affected suffering from scleroderma and 40 healthy controls were prospectively evaluated by two blinded radiologists with US, with a transducer operating at 17 MHz. A1 pulley thickness was measured and correlated with the Hand Mobility in Scleroderma Test (HAMIS) and disease duration. Results: The thickness of the A1 pulley was greater in sclerodermic patients than in controls (p < 0.05). Intra and inter-observer agreement were better for ultrasound (0.94;0.88) than for HAMIS tests (0.71;0.70). A good correlation between pulley thickness, hand mobility and disease duration was found (r = 0.78, p < 0.018; r = 0.54, p < 0.05). Conclusion: A1 pulley thickness measured on ultrasound correlates with hand mobility and disease duration. Ultrasound is an useful tool to evaluate hand disability in scleroderma.

The thickness of the A1 pulleys reflects the disability of hand mobility in scleroderma. A pilot study using high-frequency ultrasound

International Nuclear Information System (INIS)

Tagliafico, Alberto; Panico, Nicoletta; Serafini, Giovanni; Ghio, Massimo; Martinoli, Carlo

2011-01-01

Background: Hand involvement in scleroderma is a serious concern. Clinical tests to asses hand dysfunction are based on the experience of the clinician. Objective: To asses if utrasonographic (US) measurement of A1 pulley thickness may be used as an indicator of hand mobility in scleroderma. Materials and methods: Institutional review board approval and patient informed consent was obtained. Twenty-eight patients affected suffering from scleroderma and 40 healthy controls were prospectively evaluated by two blinded radiologists with US, with a transducer operating at 17 MHz. A1 pulley thickness was measured and correlated with the Hand Mobility in Scleroderma Test (HAMIS) and disease duration. Results: The thickness of the A1 pulley was greater in sclerodermic patients than in controls (p < 0.05). Intra and inter-observer agreement were better for ultrasound (0.94;0.88) than for HAMIS tests (0.71;0.70). A good correlation between pulley thickness, hand mobility and disease duration was found (r = 0.78, p < 0.018; r = 0.54, p < 0.05). Conclusion: A1 pulley thickness measured on ultrasound correlates with hand mobility and disease duration. Ultrasound is an useful tool to evaluate hand disability in scleroderma.

Attachment patterns and Reflective Functioning in Traumatized Refugees

DEFF Research Database (Denmark)

Riber, Karin

, attachment systems, emotion-regulation, and personality. Attachment research on the consequences of organized violence and forced migration is sparse and research in PTSD-treatment for refugees is lacking behind. Cumulative pre-migration traumatic experiences and ongoing post-migration stressors might lead...... Psychiatry, Denmark. June 2011-March 2012 patients fulfilling inclusion criteria entered the trial. The present sample consisted of those of the 135 patients who were Arabic-speaking (N=67). Measures involved the Adult Attachment Interview, The Reflective Functioning Scale, Revised Adult Attachment Scale...... and reflective functioning will be described and implications for psychotherapy discussed. Keywords: Adult attachment, reflective functioning, refugee traumatisation....

Microstructural asymmetry of the corticospinal tracts predicts right-left differences in circle drawing skill in right-handed adolescents

DEFF Research Database (Denmark)

Angstmann, Steffen; Madsen, Kathrine Skak; Skimminge, Arnold

2016-01-01

Most humans show a strong preference to use their right hand, but strong preference for the right hand does not necessarily imply a strong right-left asymmetry in manual proficiency (i.e., dexterity). Here we tested the hypothesis that intra-individual asymmetry of manual proficiency would...... be reflected in microstructural differences between the right and left corticospinal tract (CST) in a cohort of 52 right-handed typically-developing adolescents (11-16 years). Participants were asked to fluently draw superimposed circles with their right dominant and left non-dominant hand. Temporal regularity...... of circle drawing movements was assessed for each hand using a digitizing tablet. Although all participants were right-handed, there was substantial inter-individual variation regarding the relative right-hand advantage for fluent circle drawing. All subjects underwent whole-brain diffusion tensor imaging...

Effects of electromyography-driven robot-aided hand training with neuromuscular electrical stimulation on hand control performance after chronic stroke.

Science.gov (United States)

Rong, Wei; Tong, Kai Yu; Hu, Xiao Ling; Ho, Sze Kit

2015-03-01

An electromyography-driven robot system integrated with neuromuscular electrical stimulation (NMES) was developed to investigate its effectiveness on post-stroke rehabilitation. The performance of this system in assisting finger flexion/extension with different assistance combinations was evaluated in five stroke subjects. Then, a pilot study with 20-sessions training was conducted to evaluate the training's effectiveness. The results showed that combined assistance from the NMES-robot could improve finger movement accuracy, encourage muscle activation of the finger muscles and suppress excessive muscular activities in the elbow joint. When assistances from both NMES and the robot were 50% of their maximum assistances, finger-tracking performance had the best results, with the lowest root mean square error, greater range of motion, higher voluntary muscle activations of the finger joints and lower muscle co-contraction in the finger and elbow joints. Upper limb function improved after the 20-session training, indicated by the increased clinical scores of Fugl-Meyer Assessment, Action Research Arm Test and Wolf Motor Function Test. Muscle co-contraction was reduced in the finger and elbow joints reflected by the Modified Ashworth Scale. The findings demonstrated that an electromyography-driven NMES-robot used for chronic stroke improved hand function and tracking performance. Further research is warranted to validate the method on a larger scale. Implications for Rehabilitation The hand robotics and neuromuscular electrical stimulation (NMES) techniques are still separate systems in current post-stroke hand rehabilitation. This is the first study to investigate the combined effects of the NMES and robot on hand rehabilitation. The finger tracking performance was improved with the combined assistance from the EMG-driven NMES-robot hand system. The assistance from the robot could improve the finger movement accuracy and the assistance from the NMES could reduce the

The effect of hand position on perceived finger orientation in left- and right-handers.

Science.gov (United States)

Fraser, Lindsey E; Harris, Laurence R

2017-12-01

In the absence of visual feedback, the perceived orientation of the fingers is systematically biased. In right-handers these biases are asymmetrical between the left and right hands in the horizontal plane and may reflect common functional postures for the two hands. Here we compared finger orientation perception in right- and left-handed participants for both hands, across various hand positions in the horizontal plane. Participants rotated a white line on a screen optically superimposed over their hand to indicate the perceived position of the finger that was rotated to one of seven orientations with the hand either aligned with the body midline, aligned with the shoulder, or displaced by twice the shoulder-to-midline distance from the midline. We replicated the asymmetric pattern of biases previously reported in right-handed participants (left hand biased towards an orientation ~30° inward, right hand ~10° inward). However, no such asymmetry was found for left-handers, suggesting left-handers may use different strategies when mapping proprioception to body or space coordinates and/or have less specialization of function between the hands. Both groups' responses rotated further outward as distance of the hand from the body midline increased, consistent with other research showing spatial orientation estimates diverge outward in the periphery. Finally, for right-handers, precision of responses was best when the hand was aligned with the shoulder compared to the other two conditions. These results highlight the unique role of hand dominance and hand position in perception of finger orientation, and provide insight into the proprioceptive position sense of the upper limbs.

Force sensor for measuring power transfer between the human body and the environment

NARCIS (Netherlands)

Brookhuis, Robert Anton; Lammerink, Theodorus S.J.; Wiegerink, Remco J.; de Boer, Meint J.; Elwenspoek, Michael Curt

2011-01-01

A force sensor with capacitive readout is designed and realized for the measurement of mechanical power transfer. The ultimate aim is to integrate this in a glove that determines the complete mechanical interaction between the human hand and the environment. The sensor measures the normal force and

Growing in Motion: The Circulation of Used Things on Second-hand Markets

Directory of Open Access Journals (Sweden)

Staffan Appelgren

2015-03-01

Full Text Available From having been associated with poverty and low status, the commerce with second-hand goods in retro shops, flea markets, vintage boutiques and trade via Internet is expanding in Sweden as in many countries in the Global North. This article argues that a significant aspect of the recent interest in second-hand and reuse concerns the meaning fulness of circulation in social life. Using classic anthropological theory on how the circulation of material culture generates sociality, it focuses on how second-hand things are transformed by their circulation. Rather than merely having cultural biographies, second-hand things are reconfigured through their shifts between different social contexts in a process that here is understood as a form of growing. Similar to that of an organism, this growth is continuous, irreversible and dependent on forces both internal and external to it. What emerges is a category of things that combine elements of both commodities and gifts, as these have been theorized within anthropology. While first cycle commodities are purified of their sociality, the hybrid second-hand thing derives its ontological status as well as social and commercial value precisely from retaining "gift qualities", produced by its circulation.

End-point impedance measurements across dominant and nondominant hands and robotic assistance with directional damping.

Science.gov (United States)

Erden, Mustafa Suphi; Billard, Aude

2015-06-01

The goal of this paper is to perform end-point impedance measurements across dominant and nondominant hands while doing airbrush painting and to use the results for developing a robotic assistance scheme. We study airbrush painting because it resembles in many ways manual welding, a standard industrial task. The experiments are performed with the 7 degrees of freedom KUKA lightweight robot arm. The robot is controlled in admittance using a force sensor attached at the end-point, so as to act as a free-mass and be passively guided by the human. For impedance measurements, a set of nine subjects perform 12 repetitions of airbrush painting, drawing a straight-line on a cartoon horizontally placed on a table, while passively moving the airbrush mounted on the robot's end-point. We measure hand impedance during the painting task by generating sudden and brief external forces with the robot. The results show that on average the dominant hand displays larger impedance than the nondominant in the directions perpendicular to the painting line. We find the most significant difference in the damping values in these directions. Based on this observation, we develop a "directional damping" scheme for robotic assistance and conduct a pilot study with 12 subjects to contrast airbrush painting with and without robotic assistance. Results show significant improvement in precision with both dominant and nondominant hands when using robotic assistance.

Phototaxis and polarotaxis hand in hand: night dispersal flight of aquatic insects distracted synergistically by light intensity and reflection polarization

Science.gov (United States)

Boda, Pál; Horváth, Gábor; Kriska, György; Blahó, Miklós; Csabai, Zoltán

2014-05-01

Based on an earlier observation in the field, we hypothesized that light intensity and horizontally polarized reflected light may strongly influence the flight behaviour of night-active aquatic insects. We assumed that phototaxis and polarotaxis together have a more harmful effect on the dispersal flight of these insects than they would have separately. We tested this hypothesis in a multiple-choice field experiment using horizontal test surfaces laid on the ground. We offered simultaneously the following visual stimuli for aerial aquatic insects: (1) lamplit matte black canvas inducing phototaxis alone, (2) unlit shiny black plastic sheet eliciting polarotaxis alone, (3) lamplit shiny black plastic sheet inducing simultaneously phototaxis and polarotaxis, and (4) unlit matte black canvas as a visually unattractive control. The unlit matte black canvas trapped only a negligible number (13) of water insects. The sum (16,432) of the total numbers of water beetles and bugs captured on the lamplit matte black canvas (7,922) and the unlit shiny black plastic sheet (8,510) was much smaller than the total catch (29,682) caught on the lamplit shiny black plastic sheet. This provides experimental evidence for the synergistic interaction of phototaxis (elicited by the unpolarized direct lamplight) and polarotaxis (induced by the strongly and horizontally polarized plastic-reflected light) in the investigated aquatic insects. Thus, horizontally polarizing artificial lamplit surfaces can function as an effective ecological trap due to this synergism of optical cues, especially in the urban environment.

