Using Fuzzy Gaussian Inference and Genetic Programming to Classify 3D Human Motions

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Khoury, Mehdi; Liu, Honghai

This research introduces and builds on the concept of Fuzzy Gaussian Inference (FGI) (Khoury and Liu in Proceedings of UKCI, 2008 and IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS 2009), 2009) as a novel way to build Fuzzy Membership Functions that map to hidden Probability Distributions underlying human motions. This method is now combined with a Genetic Programming Fuzzy rule-based system in order to classify boxing moves from natural human Motion Capture data. In this experiment, FGI alone is able to recognise seven different boxing stances simultaneously with an accuracy superior to a GMM-based classifier. Results seem to indicate that adding an evolutionary Fuzzy Inference Engine on top of FGI improves the accuracy of the classifier in a consistent way.

Block-classified bidirectional motion compensation scheme for wavelet-decomposed digital video

Energy Technology Data Exchange (ETDEWEB)

Zafar, S. [Argonne National Lab., IL (United States). Mathematics and Computer Science Div.; Zhang, Y.Q. [David Sarnoff Research Center, Princeton, NJ (United States); Jabbari, B. [George Mason Univ., Fairfax, VA (United States)

1997-08-01

In this paper the authors introduce a block-classified bidirectional motion compensation scheme for the previously developed wavelet-based video codec, where multiresolution motion estimation is performed in the wavelet domain. The frame classification structure described in this paper is similar to that used in the MPEG standard. Specifically, the I-frames are intraframe coded, the P-frames are interpolated from a previous I- or a P-frame, and the B-frames are bidirectional interpolated frames. They apply this frame classification structure to the wavelet domain with variable block sizes and multiresolution representation. They use a symmetric bidirectional scheme for the B-frames and classify the motion blocks as intraframe, compensated either from the preceding or the following frame, or bidirectional (i.e., compensated based on which type yields the minimum energy). They also introduce the concept of F-frames, which are analogous to P-frames but are predicted from the following frame only. This improves the overall quality of the reconstruction in a group of pictures (GOP) but at the expense of extra buffering. They also study the effect of quantization of the I-frames on the reconstruction of a GOP, and they provide intuitive explanation for the results. In addition, the authors study a variety of wavelet filter-banks to be used in a multiresolution motion-compensated hierarchical video codec.

Evaluation of classifier topologies for the real-time classification of simultaneous limb motions.

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Ortiz-Catalan, Max; Branemark, Rickard; Hakansson, Bo

2013-01-01

The prediction of motion intent through the decoding of myoelectric signals has the potential to improve the functionally of limb prostheses. Considerable research on individual motion classifiers has been done to exploit this idea. A drawback with the individual prediction approach, however, is its limitation to serial control, which is slow, cumbersome, and unnatural. In this work, different classifier topologies suitable for the decoding of mixed classes, and thus capable of predicting simultaneous motions, were investigated in real-time. These topologies resulted in higher offline accuracies than previously achieved, but more importantly, positive indications of their suitability for real-time systems were found. Furthermore, in order to facilitate further development, benchmarking, and cooperation, the algorithms and data generated in this study are freely available as part of BioPatRec, an open source framework for the development of advanced prosthetic control strategies.

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

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Francesca Cordella

2014-03-01

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

Experimental Study of Real-Time Classification of 17 Voluntary Movements for Multi-Degree Myoelectric Prosthetic Hand

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Trongmun Jiralerspong

2017-11-01

Full Text Available The myoelectric prosthetic hand is a powerful tool developed to help people with upper limb loss restore the functions of a biological hand. Recognizing multiple hand motions from only a few electromyography (EMG sensors is one of the requirements for the development of prosthetic hands with high level of usability. This task is highly challenging because both classification rate and misclassification rate worsen with additional hand motions. This paper presents a signal processing technique that uses spectral features and an artificial neural network to classify 17 voluntary movements from EMG signals. The main highlight will be on the use of a small set of low-cost EMG sensor for classification of a reasonably large number of hand movements. The aim of this work is to extend the capabilities to recognize and produce multiple movements beyond what is currently feasible. This work will also show and discuss about how tailoring the number of hand motions for a specific task can help develop a more reliable prosthetic hand system. Online classification experiments have been conducted on seven male and five female participants to evaluate the validity of the proposed method. The proposed algorithm achieves an overall correct classification rate of up to 83%, thus, demonstrating the potential to classify 17 movements from 6 EMG sensors. Furthermore, classifying 9 motions using this method could achieve an accuracy of up to 92%. These results show that if the prosthetic hand is intended for a specific task, limiting the number of motions can significantly increase the performance and usability.