Microstructural asymmetry of the corticospinal tracts predicts right-left differences in circle drawing skill in right-handed adolescents

OpenAIRE

Angstmann, Steffen; Madsen, Kathrine Skak; Skimminge, Arnold; Jernigan, Terry L; Baaré, William F C; Siebner, Hartwig Roman

2016-01-01

© 2016, The Author(s). Most humans show a strong preference to use their right hand, but strong preference for the right hand does not necessarily imply a strong right–left asymmetry in manual proficiency (i.e., dexterity). Here we tested the hypothesis that intra-individual asymmetry of manual proficiency would be reflected in microstructural differences between the right and left corticospinal tract (CST) in a cohort of 52 right-handed typically-developing adolescents (11–16 years). Partici...

Muscular forearm activation in hand-grip tasks with superimposition of mechanical vibrations.

Science.gov (United States)

Fattorini, L; Tirabasso, A; Lunghi, A; Di Giovanni, R; Sacco, F; Marchetti, E

2016-02-01

The purpose of this paper is to evaluate the muscular activation of the forearm, with or without vibration stimuli at different frequencies while performing a grip tasks of 45s at various level of exerted force. In 16 individuals, 9 females and 7 males, the surface electromyogram (EMG) of extensor carpi radialis longus and the flexor carpi ulnari muscles were assessed. At a short latency from onset EMG, RMS and the level of MU synchronization were assessed to evaluate the muscular adaptations. Whilst a trend of decay of EMG Median frequency (MDFd) was employed as an index of muscular fatigue. Muscular tasks consists of the grip of an instrumented handle at a force level of 20%, 30%, 40%, 60% of the maximum voluntary force. Vibration was supplied by a shaker to the hand in mono-frequential waves at 20, 30, 33 and 40Hz. In relation to EMG, RMS and MU synchronization, the muscular activation does not seem to change with the superimposition of the mechanical vibrations, on the contrary a lower MDFd was observed at 33Hz than in absence of vibration. This suggests an early muscular fatigue induced by vibration due to the fact that 33Hz is a resonance frequency for the hand-arm system. Copyright © 2015 Elsevier Ltd. All rights reserved.

Climate forcing by anthropogenic aerosols

Energy Technology Data Exchange (ETDEWEB)

Charlson, R J; Schwartz, S E; Hales, J M; Cess, R D; Coakley, Jr, J A; Hansen, J E; Hofmann, D J [University of Washington, Seattle, WA (USA). Inst. for Environmental Studies, Dept. of Atmospheric Sciences

1992-01-24

Although long considered to be of marginal importance to global climate change, tropospheric aerosol contributes substantially to radiative forcing, and anthropogenic sulfate aerosol in particular has imposed a major perturbation to this forcing. Both the direct scattering of short wavelength solar radiation and the modification of the shortwave reflective properties of clouds by sulfate aerosol particles increase planetary albedo, thereby exerting a cooling influence on the planet. Current climate forcing due to anthropogenic sulfate is estimated to be -1 to -2 watts per square metre, globally averaged. This perturbation is comparable in magnitude to current anthropogenic greenhouse gas forcing but opposite in sign. Thus, the aerosol forcing has likely offset global greenhouse warming to a substantial degree. However, differences in geographical and seasonal distributions of these forcings preclude any simple compensation. Aerosol effects must be taken into account in evaluating anthropogenic influences on past, current, and projected future climate and in formulating policy regarding controls on emission of greenhouse gases and sulfur dioxide. Resolution of such policy issues requires integrated research on the magnitude and geographical distribution of aerosol climate forcing and on the controlling chemical and physical processes. 73 refs., 4 figs., 2 tabs.

Climate forcing by anthropogenic aerosols.

Science.gov (United States)

Charlson, R J; Schwartz, S E; Hales, J M; Cess, R D; Coakley, J A; Hansen, J E; Hofmann, D J

1992-01-24

Although long considered to be of marginal importance to global climate change, tropospheric aerosol contributes substantially to radiative forcing, and anthropogenic sulfate aerosol in particular has imposed a major perturbation to this forcing. Both the direct scattering of shortwavelength solar radiation and the modification of the shortwave reflective properties of clouds by sulfate aerosol particles increase planetary albedo, thereby exerting a cooling influence on the planet. Current climate forcing due to anthropogenic sulfate is estimated to be -1 to -2 watts per square meter, globally averaged. This perturbation is comparable in magnitude to current anthropogenic greenhouse gas forcing but opposite in sign. Thus, the aerosol forcing has likely offset global greenhouse warming to a substantial degree. However, differences in geographical and seasonal distributions of these forcings preclude any simple compensation. Aerosol effects must be taken into account in evaluating anthropogenic influences on past, current, and projected future climate and in formulating policy regarding controls on emission of greenhouse gases and sulfur dioxide. Resolution of such policy issues requires integrated research on the magnitude and geographical distribution of aerosol climate forcing and on the controlling chemical and physical processes.

Robotic hand project

OpenAIRE

Karaçizmeli, Cengiz; Çakır, Gökçe; Tükel, Dilek

2014-01-01

In this work, the mechatronic based robotic hand is controlled by the position data taken from the glove which has flex sensors mounted to capture finger bending of the human hand. The angular movement of human hand’s fingers are perceived and processed by a microcontroller, and the robotic hand is controlled by actuating servo motors. It has seen that robotic hand can simulate the movement of the human hand that put on the glove, during tests have done. This robotic hand can be used not only...

Clean Hands Count

Medline Plus

Full Text Available ... has been rented. This feature is not available right now. Please try again later. Published on May ... 34 How The Clean Hands - Safe Hands System Works - Duration: 3:38. Clean Hands-Safe Hands 5, ...

Priming Hand Motor Training with Repetitive Stimulation of the Fingertips; Performance Gain and Functional Imaging of Training Effects.

Science.gov (United States)

Lotze, Martin; Ladda, Aija Marie; Roschka, Sybille; Platz, Thomas; Dinse, Hubert R

Application of repetitive electrical stimulation (rES) of the fingers has been shown to improve tactile perception and sensorimotor performance in healthy individuals. To increase motor performance by priming the effects of active motor training (arm ability training; AAT) using rES. We compared the performance gain for the training increase of the averaged AAT tasks of both hands in two groups of strongly right-handed healthy volunteers. Functional Magnetic Resonance Imaging (fMRI) before and after AAT was assessed using three tasks for each hand separately: finger sequence tapping, visually guided grip force modulation, and writing. Performance during fMRI was controlled for preciseness and frequency. A total of 30 participants underwent a two-week unilateral left hand AAT, 15 participants with 20 minutes of rES priming of all fingertips of the trained hand, and 15 participants without rES priming. rES-primed AAT improved the trained left-hand performance across all training tasks on average by 32.9%, non-primed AAT improved by 29.5%. This gain in AAT performance with rES priming was predominantly driven by an increased finger tapping velocity. Functional imaging showed comparable changes for both training groups over time. Across all participants, improved AAT performance was associated with a higher contralateral primary somatosensory cortex (S1) fMRI activation magnitude during the grip force modulation task. This study highlights the importance of S1 for hand motor training gain. In addition, it suggests the usage of rES of the fingertips for priming active hand motor training. Copyright © 2016 Elsevier Inc. All rights reserved.

Air Force and Diversity: The Awkward Embrace

Science.gov (United States)

2013-02-14

people of color into their training films .60 The Air Force will stagnate in its diversity efforts without an in-depth review and overhaul of...December 2012 to ensure workspaces reflected a professional workspace. These were depicted as a “ witch hunt” against the fighter pilot culture; General...Welsh countered vehemently, stating certain traditions had no place in today’s Air Force. Nevertheless, discussions regarding witch hunts are still

Representing delayed force feedback as a combination of current and delayed states.

Science.gov (United States)

Avraham, Guy; Mawase, Firas; Karniel, Amir; Shmuelof, Lior; Donchin, Opher; Mussa-Ivaldi, Ferdinando A; Nisky, Ilana

2017-10-01

To adapt to deterministic force perturbations that depend on the current state of the hand, internal representations are formed to capture the relationships between forces experienced and motion. However, information from multiple modalities travels at different rates, resulting in intermodal delays that require compensation for these internal representations to develop. To understand how these delays are represented by the brain, we presented participants with delayed velocity-dependent force fields, i.e., forces that depend on hand velocity either 70 or 100 ms beforehand. We probed the internal representation of these delayed forces by examining the forces the participants applied to cope with the perturbations. The findings showed that for both delayed forces, the best model of internal representation consisted of a delayed velocity and current position and velocity. We show that participants relied initially on the current state, but with adaptation, the contribution of the delayed representation to adaptation increased. After adaptation, when the participants were asked to make movements with a higher velocity for which they had not previously experienced with the delayed force field, they applied forces that were consistent with current position and velocity as well as delayed velocity representations. This suggests that the sensorimotor system represents delayed force feedback using current and delayed state information and that it uses this representation when generalizing to faster movements. NEW & NOTEWORTHY The brain compensates for forces in the body and the environment to control movements, but it is unclear how it does so given the inherent delays in information transmission and processing. We examined how participants cope with delayed forces that depend on their arm velocity 70 or 100 ms beforehand. After adaptation, participants applied opposing forces that revealed a partially correct representation of the perturbation using the current and the

Reflection on observation: A qualitative study using practice development methods to explore the experience of being a hand hygiene auditor in Australia.

Science.gov (United States)

Jain, Susan; Edgar, Denise; Bothe, Janine; Newman, Helen; Wilson, Annmaree; Bint, Beth; Brown, Megan; Alexander, Suzanne; Harris, Joanna

2015-12-01

Within the Australian public health care system, an observation model is used to assess hand hygiene practice in health care workers, culminating in a publicly available healthcare service performance indicator. The intent of this study was for the results to inform the development of a strategy to support individual auditors and local sustainability of the hand hygiene auditing program. This qualitative study used a values clarification tool to gain an understanding of the experiences of hand hygiene auditors. The methodology involved qualitative interpretation of focus group discussions to identify the enablers and barriers to successful performance of the auditors' role. Twenty-five participants identified congruous themes of the need for peer and managerial support, improved communication and feedback, and consideration for succession planning. There was consistency in the participants' most frequently identified significant barriers in undertaking the role. Hand hygiene auditors take pride in their role and work toward the goal of reducing health care-associated infections by having a part to play in improving hand hygiene practices of all staff members. Important themes, barriers, and enablers were identified in this study. This research will be of interest nationally and globally, considering the dearth of published information on the experience of hand hygiene auditors. This study provides evidence of the need to support individual hand hygiene auditors. Crown Copyright © 2015. Published by Elsevier Inc. All rights reserved.

Forced harmonic oscillations of the Euler-Bernoulli beam with resistance forces

Directory of Open Access Journals (Sweden)

Yuriy S. Krutiy

2015-12-01

Full Text Available The important issue in the oscillation theory is the study of resistance impact on oscillatory processes. Unlike the calculations of free oscillations, that reside in determination of natural frequencies and waveshapes and unlike the calculations of forced oscillations far away from resonance, that are performing without reference to friction, the oscillations researches in vicinity of resonance need accounting of friction forces. Special attention is paid to forced transverse fluctuations in beams as an important technical problem for engineering and building. Aim: The aim of the work is constructing of analytical solution of the problem of forced transverse vibrations of a straight rod with constant cross-section, which is under the influence of the harmonic load taking into account external and internal resistances. Materials and Methods: The internal resistance is taken into account using the corrected hypothesis of Kelvin-Voigt which reflects the empirically proven fact about the frequency-independent internal friction in the material. The external friction is also considered as frequency-independent. Results: An analytical solution is built for the differential equation of forced transverse oscillations of a straight rod with constant cross-section which is under the influence of the harmonic load taking into account external and internal resistances. As a result, analytically derived formulae are presented which describe the forced dynamic oscillations and the dynamic internal forces due to the harmonic load applied to the rod thus reducing the problem with any possible fixed ends to the search of unknown integration constants represented in a form of initial parameters.

Hand biometric recognition based on fused hand geometry and vascular patterns.

Science.gov (United States)

Park, GiTae; Kim, Soowon

2013-02-28

A hand biometric authentication method based on measurements of the user's hand geometry and vascular pattern is proposed. To acquire the hand geometry, the thickness of the side view of the hand, the K-curvature with a hand-shaped chain code, the lengths and angles of the finger valleys, and the lengths and profiles of the fingers were used, and for the vascular pattern, the direction-based vascular-pattern extraction method was used, and thus, a new multimodal biometric approach is proposed. The proposed multimodal biometric system uses only one image to extract the feature points. This system can be configured for low-cost devices. Our multimodal biometric-approach hand-geometry (the side view of the hand and the back of hand) and vascular-pattern recognition method performs at the score level. The results of our study showed that the equal error rate of the proposed system was 0.06%.

Hand Hygiene With Alcohol-Based Hand Rub: How Long Is Long Enough?

Science.gov (United States)

Pires, Daniela; Soule, Hervé; Bellissimo-Rodrigues, Fernando; Gayet-Ageron, Angèle; Pittet, Didier

2017-05-01

BACKGROUND Hand hygiene is the core element of infection prevention and control. The optimal hand-hygiene gesture, however, remains poorly defined. OBJECTIVE We aimed to evaluate the influence of hand-rubbing duration on the reduction of bacterial counts on the hands of healthcare personnel (HCP). METHODS We performed an experimental study based on the European Norm 1500. Hand rubbing was performed for 10, 15, 20, 30, 45, or 60 seconds, according to the WHO technique using 3 mL alcohol-based hand rub. Hand contamination with E. coli ATCC 10536 was followed by hand rubbing and sampling. A generalized linear mixed model with a random effect on the subject adjusted for hand size and gender was used to analyze the reduction in bacterial counts after each hand-rubbing action. In addition, hand-rubbing durations of 15 and 30 seconds were compared to assert non-inferiority (0.6 log10). RESULTS In total, 32 HCP performed 123 trials. All durations of hand rubbing led to significant reductions in bacterial counts (Phand rubbing were not significantly different from those obtained after 30 seconds. The mean bacterial reduction after 15 seconds of hand rubbing was 0.11 log10 lower (95% CI, -0.46 to 0.24) than after 30 seconds, demonstrating non-inferiority. CONCLUSIONS Hand rubbing for 15 seconds was not inferior to 30 seconds in reducing bacterial counts on hands under the described experimental conditions. There was no gain in reducing bacterial counts from hand rubbing longer than 30 seconds. Further studies are needed to assess the clinical significance of our findings. Infect Control Hosp Epidemiol 2017;38:547-552.

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.

Hand in Hand - SEI Programmes for School Staff

DEFF Research Database (Denmark)

Nielsen, Birgitte Lund; Réol, Lise Andersen; Laursen, Hilmar Dyrborg

2017-01-01

This catalogue of research in the field of SEI programmes for the school staff’s and teachers’ SEI competencies is based on a review performed by the main researchers Birgitte Lund Nielsen, Lise Andersen Réol and Hilmar Dyrborg Laursen, VIA University College, Denmark, but discussed by the entire...... team of Hand in Hand partner countries and researchers. The aim was to identify the central aspects and elements concerning successful implementation, and school staff’s development of professional competencies in the specific field of supporting students’ social, emotional and intercultural (SEI......) competencies. Abstract: Framed by the EU-project Hand in Hand focusing on Social, Emotional and Intercultural (SEI) competencies among students and school staff, the paper discusses implementation and professional competencies based on a research review. The following five topics were identified: 1...

Hand Biometric Recognition Based on Fused Hand Geometry and Vascular Patterns

Science.gov (United States)

Park, GiTae; Kim, Soowon

2013-01-01

A hand biometric authentication method based on measurements of the user's hand geometry and vascular pattern is proposed. To acquire the hand geometry, the thickness of the side view of the hand, the K-curvature with a hand-shaped chain code, the lengths and angles of the finger valleys, and the lengths and profiles of the fingers were used, and for the vascular pattern, the direction-based vascular-pattern extraction method was used, and thus, a new multimodal biometric approach is proposed. The proposed multimodal biometric system uses only one image to extract the feature points. This system can be configured for low-cost devices. Our multimodal biometric-approach hand-geometry (the side view of the hand and the back of hand) and vascular-pattern recognition method performs at the score level. The results of our study showed that the equal error rate of the proposed system was 0.06%. PMID:23449119

The effect of ball impact location on racket and forearm joint angle changes for one-handed tennis backhand groundstrokes.

Science.gov (United States)

King, Mark; Hau, Agnes; Blenkinsop, Glen

2017-07-01

Recreational tennis players tend to have higher incidence of tennis elbow, and this has been hypothesised to be related to one-handed backhand technique and off-centre ball impacts on the racket face. This study aimed to investigate for a range of participants the effect of off-longitudinal axis and off-lateral axis ball-racket impact locations on racket and forearm joint angle changes immediately following impact in one-handed tennis backhand groundstrokes. Three-dimensional racket and wrist angular kinematic data were recorded for 14 university tennis players each performing 30 "flat" one-handed backhand groundstrokes. Off-longitudinal axis ball-racket impact locations explained over 70% of the variation in racket rotation about the longitudinal axis and wrist flexion/extension angles during the 30 ms immediately following impact. Off-lateral axis ball-racket impact locations had a less clear cut influence on racket and forearm rotations. Specifically off-longitudinal impacts below the longitudinal axis forced the wrist into flexion for all participants with there being between 11° and 32° of forced wrist flexion for an off-longitudinal axis impact that was 1 ball diameter away from the midline. This study has confirmed that off-longitudinal impacts below the longitudinal axis contribute to forced wrist flexion and eccentric stretch of the wrist extensors and there can be large differences in the amount of forced wrist flexion from individual to individual and between strokes with different impact locations.

Human-like Compliance for Dexterous Robot Hands

Science.gov (United States)

Jau, Bruno M.

1995-01-01

This paper describes the Active Electromechanical Compliance (AEC) system that was developed for the Jau-JPL anthropomorphic robot. The AEC system imitates the functionality of the human muscle's secondary function, which is to control the joint's stiffness: AEC is implemented through servo controlling the joint drive train's stiffness. The control strategy, controlling compliant joints in teleoperation, is described. It enables automatic hybrid position and force control through utilizing sensory feedback from joint and compliance sensors. This compliant control strategy is adaptable for autonomous robot control as well. Active compliance enables dual arm manipulations, human-like soft grasping by the robot hand, and opens the way to many new robotics applications.

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.

GREEN PRICES – A REFLECTION OF ENVIRONMETAL PROTECTION

Directory of Open Access Journals (Sweden)

Daniela SIMTION

2014-10-01

Full Text Available The price is generally a very important factor in taking the purchase decision; it will influence the acceptance or rejection of organic products. For those who believe market forces represent a path to sustainability, it is vital to include eco-costs in the product costs and, further, in their prices. Otherwise, consumption growth will result in a continuous degradation of ecosystems, taking into consideration that environmental costs are not reflected in the price. To what extent a company is considering the ecological policy will be reflected in its cost structure. Organic products, most of the times, will incur additional costs generated by preservation and improvement expenses for environmental. These expenses will be reflected in costs, the price will reflect the value of the main benefits required by the consumer.

Neutron reflectivity studies of confined polymer/polymer interfaces approaching criticality

International Nuclear Information System (INIS)

Sferrazza, M.; Carelli, C.; Jones, R.A.L.; Young, R.N.

2006-01-01

The mechanism by which finite size effects influence the interfacial width between two polymers approaching criticality was investigated. In particular, the relative importance of long-ranged Van der Waals forces and short-ranged 'truncation forces' in modifying the contribution of capillary waves to the interfacial width in thin films was probed with neutron reflectivity. As criticality is approached, a gradual transition is observed from a region where long-ranged dispersion forces are dominant in influencing the capillary wave contribution to the interfacial width, for higher degrees of immiscibility, to a region where short-ranged forces become more important and the dependence of the interfacial width on film thickness is stronger

Bi-directional reflectance distribution function of a tungsten block for ITER divertor

International Nuclear Information System (INIS)

Iwamae, Atsushi; Ogawa, Hiroaki; Sugie, Tatsuo; Kusama, Yoshinori

2012-02-01

In order to investigate reflection properties on plasma-facing material in ITER, the bi-directional reflectance distribution function (BRDF) of a tungsten block sample has been measured. On the machining surface of the block, one-directional machining lines are engraved. Two laser diodes λ652 nm and λ473 nm were used to simulate H α and H β emissions, respectively. The reflected light is affected by the machining surface. The reflected light traces an arc when the incident light is injected in the parallel direction to the engraved line. On the other hand the reflected light traces a line shape when the incident light is injected in the perpendicular direction to the engraved lines. Ray tracing simulation qualitatively explains the experimental results. (author)

Design of a smart haptic system for repulsive force control under irregular manipulation environment

International Nuclear Information System (INIS)

Lee, Sang-Rock; Choi, Seung-Hyun; Choi, Seung-Bok; Cho, Myeong-Woo

2014-01-01

This paper describes how to make an operator feel the desired repulsive force in a haptic system. When an operator manipulates a haptic system, the repulsive force of the operator varies significantly, depending on many factors such as position, velocity and force. In order to reflect the desired repulsive force to the operator, it is commonly known that a haptic system must compensate for irregularly changing forces. The irregularity of the forces, however, has discouraged many researchers from establishing a clear principle on how to make the operator feel the desired repulsive force. To resolve this problem, we introduce a smart haptic framework that can reflect the desired repulsive force to the operator, regardless of the operator’s movement. A dummy governing equation technique is introduced and used to calculate the proper actuating force in real time. The actuating force is generated by a PID controller. To verify the proposed method, a mathematical proof is offered to show that the repulsive force converges to the desired repulsive force. Additionally, to demonstrate the performance of the proposed method, simulational and experimental tests are implemented. (paper)

Guideline Implementation: Hand Hygiene.