Effectiveness of adaptive silverware on range of motion of the hand

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Susan S. McDonald

2016-02-01

Full Text Available Background. Hand function is essential to a person’s self-efficacy and greatly affects quality of life. Adapted utensils with handles of increased diameters have historically been used to assist individuals with arthritis or other hand disabilities for feeding, and other related activities of daily living. To date, minimal research has examined the biomechanical effects of modified handles, or quantified the differences in ranges of motion (ROM when using a standard versus a modified handle. The aim of this study was to quantify the ranges of motion (ROM required for a healthy hand to use different adaptive spoons with electrogoniometry for the purpose of understanding the physiologic advantages that adapted spoons may provide patients with limited ROM. Methods. Hand measurements included the distal interphalangeal joint (DIP, proximal interphalangeal joint (PIP, and metacarpophalangeal joint (MCP for each finger and the interphalangeal (IP and MCP joint for the thumb. Participants were 34 females age 18–30 (mean age 20.38 ± 1.67 with no previous hand injuries or abnormalities. Participants grasped spoons with standard handles, and spoons with handle diameters of 3.18 cm (1.25 inch, and 4.45 cm (1.75 inch. ROM measurements were obtained with an electrogoniometer to record the angle at each joint for each of the spoon handle sizes. Results. A 3 × 3 × 4 repeated measures ANOVA (Spoon handle size by Joint by Finger found main effects on ROM of Joint (F(2, 33 = 318.68, Partial η2 = .95, p < .001, Spoon handle size (F(2, 33 = 598.73, Partial η2 = .97, p < .001, and Finger (F(3, 32 = 163.83, Partial η2 = .94, p < .001. As the spoon handle diameter size increased, the range of motion utilized to grasp the spoon handle decreased in all joints and all fingers (p < 0.01. Discussion. This study confirms the hypothesis that less range of motion is required to grip utensils with larger diameter handles, which in turn may reduce challenges for

A video-based system for hand-driven stop-motion animation.

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Han, Xiaoguang; Fu, Hongbo; Zheng, Hanlin; Liu, Ligang; Wang, Jue

2013-01-01

Stop-motion is a well-established animation technique but is often laborious and requires craft skills. A new video-based system can animate the vast majority of everyday objects in stop-motion style, more flexibly and intuitively. Animators can perform and capture motions continuously instead of breaking them into increments and shooting one still picture per increment. More important, the system permits direct hand manipulation without resorting to rigs, achieving more natural object control for beginners. The system's key component is two-phase keyframe-based capturing and processing, assisted by computer vision techniques. With this system, even amateurs can generate high-quality stop-motion animations.

Modeling of hand function by mapping the motion of individual muscle voxels with MR imaging velocity tagging

International Nuclear Information System (INIS)

Drace, J.; Pele, N.; Herfkens, R.J.

1990-01-01

This paper reports on a method to correlate the three-dimensional (3D) motion of the fingers with the complex motion of the intrinsic, flexor, and extensor muscles. A better understanding of hand function is important to the medical, surgical, and rehabilitation treatment of patients with arthritic, neurogenic, and mechanical hand dysfunctions. Static, high-resolution MR volumetric imaging defines the 3D shape of each individual bone in the hands of three subjects and three patients. Single-section velocity-tagging sequences (VIGOR) are performed through the hand and forearm, while the actual 3D motion of the hand is computed from the MR model and readings of fiber-optic goniometers attached to each finger. The accuracy of the velocity tagging is also tested with a motion phantom

Hand based visual intent recognition algorithm for wheelchair motion

CSIR Research Space (South Africa)

Luhandjula, T

2010-05-01

Full Text Available This paper describes an algorithm for a visual human-machine interface that infers a person’s intention from the motion of the hand. Work in progress shows a proof of concept tested on static images. The context for which this solution is intended...

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

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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.

Classifying and Analyzing 3d Cell Motion in Jammed Microgels

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Bhattacharjee, Tapomoy; Sawyer, W. Gregory; Angelini, Thomas

Soft granular polyelectrolyte microgels swell in liquid cell growth media to form a continuous elastic solid that can easily transition between solid to fluid state under a low shear stress. Such Liquid-like solids (LLS) have recently been used to create 3D cellular constructs as well as to support, culture and harvest cells in 3D. Current understanding of cell migration mechanics in 3D was established from experiments performed in natural and synthetic polymer networks. Spatial variation in network structure and the transience of degradable gels limit their usefulness in quantitative cell mechanics studies. By contrast, LLS growth media approximates a homogeneous continuum, enabling tractable cell mechanics measurements to be performed in 3D. Here, we introduce a process to understand and classify cytotoxic T cell motion in 3D by studying cellular motility in LLS media. General classification of T cell motion can be achieved with a very traditional statistical approach: the cell's mean squared displacement (MSD) as a function of delay time. We will also use Langevin approaches combined with the constitutive equations of the LLS medium to predict the statistics of T cell motion. National Science Foundation under Grant No. DMR-1352043.