Science.gov (United States)

Goldberg, Judith L

2017-02-01

Performing proper hand hygiene and surgical hand antisepsis is essential to reducing the rates of health care-associated infections, including surgical site infections. The updated AORN "Guideline for hand hygiene" provides guidance on hand hygiene and surgical hand antisepsis, the wearing of fingernail polish and artificial nails, proper skin care to prevent dermatitis, the wearing of jewelry, hand hygiene product selection, and quality assurance and performance improvement considerations. This article focuses on key points of the guideline to help perioperative personnel make informed decisions about hand hygiene and surgical hand antisepsis. The key points address the necessity of keeping fingernails and skin healthy, not wearing jewelry on the hands or wrists in the perioperative area, properly performing hand hygiene and surgical hand antisepsis, and involving patients and visitors in hand hygiene initiatives. Perioperative RNs should review the complete guideline for additional information and for guidance when writing and updating policies and procedures. Copyright © 2017 AORN, Inc. Published by Elsevier Inc. All rights reserved.

Use of force feedback to enhance graphical user interfaces

Science.gov (United States)

Rosenberg, Louis B.; Brave, Scott

1996-04-01

This project focuses on the use of force feedback sensations to enhance user interaction with standard graphical user interface paradigms. While typical joystick and mouse devices are input-only, force feedback controllers allow physical sensations to be reflected to a user. Tasks that require users to position a cursor on a given target can be enhanced by applying physical forces to the user that aid in targeting. For example, an attractive force field implemented at the location of a graphical icon can greatly facilitate target acquisition and selection of the icon. It has been shown that force feedback can enhance a users ability to perform basic functions within graphical user interfaces.

A simple design rule for 1st order form-closure of underactuated hands

Directory of Open Access Journals (Sweden)

S. Krut

2011-02-01

Full Text Available The property of form-closure of a grasp, as generally defined in the literature, is based on the assumption that contact points between the hand and the object are fixed in space. However, this assumption is false when considering a grasp exerted by an underactuated hand, since in this case, it is not possible to control the position of each phalanx independently. In spite of researchers' interest in studying form-closure, none of the available published work on this subject takes into consideration the particular kinematics of underactuated hands. Actually, there are few available tools to qualify or quantify the stability of a grasp exerted by an underactuated hand, thus the design of underactuated hands mostly results from an intuitive approach. This paper aims to reduce this gap.

A classification of underactuated hands is proposed, based on the expression of contact forces. This highlights the influence of non-backdrivable mechanisms introduced in the transmission of the closing motion of the hand on the stability of the grasp. The way to extend the original definition of form-closure to underactuated grasps is illustrated. A more general definition is formulated, which checks the stability of the set "object + hand". Using this new definition, a simple rule is proposed for designing a hand capable of achieving 1st order form-closed grasps.

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

Dynamic causal modeling of touch-evoked potentials in the rubber hand illusion.

Science.gov (United States)

Zeller, Daniel; Friston, Karl J; Classen, Joseph

2016-09-01

The neural substrate of bodily ownership can be disclosed by the rubber hand illusion (RHI); namely, the illusory self-attribution of an artificial hand that is induced by synchronous tactile stimulation of the subject's hand that is hidden from view. Previous studies have pointed to the premotor cortex (PMC) as a pivotal area in such illusions. To investigate the effective connectivity between - and within - sensory and premotor areas involved in bodily perceptions, we used dynamic causal modeling of touch-evoked responses in 13 healthy subjects. Each subject's right hand was stroked while viewing their own hand ("REAL"), or an artificial hand presented in an anatomically plausible ("CONGRUENT") or implausible ("INCONGRUENT") position. Bayesian model comparison revealed strong evidence for a differential involvement of the PMC in the generation of touch-evoked responses under the three conditions, confirming a crucial role of PMC in bodily self-attribution. In brief, the extrinsic (forward) connection from left occipital cortex to left PMC was stronger for CONGRUENT and INCONGRUENT as compared to REAL, reflecting the augmentation of bottom-up visual input when multisensory integration is challenged. Crucially, intrinsic connectivity in the primary somatosensory cortex (S1) was attenuated in the CONGRUENT condition, during the illusory percept. These findings support predictive coding models of the functional architecture of multisensory integration (and attenuation) in bodily perceptual experience. Copyright © 2016 Elsevier Inc. All rights reserved.

Shear forces in the contact patch of a braked-racing tyre

Science.gov (United States)

Gruber, Patrick; Sharp, Robin S.

2012-12-01

This article identifies tyre modelling features that are fundamental to the accurate simulation of the shear forces in the contact patch of a steady-rolling, slipping and cambered racing tyre. The features investigated include contact patch shape, contact pressure distribution, carcass flexibility, rolling radius (RR) variations and friction coefficient. Using a previously described physical tyre model of modular nature, validated for static conditions, the influence of each feature on the shear forces generated is examined under different running conditions, including normal loads of 1500, 3000 and 4500 N, camber angles of 0° and-3°, and longitudinal slip ratios from 0 to-20%. Special attention is paid to heavy braking, in which context the aligning moment is of great interest in terms of its connection with the limit-handling feel. The results of the simulations reveal that true representations of the contact patch shape, carcass flexibility and lateral RR variation are essential for an accurate prediction of the distribution and the magnitude of the shear forces generated at the tread-road interface of the cambered tyre. Independent of the camber angle, the contact pressure distribution primarily influences the shear force distribution and the slip characteristics around the peak longitudinal force. At low brake-slip ratios, the friction coefficient affects the shear forces in terms of their distribution, while, at medium to high-slip ratios, the force magnitude is significantly affected. On the one hand, these findings help in the creation of efficient yet accurate tyre models. On the other hand, the research results allow improved understanding of how individual tyre components affect the generation of shear forces in the contact patch of a rolling and slipping tyre.

Inspections of Hand Washing Supplies and Hand Sanitizer in Public Schools

Science.gov (United States)

Ramos, Mary M.; Blea, Mary; Trujillo, Rebecca; Greenberg, Cynthia

2010-01-01

Hand washing and hand antisepsis are proven infection control measures in the school setting, yet barriers such as lack of soap, paper towels, and hand sanitizer can hinder compliance. This pilot study measured the prevalence of hand cleaning supplies in public schools. Ten school districts (93 schools) participated in school nurse inspections. In…

Effect of hand sanitizer location on hand hygiene compliance.

Science.gov (United States)

Cure, Laila; Van Enk, Richard

2015-09-01

Hand hygiene is the most important intervention to prevent infection in hospitals. Health care workers should clean their hands at least before and after contact with patients. Hand sanitizer dispensers are important to support hand hygiene because they can be made available throughout hospital units. The aim of this study was to determine whether the usability of sanitizer dispensers correlates with compliance of staff in using the sanitizer in a hospital. This study took place in a Midwest, 404-bed, private, nonprofit community hospital with 15 inpatient care units in addition to several ambulatory units. The usability and standardization of sanitizers in 12 participating inpatient units were evaluated. The hospital measured compliance of staff with hand hygiene as part of their quality improvement program. Data from 2010-2012 were analyzed to measure the relationship between compliance and usability using mixed-effects logistic regression models. The total usability score (P = .0046), visibility (P = .003), and accessibility of the sanitizer on entrance to the patient room (P = .00055) were statistically associated with higher observed compliance rates. Standardization alone showed no significant impact on observed compliance (P = .37). Hand hygiene compliance can be influenced by visibility and accessibility of dispensers. The sanitizer location should be part of multifaceted interventions to improve hand hygiene. Copyright © 2015 Association for Professionals in Infection Control and Epidemiology, Inc. Published by Elsevier Inc. All rights reserved.

Die Sprache der Hande zu den Handen sprechen (Talking the Language of the Hands to the Hands). DB-LINK.

Science.gov (United States)

Miles, Barbara

This paper examines the importance of hands for the person who is deafblind, reviews hand development, and identifies specific teaching skills that facilitate hand development and expressiveness in persons who are deafblind. It notes that the hands of a deafblind individual serve not only as tools but also as sense organs (to compensate for their…

Modular Organization of Exploratory Force Development Under Isometric Conditions in the Human Arm.

Science.gov (United States)

Roh, Jinsook; Lee, Sang Wook; Wilger, Kevin D

2018-01-31

Muscle coordination of isometric force production can be explained by a smaller number of modules. Variability in force output, however, is higher during exploratory/transient force development phases than force maintenance phase, and it is not clear whether the same modular structure underlies both phases. In this study, eight neurologically-intact adults isometrically performed target force matches in 54 directions at hands, and electromyographic (EMG) data from eight muscles were parsed into four sequential phases. Despite the varying degree of motor complexity across phases (significant between-phase differences in EMG-force correlation, angular errors, and between-force correlations), the number/composition of motor modules were found equivalent across phases, suggesting that the CNS systematically modulated activation of the same set of motor modules throughout sequential force development.

Hand preference and magnetic resonance imaging asymmetries of the central sulcus.

Science.gov (United States)

Foundas, A L; Hong, K; Leonard, C M; Heilman, K M

1998-04-01

Hand preference is perhaps the most evident behavioral asymmetry observed in humans. Anatomic brain asymmetries that may be associated with hand preference have not been extensively studied, and no clear relationship between asymmetries of the motor system and hand preference have been established. Therefore, using volumetric magnetic resonance imaging methodologies, the surface area of the hand representation was measured along the length of the central sulcus in 15 consistent right- and 15 left-handers matched for age and gender. There was a significant leftward asymmetry of the motor hand area of the precentral gyrus in the right-handers, but no directional asymmetry was found in the left-handers. When asymmetry quotients were computed to determine the distribution of interhemispheric asymmetries, the left motor bank was greater than the right motor bank in 9 of 15 right-handers, the right motor bank was greater than the left motor bank in 3 of 15 right-handers, and the motor banks were equal in 3 of 15 right-handers. In contrast, among left-handers, the left motor bank was greater than the right motor bank in 5 of 15, the right motor bank was greater than the left motor bank in 5 of 15, and the motor banks were equal in 5 of 15. Although no direct measure of motor dexterity and skill was performed, these data suggest that anatomic asymmetries of the motor hand area may be related to hand preference because of the differences in right-handers and left-handers. Furthermore, the predominant leftward asymmetry in right-handers and the random distribution of asymmetries in the left-handers support Annett's right-shift theory. It is unclear, however, whether these asymmetries are the result of preferential hand use or are a reflection of a biologic preference to use one limb over the other.

Hand hygiene strategies

OpenAIRE

Yazaji, Eskandar Alex

2011-01-01

Hand hygiene is one of the major players in preventing healthcare associated infections. However, healthcare workers compliance with hand hygiene continues to be a challenge. This article will address strategies to help improving hand hygiene compliance. Keywords: hand hygiene; healthcare associated infections; multidisciplinary program; system change; accountability; education; feedback(Published: 18 July 2011)Citation: Journal of Community Hospital Internal Medicine Perspectives 2011, 1: 72...

Relationship Between Hand Contact Angle and Shoulder Loading During Manual Wheelchair Propulsion by Individuals with Paraplegia.

Science.gov (United States)

Requejo, Philip Santos; Mulroy, Sara J; Ruparel, Puja; Hatchett, Patricia E; Haubert, Lisa Lighthall; Eberly, Valerie J; Gronley, JoAnne K

2015-01-01

Shoulder loading during manual wheelchair propulsion (WCP) contributes to the development of shoulder pain in individuals with spinal cord injury (SCI). To use regression analysis to investigate the relationships between the hand contact angle (location of the hand on the pushrim at initial contact and release during the push phase of the WCP cycle) with propulsion characteristics, pushrim forces, and shoulder kinetics during WCP in individuals with paraplegia. Biomechanical data were collected from 222 individuals (198 men and 24 women) with paraplegia from SCI during WCP on a stationary ergometer at a self-selected speed. The average age of participants was 34.7 years (±9.3), mean time since SCI was 9.3 years (±6.1), and average body weight was 74.4 kg (±15.9). The majority (n = 127; 56%) of participants had lower level paraplegia (T8 to L5) and 95 (42%) had high paraplegia (T2 to T7). Increased push arc (mean = 75.3°) was associated with greater velocity (R = 0.384, P contact angle and hand release angles were equally associated with cycle distance and cadence, whereas a more anterior release angle was associated with greater velocity (R = 0.372, P contact angle was associated with greater posterior shoulder net joint force (R = 0.229, P = .001) and greater flexor net joint moment (R = 0.204, P = .002), whereas a more anterior hand release angle was significantly associated with increased vertical (R = 0.270, P contact and hand release must be considered in WCP training. It is recommended that participants should reach back to initiate contact with the pushrim to maximize push arc but avoid a more anterior hand position at release, because this could increase shoulder load during the push phase of WCP.

Past Examination Questions in Senior Secondary Chemistry: From Written Practice to Hands-On Experiments

Science.gov (United States)

Chow, Cheuk-Fai; So, Wing-Mui Winnie; Cheung, Tsz-Yan

2016-01-01

This study applied an unconventional use of past examination papers by converting questions into hands-on experiments for students. Students in an experimental group were engaged in use of those experiments while the remainder attended conventional lectures with written practice. The results reflect that the experimental group positively improved…

Using reflectance spectroscopy to predict beef tenderness.

Science.gov (United States)

Bowling, M B; Vote, D J; Belk, K E; Scanga, J A; Tatum, J D; Smith, G C

2009-05-01

A study was conducted to determine if reflectance measurements made in the near-infrared region of the spectrum were additive to reflectance measurements made in the visible region of the spectrum for predicting Warner-Bratzler shear force (WBSF) values. Eighty seven strip loins were collected following fabrication over 3d at a commercial beef processing facility from heifer carcasses with Slight or Traces marbling scores. Spectroscopic measurements were made at approximately 50h postmortem using a Hunter-Lab UltraScan. Subsequently, all strip loins were aged for 14d, cooked to an internal temperature of 70°C, and sheared to obtain WBSF values. Reflectance measurements obtained in the near-infrared region of the spectrum were correlated with WBSF values, however, these measurements were not additive to the predictive ability of reflectance measurements (R(2) values did not differ) made in the visible portion of the spectrum when the use of broad-band wavelength filters were simulated. It was therefore determined, that both the visible and near-infrared spectra measure reflectance and that both methods are acceptable methods of tenderness prediction.

The human hand as an inspiration for robot hand development

CERN Document Server

Santos, Veronica

2014-01-01

“The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.

Relationship between patient-reported and objective measurements of hand function in patients with rheumatoid arthritis

Directory of Open Access Journals (Sweden)

S.M. Günay

2016-12-01

Full Text Available Rheumatoid arthritis (RA often results in impairments in upper extremities, especially in the small joints of hand. Involvement of hand brings limitations in activities of daily living. However, it is commonly observed that patient-reported functional status of hand does not always corresponds to their actual physical performance in the clinical setting. The aim of this pilot study is to investigate the relationship between patient self-reported and objectively measured hand functions in patients with RA. Twenty-six patients (51±13 years with RA diagnosis participated in the study. Hand grip and pinch (lateral, bipod, tripod strengths were measured and Jebsen Hand Function Test (JHFT was performed for objective functional performance. Duruöz Hand Index and Beck Depression Inventory - Turkish version were completed by patients. Grip and all three-pinch strength results significantly correlated with Duruöz Hand Index scores (p<0.05. JHFT results except the sentence writing also correlated with the Duruöz scores (p<0.05. Our results showed that self-reported outcome scales might be used for determining functional level of hand in patients with RA in rheumatology practice. Objective quantitative functional tests are the best methods in evaluating functional level of hand, but require valid and reliable equipment with accurate calibration. Therefore, in case of unavailability of objective assessment tools, patient-reported scales may also reflect the real status of hand functions.

Optics and optronics in university courses for officers of the Federal Armed Forces - special curricula and hands-on lessons vs. academic requirements

Science.gov (United States)

Hahlweg, Cornelius; Rothe, Hendrik

2016-09-01

For more than two decades lessons in optics, digital image processing and optronics are compulsory optional subjects and as such integral parts of the courses in mechanical engineering at the University of the Federal Armed Forces in Hamburg. They are provided by the Chair for Measurement and Information Technology. Historically, the curricula started as typical basic lessons in optics and digital image processing and related sensors. Practical sessions originally concentrated on image processing procedures in Pascal, C and later Matlab. They evolved into a broad portfolio of practical hands-on lessons in lab and field, including high-tech and especially military equipment, but also homemaker style primitive experiments, of which the paper will give a methodical overview. A special topic - as always with optics in education - is the introduction to the various levels of abstraction in conjunction with the highly complex and wide-ranging matter squeezed into only two trimesters - instead of semesters at civil universities - for an audience being subject to strains from both study and duty. The talk will be accompanied by striking multi-media material, which will be also part of the multi-media attachment of the paper.

Shedding light on neutrino masses with dark forces

Energy Technology Data Exchange (ETDEWEB)

Batell, Brian [Pittsburgh Particle Physics, Astrophysics, and Cosmology Center,Department of Physics and Astronomy, University of Pittsburgh, PA 15260 (United States); Pospelov, Maxim [Perimeter Institute for Theoretical Physics,Waterloo, ON N2J 2W9 (Canada); Department of Physics and Astronomy, University of Victoria,Victoria, BC V8P 5C2 (Canada); Shuve, Brian [SLAC National Accelerator Laboratory,2575 Sand Hill Road, Menlo Park, CA 94025 (United States)

2016-08-08

Heavy right-handed neutrinos, N, provide the simplest explanation for the origin of light neutrino masses and mixings. If M{sub N} is at or below the weak scale, direct experimental discovery of these states is possible at accelerator experiments such as the LHC or new dedicated beam dump experiments; in these experiments, N decays after traversing a macroscopic distance from the collision point. The experimental sensitivity to right-handed neutrinos is significantly enhanced if there is a new “dark” gauge force connecting them to the Standard Model (SM), and detection of N can be the primary discovery mode for the new dark force itself. We take the well-motivated example of a B−L gauge symmetry and analyze the sensitivity to displaced decays of N produced via the new gauge interaction in two experiments: the LHC and the proposed SHiP beam dump experiment. In the most favorable case in which the mediator can be produced on-shell and decays to right handed neutrinos (pp→X+V{sub B−L}→X+NN), the sensitivity reach is controlled by the square of the B−L gauge coupling. We demonstrate that these experiments could access neutrino parameters responsible for the observed SM neutrino masses and mixings in the most straightforward implementation of the see-saw mechanism.

Constraint Study for a Hand Exoskeleton: Human Hand Kinematics and Dynamics

Directory of Open Access Journals (Sweden)

Fai Chen Chen

2013-01-01

Full Text Available In the last few years, the number of projects studying the human hand from the robotic point of view has increased rapidly, due to the growing interest in academic and industrial applications. Nevertheless, the complexity of the human hand given its large number of degrees of freedom (DoF within a significantly reduced space requires an exhaustive analysis, before proposing any applications. The aim of this paper is to provide a complete summary of the kinematic and dynamic characteristics of the human hand as a preliminary step towards the development of hand devices such as prosthetic/robotic hands and exoskeletons imitating the human hand shape and functionality. A collection of data and constraints relevant to hand movements is presented, and the direct and inverse kinematics are solved for all the fingers as well as the dynamics; anthropometric data and dynamics equations allow performing simulations to understand the behavior of the finger.

Dental Student Hand Hygiene Decreased With Increased Clinical Experience.

Science.gov (United States)

Yaembut, Nanmanas; Ampornaramveth, Ruchanee S; Pisarnturakit, Pagaporn P; Subbalekha, Keskanya

2016-01-01

To investigate the effectiveness, related knowledge, attitudes, and practices of hand hygiene (HH) among dental students with different levels of clinical experience. This was a cross-sectional analytical study. Bacterial samples on the participants' hands were obtained using a swab technique before and after handwashing, for oral surgical procedures. After culturing, the colony-forming units were counted. Self-reported questionnaires reflecting the knowledge, attitudes, and practices related to HH were completed by the participants. This study was performed in a primary oral health care institution, Faculty of Dentistry, Chulalongkorn University (Bangkok, Thailand). Bacterial samples and self-reported questionnaires were collected in the Department of Oral and Maxillofacial Surgery. Bacterial culture was performed in the Department of Microbiology. The 120 participants comprised first, second, third-year clinical training students (CTs), and postgraduate dental students (PGs) (32, 34, 30, and 24 participants, respectively). More than 99% of the bacteria were eliminated from the participants' hands after handwashing. Significantly higher numbers of bacteria were recovered from the hands of the PGs compared with those of the CTs, and the hands of the third-year CTs compared with those of the first-year CTs (p < 0.001), after HH. The first-year CTs had the highest attitude scores, whereas the PGs had the lowest practice scores. The knowledge scores were similar in all groups. HH effectiveness, attitudes, and practices of dental students decreased as students gained more clinical experience, whereas knowledge did not. Our results suggest that HH instruction should be given throughout the duration of dental students' education. Copyright © 2016 Association of Program Directors in Surgery. Published by Elsevier Inc. All rights reserved.

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

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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.

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.