On-Line Detection and Segmentation of Sports Motions Using a Wearable Sensor

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Woosuk Kim

2018-03-01

Full Text Available In sports motion analysis, observation is a prerequisite for understanding the quality of motions. This paper introduces a novel approach to detect and segment sports motions using a wearable sensor for supporting systematic observation. The main goal is, for convenient analysis, to automatically provide motion data, which are temporally classified according to the phase definition. For explicit segmentation, a motion model is defined as a sequence of sub-motions with boundary states. A sequence classifier based on deep neural networks is designed to detect sports motions from continuous sensor inputs. The evaluation on two types of motions (soccer kicking and two-handed ball throwing verifies that the proposed method is successful for the accurate detection and segmentation of sports motions. By developing a sports motion analysis system using the motion model and the sequence classifier, we show that the proposed method is useful for observation of sports motions by automatically providing relevant motion data for analysis.

On-Line Detection and Segmentation of Sports Motions Using a Wearable Sensor.

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Kim, Woosuk; Kim, Myunggyu

2018-03-19

In sports motion analysis, observation is a prerequisite for understanding the quality of motions. This paper introduces a novel approach to detect and segment sports motions using a wearable sensor for supporting systematic observation. The main goal is, for convenient analysis, to automatically provide motion data, which are temporally classified according to the phase definition. For explicit segmentation, a motion model is defined as a sequence of sub-motions with boundary states. A sequence classifier based on deep neural networks is designed to detect sports motions from continuous sensor inputs. The evaluation on two types of motions (soccer kicking and two-handed ball throwing) verifies that the proposed method is successful for the accurate detection and segmentation of sports motions. By developing a sports motion analysis system using the motion model and the sequence classifier, we show that the proposed method is useful for observation of sports motions by automatically providing relevant motion data for analysis.

Grounding grammatical categories: attention bias in hand space influences grammatical congruency judgment of Chinese nominal classifiers.

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Lobben, Marit; D'Ascenzo, Stefania

2015-01-01

Embodied cognitive theories predict that linguistic conceptual representations are grounded and continually represented in real world, sensorimotor experiences. However, there is an on-going debate on whether this also holds for abstract concepts. Grammar is the archetype of abstract knowledge, and therefore constitutes a test case against embodied theories of language representation. Former studies have largely focussed on lexical-level embodied representations. In the present study we take the grounding-by-modality idea a step further by using reaction time (RT) data from the linguistic processing of nominal classifiers in Chinese. We take advantage of an independent body of research, which shows that attention in hand space is biased. Specifically, objects near the hand consistently yield shorter RTs as a function of readiness for action on graspable objects within reaching space, and the same biased attention inhibits attentional disengagement. We predicted that this attention bias would equally apply to the graspable object classifier but not to the big object classifier. Chinese speakers (N = 22) judged grammatical congruency of classifier-noun combinations in two conditions: graspable object classifier and big object classifier. We found that RTs for the graspable object classifier were significantly faster in congruent combinations, and significantly slower in incongruent combinations, than the big object classifier. There was no main effect on grammatical violations, but rather an interaction effect of classifier type. Thus, we demonstrate here grammatical category-specific effects pertaining to the semantic content and by extension the visual and tactile modality of acquisition underlying the acquisition of these categories. We conclude that abstract grammatical categories are subjected to the same mechanisms as general cognitive and neurophysiological processes and may therefore be grounded.

Working hand syndrome: A new definition of non-classified polyneuropathy condition.

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Özdemir, Gökhan

2017-06-01

The aim of this paper was to define an unexplained non-classified polyneuropathy condition as a new neurological disease. This new diagnosis of occupation related polyneuropathy has been named as "WORKING HAND SYNDROME (WHS)."This study collected and compared clinic and electrophysiological analyze data from healthy controls, WHS patients, carpal tunnel syndrome (CTS) patients and polyneuropathy patients. The WHS patients presented to the clinic with pain, numbness, tingling, and burning sensations in their hands that increased significantly during rest and nighttime. However, there was no weakness in the muscles, and the deep tendon reflexes were normal in this disease. The patients had all been working in physically demanding jobs requiring the use of their hands/arms for at least 1 year, but no vibrating tools were used by the patients. All of the cases were men. I supposed that overload caused by an action repeated chronically by the hand/arm may impair the sensory nerves in mentioned hand/arm. In patients with these complaints, for a definitive diagnosis, similar diseases must be excluded. Nonetheless, the specific electrophysiological finding that the sural nerves are normal on the lower sides, as well as the occurrence of sensory axonal polyneuropathy in the sensory nerves without a significant effect on velocity and latency in the work-ups of the upper extremity are enough to make a diagnosis.In conclusion, WHS has been defined as a polyneuropathy and occupational disease. Patients with WHS present with pain, numbness, tingling, and burning sensations in their hands that increases significantly during rest and nighttime. They also use their arms/hands for jobs that require heavy labor. The neurological examinations of patients with WHS are normal. Only the sensory nerves in the upper extremities are affected. This article is suggested to serve as a resource for patients, health care professionals, and members of the neurology community at large.