75 FR 28185 - Armed Forces Day, 2010

Science.gov (United States)

2010-05-20

... force in the history of the world because we have the finest personnel in the world. Wherever they are... separation of war. Today, let us raise our flags high to honor the service members who keep us safe, as we... my hand this fourteenth day of May, in the year of our Lord two thousand ten, and of the Independence...

HandTutor™ enhanced hand rehabilitation after stroke--a pilot study.

Science.gov (United States)

Carmeli, Eli; Peleg, Sara; Bartur, Gadi; Elbo, Enbal; Vatine, Jean-Jacques

2011-12-01

This study assessed the potential therapeutic benefi t of using HandTutor™ in combination with traditional rehabilitation in a post-stroke sub-acute population. The study compares an experimental group receiving traditional therapy combined with HandTutorTM treatment, against a control group receiving only traditional therapy. An assessor-blinded, randomized controlled pilot trial, was conducted in the Reuth rehabilitation unit in Israel. Thirty-one stroke patients in the sub-acute phase, were randomly assigned to one of the two groups (experimental or control) in sets of three. The experimental group (n = 16) underwent a hand rehabilitation programme using the HandTutorTM combined with traditional therapy. The control group (n = 15) received only traditional therapy. The treatment schedules for both groups were of similar duration and frequency. Improvements were evaluated using three indicators: 1) The Brunnström-Fugl-Meyer (FM) test, 2) the Box and Blocks (B&B) test and 3) improvement parameters as determined by the HandTutorTM software. Following 15 consecutive treatment sessions, a signifi cant improvement was observed within the experimental group (95% confi dence intervals) compared with the control group: B&B p = 0.015; FM p = 0.041, HandTutor™ performance accuracy on x axis and performance accuracy on y axis p stroke hand function rehabilitation.

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

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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.

The Avocado Hand

LENUS (Irish Health Repository)

Rahmani, G

2017-11-01

Accidental self-inflicted knife injuries to digits are a common cause of tendon and nerve injury requiring hand surgery. There has been an apparent increase in avocado related hand injuries. Classically, the patients hold the avocado in their non-dominant hand while using a knife to cut\\/peel the fruit with their dominant hand. The mechanism of injury is usually a stabbing injury to the non-dominant hand as the knife slips past the stone, through the soft avocado fruit. Despite their apparent increased incidence, we could not find any cases in the literature which describe the “avocado hand”. We present a case of a 32-year-old woman who sustained a significant hand injury while preparing an avocado. She required exploration and repair of a digital nerve under regional anaesthesia and has since made a full recovery.

Periodic components of hand acceleration/deceleration impulses during telemanipulation

Energy Technology Data Exchange (ETDEWEB)

Draper, J.V. [Oak Ridge National Lab., TN (United States); Handel, S. [Tennessee Univ., Knoxville, TN (United States). Dept. of Psychology

1994-01-01

Responsiveness is the ability of a telemanipulator to recreate user trajectories and impedance in time and space. For trajectory production, a key determinant of responsiveness is the ability of the system to accept user inputs, which are forces on the master handle generated by user hand acceleration/deceleration (a/d) impulses, and translate them into slave arm acceleration/deceleration. This paper presents observations of master controller a/d impulses during completion of a simple target acquisition task. Power spectral density functions (PSDF`s) calculated from hand controller a/d impulses were used to assess impulse waveform. The relative contributions of frequency intervals ranging up to 25 Hz for three spatially different versions of the task were used to determine which frequencies were most important. The highest relative power was observed in frequencies between 1 Hz and 6 Hz. The key frequencies related to task difficulty were in the range from 2 Hz to 8 Hz. the results provide clues to the source of the performance inhibition.

Periodic components of hand acceleration/deceleration impulses during telemanipulation

International Nuclear Information System (INIS)

Draper, J.V.; Handel, S.

1994-01-01

Responsiveness is the ability of a telemanipulator to recreate user trajectories and impedance in time and space. For trajectory production, a key determinant of responsiveness is the ability of the system to accept user inputs, which are forces on the master handle generated by user hand acceleration/deceleration (a/d) impulses, and translate them into slave arm acceleration/deceleration. This paper presents observations of master controller a/d impulses during completion of a simple target acquisition task. Power spectral density functions (PSDF's) calculated from hand controller a/d impulses were used to assess impulse waveform. The relative contributions of frequency intervals ranging up to 25 Hz for three spatially different versions of the task were used to determine which frequencies were most important. The highest relative power was observed in frequencies between 1 Hz and 6 Hz. The key frequencies related to task difficulty were in the range from 2 Hz to 8 Hz. the results provide clues to the source of the performance inhibition

Martial arts fall techniques decrease the impact forces at the hip during sideways falling.

NARCIS (Netherlands)

Groen, B.E.; Weerdesteijn, V.G.M.; Duysens, J.E.J.

2007-01-01

Falls to the side and those with impact on the hip are risky for hip fractures in the elderly. A previous study has indicated that martial arts (MA) fall techniques can reduce hip impact force, but the underlying mechanism is unknown. Furthermore, the high impact forces at the hand used to break the

Concept for a large master/slave-controlled robotic hand

Science.gov (United States)

Grissom, William A.; Abdallah, Mahmoud A.; White, Carl L.

1988-01-01

A strategy is presented for the design and construction of a large master/slave-controlled, five-finger robotic hand. Each of the five fingers will possess four independent axes each driven by a brushless DC servomotor and, thus, four degrees-of-freedom. It is proposed that commercially available components be utilized as much as possible to fabricate a working laboratory model of the device with an anticipated overall length of two-to-four feet (0.6 to 1.2 m). The fingers are to be designed so that proximity, tactile, or force/torque sensors can be imbedded in their structure. In order to provide for the simultaneous control of the twenty independent hand joints, a multilevel master/slave control strategy is proposed in which the operator wears a specially instrumented glove which produces control signals corresponding to the finger configurations and which is capable of conveying sensor feedback signals to the operator. Two dexterous hand master devices are currently commercially available for this application with both undergoing continuing development. A third approach to be investigated for the master control mode is the use of real-time image processing of a specially patterned master glove to provide the respective control signals for positioning the multiple finger joints.

Wide-Area Haptic Guidance: Taking the User by the Hand

OpenAIRE

Pérez Arias, Antonia; Hanebeck, Uwe D.

2010-01-01

In this paper, we present a novel use of haptic information in extended range telepresence, the wide-area haptic guidance. It consists of force and position signals applied to the user's hand in order to improve safety, accuracy, and speed in some telepresent tasks. Wide-area haptic guidance assists the user in reaching a desired position in a remote environment of arbitrary size without degrading the feeling of presence. Several methods for haptic guidance are analyzed. With active haptic gu...

Organizational Dysfunction in the US Air Force: Lessons from the ICBM Community

Science.gov (United States)

2016-06-01

this bias . The limited availability of first-hand information also limits this study. The Air Force conducted its investigation in January 2014...assumptions operate subconsciously , directing individual behaviors understandable by an observer only if that person possesses a deep working... bias towards aircraft. AFGSC Instruction 13-5301 Volume 1’s flying community equivalent is volume one of the 11-2-series Air Force Instructions

Near-infrared image formation and processing for the extraction of hand veins

Science.gov (United States)

Bouzida, Nabila; Hakim Bendada, Abdel; Maldague, Xavier P.

2010-10-01

The main objective of this work is to extract the hand vein network using a non-invasive technique in the near-infrared region (NIR). The visualization of the veins is based on a relevant feature of the blood in relation with certain wavelengths of the electromagnetic spectrum. In the present paper, we first introduce the image formation in the NIR spectral band. Then, the acquisition system will be presented as well as the method used for the image processing in order to extract the vein signature. Extractions of this pattern on the finger, on the wrist and on the dorsal hand are achieved after exposing the hand to an optical stimulation by reflection or transmission of light. We present meaningful results of the extracted vein pattern demonstrating the utility of the method for a clinical application like the diagnosis of vein disease, of primitive varicose vein and also for applications in vein biometrics.

Conceptual distortions of hand structure are robust to changes in stimulus information.

Science.gov (United States)

Ambroziak, Klaudia B; Tamè, Luigi; Longo, Matthew R

2018-05-01

Previous studies showed stereotyped distortions in hand representations. People judge their knuckles as farther forward in the hand than they actually are. The cause of this bias remains unclear. We tested whether both visual and tactile information contribute to the bias. In Experiment 1, participants judged the location of their knuckles by pointing to the location on their palm with: (1) a metal baton (using vision and touch), (2) a metal baton while blindfolded (using touch), or (3) a laser pointer (using vision). Distal mislocalisations were found in all conditions. In Experiment 2, we investigated whether judgments are influenced by visual landmarks such as creases. Participants localized their knuckles on either a photograph of their palm or a silhouette. Distal mislocalisations were apparent in both conditions. These results show that distal biases are resistant to changes in stimulus information, suggesting that such mislocalisations reflect a conceptual mis-representation of hand structure. Copyright © 2018 Elsevier Inc. All rights reserved.

Ability of Hand Hygiene Interventions Using Alcohol-Based Hand Sanitizers and Soap To Reduce Microbial Load on Farmworker Hands Soiled during Harvest.

Science.gov (United States)

de Aceituno, Anna Fabiszewski; Bartz, Faith E; Hodge, Domonique Watson; Shumaker, David J; Grubb, James E; Arbogast, James W; Dávila-Aviña, Jorgé; Venegas, Fabiola; Heredia, Norma; García, Santos; Leon, Juan S

2015-11-01

Effective hand hygiene is essential to prevent the spread of pathogens on produce farms and reduce foodborne illness. The U.S. Food and Drug Administration Food Safety Modernization Act Proposed Rule for Produce Safety recommends the use of soap and running water for hand hygiene of produce handlers. The use of alcohol-based hand sanitizer (ABHS) may be an effective alternative hygiene intervention where access to water is limited. There are no published data on the efficacy of either soap or ABHS-based interventions to reduce microbial contamination in agricultural settings. The goal of this study was to assess the ability of two soap-based (traditional or pumice) and two ABHS-based (label-use or two-step) hygiene interventions to reduce microbes (coliforms, Escherichia coli, and Enterococcus spp.) and soil (absorbance of hand rinsate at 600 nm [A600]) on farmworker hands after harvesting produce, compared with the results for a no-hand-hygiene control. With no hand hygiene, farmworker hands were soiled (median A600, 0.48) and had high concentrations of coliforms (geometric mean, 3.4 log CFU per hand) and Enterococcus spp. (geometric mean, 5.3 log CFU per hand) after 1 to 2 h of harvesting tomatoes. Differences in microbial loads in comparison to the loads in the control group varied by indicator organism and hygiene intervention (0 to 2.3 log CFU per hand). All interventions yielded lower concentrations of Enterococcus spp. and E. coli (P hands (P hand washing with soap at reducing indicator organisms on farmworker hands. Based on these results, ABHS is an efficacious hand hygiene solution for produce handlers, even on soiled hands.

Hand Therapy

Science.gov (United States)

... from conditions such as carpal tunnel syndrome and tennis elbow , as well as from chronic problems such as ... Tools Advice from a Certified Hand Therapist on Tennis Elbow Advice from a Certified Hand Therapist: Living with( ...

3-D Printed Anti-Reflection Structures for the Terahertz Region

Science.gov (United States)

Bomba, Jarosław; Suszek, Jarosław; Makowski, Michał; Sobczyk, Artur; Sypek, Maciej

2018-01-01

Terahertz radiation has a growing number of applications in material characterization, where spectral fingerprinting and diffractive effects are the carriers of information. On the other hand, electromagnetic waves in the range of millimeters exhibit strong unwanted specular reflections, resulting in uncontrolled interferences. This problem is especially disturbing in the goniometric time-domain spectroscopy (TDS) configuration, where angular distribution of the field modified by the sample is altered by unwanted reflections. For this reason, low-cost anti-reflection layers are desired. Here, we present a simple way of designing and manufacturing one-sided and two-sided anti-reflection polyamide layers for the THz range. The structures were fabricated using 3-D printers based on selective laser sintering. We demonstrate experimentally in the goniometric time-domain spectroscopy the significant reduction of wavelength-dependent oscillations in Fabry-Perot configuration in the range between 0.1 and 0.3 THz. We also examine the influence of the anti-reflection layers on the distribution of THz energy in reflected, transmitted, and diffracted fields.

A Common Force-Sharing Pattern in Joint Action That Consists of Four People.

Science.gov (United States)

Masumoto, Junya; Inui, Nobuyuki

2017-12-20

The authors examined the force-sharing patterns in a joint action performed by a group of two, three, or four people compared with a solo action. In the joint actions, 28 participants produced periodic isometric forces such that the sum of forces they produced cycled between 5% and 10% maximum voluntary contraction with the right hand at 1 Hz. In both the three- and four-person tasks, the correlation between forces produced by two of the three or four participants was negative, and the remaining one or two participants produced intermediate forces. The errors of force and interval and force variabilities were smaller in four- and three-people groups than individuals. Four- and three-people groups thus performed better than individuals.

Cancer in US Air Force veterans not involved with spraying herbicides during the Vietnam War

Energy Technology Data Exchange (ETDEWEB)

Pavuk, M. [SpecPro, Inc. (United States); Michalek, J.; Ketchum, N. [Air Force Research Laboratory, San Antonio, TX (United States); Akhtar, F. [The START Center, San Antonio, TX (United States)

2004-09-15

The Air Force Health Study is a 20-year prospective study examining the health, mortality and reproductive outcomes in US Air Force veterans of Operation Ranch Hand who sprayed herbicides in Vietnam from 1962 to 1971. Comparison veterans flew or serviced C-130 transport aircraft in Southeast Asia (SEA) during the same time period but did not spray herbicides. They were stationed mostly in Taiwan, the Philippines, Guam, Japan, and Thailand and spent on average less than 30% of their SEA service in Vietnam. Comparison veterans also spent approximately 30% more time in SEA than Ranch Hand veterans. No increases in Ranch Hand cancer mortality and morbidity were found in earlier investigations, but a recent study contrasting cancer rates in Air Force veterans and in the general US (white male) population reported increases in cancer at all SEER sites, prostate cancer and melanoma in Ranch Hand veterans and cancer at all SEER sites and prostate cancer in Comparison veterans. Associations between dioxin exposure category and cancer were found after restriction to Ranch Hand veterans who served in SEA no more than 2 years and to those who spent all of their SEA service in Vietnam. Overall cancer incidence in the general population in countries of SEA is about half of that in the United States, but cancers of the oral cavity/nasopharynx and liver are more prevalent in this region. Here we examine in more detail whether years served in SEA had any effect on the risk of cancer among Comparison veterans.

Predictability, Force and (Anti-)Resonance in Complex Object Control.

Science.gov (United States)

Maurice, Pauline; Hogan, Neville; Sternad, Dagmar

2018-04-18

Manipulation of complex objects as in tool use is ubiquitous and has given humans an evolutionary advantage. This study examined the strategies humans choose when manipulating an object with underactuated internal dynamics, such as a cup of coffee. The object's dynamics renders the temporal evolution complex, possibly even chaotic, and difficult to predict. A cart-and-pendulum model, loosely mimicking coffee sloshing in a cup, was implemented in a virtual environment with a haptic interface. Participants rhythmically manipulated the virtual cup containing a rolling ball; they could choose the oscillation frequency, while the amplitude was prescribed. Three hypotheses were tested: 1) humans decrease interaction forces between hand and object; 2) humans increase the predictability of the object dynamics; 3) humans exploit the resonances of the coupled object-hand system. Analysis revealed that humans chose either a high-frequency strategy with anti-phase cup-and-ball movements or a low-frequency strategy with in-phase cup-and-ball movements. Counter Hypothesis 1, they did not decrease interaction force; instead, they increased the predictability of the interaction dynamics, quantified by mutual information, supporting Hypothesis 2. To address Hypothesis 3, frequency analysis of the coupled hand-object system revealed two resonance frequencies separated by an anti-resonance frequency. The low-frequency strategy exploited one resonance, while the high-frequency strategy afforded more choice, consistent with the frequency response of the coupled system; both strategies avoided the anti-resonance. Hence, humans did not prioritize interaction force, but rather strategies that rendered interactions predictable. These findings highlight that physical interactions with complex objects pose control challenges not present in unconstrained movements.

Effects of realistic force feedback in a robotic assisted minimally invasive surgery system.

Science.gov (United States)

Moradi Dalvand, Mohsen; Shirinzadeh, Bijan; Nahavandi, Saeid; Smith, Julian

2014-06-01

Robotic assisted minimally invasive surgery systems not only have the advantages of traditional laparoscopic procedures but also restore the surgeon's hand-eye coordination and improve the surgeon's precision by filtering hand tremors. Unfortunately, these benefits have come at the expense of the surgeon's ability to feel. Several research efforts have already attempted to restore this feature and study the effects of force feedback in robotic systems. The proposed methods and studies have some shortcomings. The main focus of this research is to overcome some of these limitations and to study the effects of force feedback in palpation in a more realistic fashion. A parallel robot assisted minimally invasive surgery system (PRAMiSS) with force feedback capabilities was employed to study the effects of realistic force feedback in palpation of artificial tissue samples. PRAMiSS is capable of actually measuring the tip/tissue interaction forces directly from the surgery site. Four sets of experiments using only vision feedback, only force feedback, simultaneous force and vision feedback and direct manipulation were conducted to evaluate the role of sensory feedback from sideways tip/tissue interaction forces with a scale factor of 100% in characterising tissues of varying stiffness. Twenty human subjects were involved in the experiments for at least 1440 trials. Friedman and Wilcoxon signed-rank tests were employed to statistically analyse the experimental results. Providing realistic force feedback in robotic assisted surgery systems improves the quality of tissue characterization procedures. Force feedback capability also increases the certainty of characterizing soft tissues compared with direct palpation using the lateral sides of index fingers. The force feedback capability can improve the quality of palpation and characterization of soft tissues of varying stiffness by restoring sense of touch in robotic assisted minimally invasive surgery operations.

Fabrication, sensation and control of fluidic elastomer actuators and their application towards hand orthotics and prosthetics

Science.gov (United States)

Zhao, Huichan

Due to their continuous and natural motion, fluidic elastomer actuators (FEAs) have shown potential in a range of robotic applications including prosthetics and orthotics. Despite their advantages and rapid developments, robots using these actuators still have several challenging issues to be addressed. First, the reliable production of low cost and complex actuators that can apply high forces is necessary, yet none of existing fabrication methods are both easy to implement and of high force output. Next, compliant or stretchable sensors that can be embedded into their bodies for sophisticated functions are required, however, many of these sensors suffer from hysteresis, fabrication complexity, chemical safety and environmental instability, and material incompatibility with soft actuators. Finally, feedback control for FEAs is necessary to achieve better performance, but most soft robots are still "open-loop". In this dissertation, I intend to help solve the above issues and drive the applications of soft robotics towards hand orthotics and prosthetics. First, I adapt rotational casting as a new manufacturing method for soft actuators. I present a cuboid soft actuator that can generate a force of >25 N at its tip, a near ten-fold increase over similar actuators previously reported. Next, I propose a soft orthotic finger with position control enabled via embedded optical fiber. I monitor both the static and dynamic states via the optical sensor and achieve the prescribed curvatures accurately and with stability by a gain-scheduled proportional-integral-derivative controller. Then I develop the soft orthotic fingers into a low-cost, closed-loop controlled, soft orthotic glove that can be worn by a typical human hand and helpful for grasping light objects, while also providing finger position control. I achieve motion control with inexpensive, binary pneumatic switches controlled by a simple finite-state-machine. Finally, I report the first use of stretchable optical

Morphological characteristics and egg production of forced-moult ...

African Journals Online (AJOL)

The forced-moult groups T2 and T3 stopped egg production by 6 days of moult induction and resumed egg production by day 25. T2 and T3 attained a peak egg production of 71% by the second month following resumption of lay. On the other hand, in the T1 egg production progressively decreased with age.

A comparison of ground reaction force components according to the foothold heights in 16-t truck during downward step.

Science.gov (United States)

Hyun, Seung-Hyun; Ryew, Che-Cheong

2017-12-01

The aim of this study is to compare and analyze the components of ground reaction force (GRF) relative to the foothold heights during downward step of 16-t truck. Adult males (n= 10) jumped downward from each 1st, 2nd, 3rd foothold step and driver's seat orderly using hand rail. Sampling rate of force components of 3 axis (medial-lateral [ML] GRF, anterior-posterior [AP] GRF, peak vertical force [PVF]), variables (COPx, COPy, COP area) of center of pressure (COP), loading rate, and stability index (ML, AP, vertical, and dynamic postural stability index [DPSI]) processed from GRF system was cut off at 1,000 Hz. and variables was processed with repeated one-way analysis of variance. AP GRF, PVF and loading rate showed higher value in case of not used hand rail than that used hand rail in all 1st, 2nd, and 3rd of foothold step. DPSI showed more lowered stability in order of 2nd, 3rd step than 1st foothold step used with hand rail, of which showed lowest stability from driver's seat. COPx, COPy, and COP area showed higher value in case of 2nd and 3rd than that of 1st of foothold step, and showed lowest stability from driver's seat. It is more desirable for cargo truck driver to utilize an available hand rail in order of 3rd, 2nd, and 1st of foothold step than downward stepping directly, thus by which may results in decrease of falling injuries and minimization of impulsive force transferring to muscular-skeletal system.

Hand hygiene--evaluation of three disinfectant hand sanitizers in a community setting.

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Rita Babeluk

Full Text Available Hand hygiene is acknowledged as the single most important measure to prevent nosocomial infections in the healthcare setting. Similarly, in non-clinical settings, hand hygiene is recognised as a key element in helping prevent the spread of infectious diseases. The aim of this study was to evaluate the efficacy of three different disinfectant hand sanitizers in reducing the burden of bacterial hand contamination in 60 healthy volunteers in a community setting, both before and after education about the correct use of hand sanitizers. The study is the first to evaluate the efficacy and ease of use of different formulations of hand rubs used by the general population. The products tested were: Sterillium (perfumed, liquid, desderman pure gel (odorless, gel and Lavit (perfumed, spray. Sterillium and desderman are EN1500 (hygienic hand rub certified products (available in pharmacy and Lavit is non EN1500 certified and available in supermarkets. The two EN1500 certified products were found to be significantly superior in terms of reducing bacterial load. desderman pure gel, Sterillium and Lavit reduced the bacterial count to 6.4%, 8.2% and 28.0% respectively. After education in the correct use of each hand rub, the bacterial load was reduced even further, demonstrating the value of education in improving hand hygiene. Information about the testers' perceptions of the three sanitizers, together with their expectations of a hand sanitizer was obtained through a questionnaire. Efficacy, followed by skin compatibility were found to be the two most important attributes of a hand disinfectant in our target group.

Renal shear wave velocity by acoustic radiation force impulse did not reflect advanced renal impairment.

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Takata, Tomoaki; Koda, Masahiko; Sugihara, Takaaki; Sugihara, Shinobu; Okamoto, Toshiaki; Miyoshi, Kenichi; Matono, Tomomitsu; Hosho, Keiko; Mae, Yukari; Iyama, Takuji; Fukui, Takeaki; Fukuda, Satoko; Munemura, Chishio; Isomoto, Hajime

2016-12-01

Acoustic radiation force impulse is a noninvasive method for evaluating tissue elasticity on ultrasound. Renal shear wave velocity measured by this technique has not been fully investigated in patients with renal disease. The aim of the present study was to compare renal shear wave velocity in end-stage renal disease patients and that in patients without chronic kidney disease and to investigate influencing factors. Renal shear wave velocities were measured in 59 healthy young subjects (control group), 31 subjects without chronic kidney disease (non-CKD group), and 39 end-stage renal disease patients (ESRD group). Each measurement was performed 10 times at both kidneys, and the mean value of eight of 10 measurements, excluding the maximum and minimum values, was compared. Renal shear wave velocity could be measured in all subjects. Renal shear wave velocity in the control group was higher than in the non-CKD group and in the ESRD group, and no difference was found between the non-CKD group and the ESRD group. Age and depth were negatively correlated to the renal shear wave velocity. In multiple regression analysis, age and depth were independent factors for renal shear wave velocity, while renal impairment was not. There was no difference between the non-CKD group and the ESRD group, even when ages were matched and depth was adjusted. Renal shear wave velocity was not associated with advanced renal impairment. However, it reflected alteration of renal aging, and this technique may be useful to detect renal impairment in the earlier stages. © 2015 Asian Pacific Society of Nephrology.

In a demanding task, three-handed manipulation is preferred to two-handed manipulation.

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Abdi, Elahe; Burdet, Etienne; Bouri, Mohamed; Himidan, Sharifa; Bleuler, Hannes

2016-02-25

Equipped with a third hand under their direct control, surgeons may be able to perform certain surgical interventions alone; this would reduce the need for a human assistant and related coordination difficulties. However, does human performance improve with three hands compared to two hands? To evaluate this possibility, we carried out a behavioural study on the performance of naive adults catching objects with three virtual hands controlled by their two hands and right foot. The subjects could successfully control the virtual hands in a few trials. With this control strategy, the workspace of the hands was inversely correlated with the task velocity. The comparison of performance between the three and two hands control revealed no significant difference of success in catching falling objects and in average effort during the tasks. Subjects preferred the three handed control strategy, found it easier, with less physical and mental burden. Although the coordination of the foot with the natural hands increased trial after trial, about two minutes of practice was not sufficient to develop a sense of ownership towards the third arm.

The human touch: skin temperature during the rubber hand illusion in manual and automated stroking procedures.

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Marieke Rohde

Full Text Available A difference in skin temperature between the hands has been identified as a physiological correlate of the rubber hand illusion (RHI. The RHI is an illusion of body ownership, where participants perceive body ownership over a rubber hand if they see it being stroked in synchrony with their own occluded hand. The current study set out to replicate this result, i.e., psychologically induced cooling of the stimulated hand using an automated stroking paradigm, where stimulation was delivered by a robot arm (PHANToM(TM force-feedback device. After we found no evidence for hand cooling in two experiments using this automated procedure, we reverted to a manual stroking paradigm, which is closer to the one employed in the study that first produced this effect. With this procedure, we observed a relative cooling of the stimulated hand in both the experimental and the control condition. The subjective experience of ownership, as rated by the participants, by contrast, was strictly linked to synchronous stroking in all three experiments. This implies that hand-cooling is not a strict correlate of the subjective feeling of hand ownership in the RHI. Factors associated with the differences between the two designs (differences in pressure of tactile stimulation, presence of another person that were thus far considered irrelevant to the RHI appear to play a role in bringing about this temperature effect.

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

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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.

Geronimo: Planning Considerations for Employing Airborne Forces

Science.gov (United States)

2017-05-25

Master’s Thesis, US Army Command and General Staff College, 2000), 1. 11 The Military Balance 2015 (London: Europa Publications, 2015), 41. 12...effectiveness of NATO’s suppression of enemy air defense systems operation.” 51 The Military Balance 2015, London: Europa Publications (2015); Gordon...that the enemy forces were tired and demoralized and airfields were in friendly hands; consequently, some Soldiers were issued no ammunition

A Laboratory Goniometer System for Measuring Reflectance and Emittance Anisotropy

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Arjan de Jong

2012-12-01

Full Text Available In this paper, a laboratory goniometer system for performing multi-angular measurements under controlled illumination conditions is described. A commercially available robotic arm enables the acquisition of a large number of measurements over the full hemisphere within a short time span making it much faster than other goniometers. In addition, the presented set-up enables assessment of anisotropic reflectance and emittance behaviour of soils, leaves and small canopies. Mounting a spectrometer enables acquisition of either hemispherical measurements or measurements in the horizontal plane. Mounting a thermal camera allows directional observations of the thermal emittance. This paper also presents three showcases of these different measurement set-ups in order to illustrate its possibilities. Finally, suggestions for applying this instrument and for future research directions are given, including linking the measured reflectance anisotropy with physically-based anisotropy models on the one hand and combining them with field goniometry measurements for joint analysis with remote sensing data on the other hand. The speed and flexibility of the system offer a large added value to the existing pool of laboratory goniometers.

Recent advances in biodynamics of human hand-arm system.

Science.gov (United States)

Dong, Ren G; Wu, John Z; Welcome, Daniel E

2005-07-01

The biodynamics of human hand-arm system is one of the most important foundations for the measurement, evaluation, and risk assessment of hand-transmitted vibration (HTV) exposure. This paper presents a new conceptual model relating factors influencing cause-effect relationships for HTV exposure, a new study strategy, and a comprehensive review of the recent advances in the biodynamics closely associated with HTV exposure. The review covers the following five aspects: theoretical modeling of biodynamic responses, vibration transmissibility, driving-point biodynamic responses, evaluation of anti-vibration gloves, and applied forces. This review finds that some significant advances in each of these aspects have been achieved in the recent years. Several important issues and problems in the biodynamic measurement have been identified and resolved, which has significantly helped improve the reliability and accuracy of the experimental data. The results reported in recent years suggest that, from the point of view of biodynamics, the frequency weighting specified in ISO 5349-1 (2001) overestimates the low frequency effect but underestimates the high frequency effect on the fingers and hand. The major problems, issues, and topics for further studies are also outlined in this paper. It is anticipated that the further studies of the biodynamics of the system will eventually lead to establishment of a robust vibration exposure theory. Although this review focuses on the biodynamics of the hand-arm system, the fundamental concepts and some methodologies reviewed in this paper may also be applicable for the study of whole-body vibration exposure.

Reflections on Measuring Thinking, while Listening to Mozart's "Jupiter" Symphony.

Science.gov (United States)

Wasserman, Selma

1989-01-01

Reflects on educators' current preoccupation with assessment of higher order thinking skills. Easy-to-mark, forced-choice, pencil-and-paper tests with single numerical scores may trivialize the wonderful complexity of human capabilities. Includes 17 references. (MLH)

Single-molecule folding mechanism of an EF-hand neuronal calcium sensor

DEFF Research Database (Denmark)

Heiðarsson, Pétur Orri; Otazo, Mariela R.; Bellucci, Luca

2013-01-01

EF-hand calcium sensors respond structurally to changes in intracellular Ca2+ concentration, triggering diverse cellular responses and resulting in broad interactomes. Despite impressive advances in decoding their structure-function relationships, the folding mechanism of neuronal calcium sensors...... of the N domain, showing striking interdomain dependence. Molecular dynamics results reveal the atomistic details of the unfolding process and rationalize the different domain stabilities during mechanical unfolding. Through constant-force experiments and hidden Markov model analysis, the free energy...

About Hand Surgery

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... Find a hand surgeon near you. © 2009 American Society for Surgery of the Hand. Definition developed by ASSH Council. Other Links CME Mission Statement and Disclaimer Policies and Technical Requirements Exhibits and Partners ASSH 822 W. Washington Blvd. ... 2018 by American Society for Surgery of the Hand × Search Tips Tip ...

Modulation of motor cortex excitability by physical similarity with an observed hand action.

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Marie-Christine Désy

Full Text Available The passive observation of hand actions is associated with increased motor cortex excitability, presumably reflecting activity within the human mirror neuron system (MNS. Recent data show that in-group ethnic membership increases motor cortex excitability during observation of culturally relevant hand gestures, suggesting that physical similarity with an observed body part may modulate MNS responses. Here, we ask whether the MNS is preferentially activated by passive observation of hand actions that are similar or dissimilar to self in terms of sex and skin color. Transcranial magnetic stimulation-induced motor evoked potentials were recorded from the first dorsal interosseus muscle while participants viewed videos depicting index finger movements made by female or male participants with black or white skin color. Forty-eight participants equally distributed in terms of sex and skin color participated in the study. Results show an interaction between self-attributes and physical attributes of the observed hand in the right motor cortex of female participants, where corticospinal excitability is increased during observation of hand actions in a different skin color than that of the observer. Our data show that specific physical properties of an observed action modulate motor cortex excitability and we hypothesize that in-group/out-group membership and self-related processes underlie these effects.

Perfection of technical and tactical preparation of sportsmen of hand-to-hand fight

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Serebryak V.V.

2010-06-01

Full Text Available Essence of innovative hike is considered to upgrading preparation of sportsmen of hand-to-hand fight. 58 sportsmen of section of hand-to-hand fight took part in research. Age of sportsmen are from 17 to 22 years. Developed and approved the most effective technical and tactical charts of construction of duel with the opponents of different styles of single combats. It is well-proven that offered approach instrumental in development of operative thought and adaptation to sparring of hand-to-hand fight.

Osteoarthritis of the Hand