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

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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

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

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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.

An Enhanced Intelligent Handheld Instrument with Visual Servo Control for 2-DOF Hand Motion Error Compensation

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Yan Naing Aye

2013-10-01

Full Text Available The intelligent handheld instrument, ITrem2, enhances manual positioning accuracy by cancelling erroneous hand movements and, at the same time, provides automatic micromanipulation functions. Visual data is acquired from a high speed monovision camera attached to the optical surgical microscope and acceleration measurements are acquired from the inertial measurement unit (IMU on board ITrem2. Tremor estimation and canceling is implemented via Band-limited Multiple Fourier Linear Combiner (BMFLC filter. The piezoelectric actuated micromanipulator in ITrem2 generates the 3D motion to compensate erroneous hand motion. Preliminary bench-top 2-DOF experiments have been conducted. The error motions simulated by a motion stage is reduced by 67% for multiple frequency oscillatory motions and 56.16% for pre-conditioned recorded physiological tremor.

Evaluation of Real-Time Hand Motion Tracking Using a Range Camera and the Mean-Shift Algorithm

Science.gov (United States)

Lahamy, H.; Lichti, D.

2011-09-01

Several sensors have been tested for improving the interaction between humans and machines including traditional web cameras, special gloves, haptic devices, cameras providing stereo pairs of images and range cameras. Meanwhile, several methods are described in the literature for tracking hand motion: the Kalman filter, the mean-shift algorithm and the condensation algorithm. In this research, the combination of a range camera and the simple version of the mean-shift algorithm has been evaluated for its capability for hand motion tracking. The evaluation was assessed in terms of position accuracy of the tracking trajectory in x, y and z directions in the camera space and the time difference between image acquisition and image display. Three parameters have been analyzed regarding their influence on the tracking process: the speed of the hand movement, the distance between the camera and the hand and finally the integration time of the camera. Prior to the evaluation, the required warm-up time of the camera has been measured. This study has demonstrated the suitability of the range camera used in combination with the mean-shift algorithm for real-time hand motion tracking but for very high speed hand movement in the traverse plane with respect to the camera, the tracking accuracy is low and requires improvement.

Extrinsic versus intrinsic hand muscle dominance in finger flexion.

Science.gov (United States)

Al-Sukaini, A; Singh, H P; Dias, J J

2016-05-01

This study aims to identify the patterns of dominance of extrinsic or intrinsic muscles in finger flexion during initiation of finger curl and mid-finger flexion. We recorded 82 hands of healthy individuals (18-74 years) while flexing their fingers and tracked the finger joint angles of the little finger using video motion tracking. A total of 57 hands (69.5%) were classified as extrinsic dominant, where the finger flexion was initiated and maintained at proximal interphalangeal and distal interphalangeal joints. A total of 25 (30.5%) were classified as intrinsic dominant, where the finger flexion was initiated and maintained at the metacarpophalangeal joint. The distribution of age, sex, dominance, handedness and body mass index was similar in the two groups. This knowledge may allow clinicians to develop more efficient rehabilitation regimes, since intrinsic dominant individuals would not initiate extrinsic muscle contraction till later in finger flexion, and might therefore be allowed limited early active motion. For extrinsic dominant individuals, by contrast, initial contraction of extrinsic muscles would place increased stress on the tendon repair site if early motion were permitted. © The Author(s) 2016.

Interface Prostheses With Classifier-Feedback-Based User Training.

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Fang, Yinfeng; Zhou, Dalin; Li, Kairu; Liu, Honghai

2017-11-01

It is evident that user training significantly affects performance of pattern-recognition-based myoelectric prosthetic device control. Despite plausible classification accuracy on offline datasets, online accuracy usually suffers from the changes in physiological conditions and electrode displacement. The user ability in generating consistent electromyographic (EMG) patterns can be enhanced via proper user training strategies in order to improve online performance. This study proposes a clustering-feedback strategy that provides real-time feedback to users by means of a visualized online EMG signal input as well as the centroids of the training samples, whose dimensionality is reduced to minimal number by dimension reduction. Clustering feedback provides a criterion that guides users to adjust motion gestures and muscle contraction forces intentionally. The experiment results have demonstrated that hand motion recognition accuracy increases steadily along the progress of the clustering-feedback-based user training, while conventional classifier-feedback methods, i.e., label feedback, hardly achieve any improvement. The result concludes that the use of proper classifier feedback can accelerate the process of user training, and implies prosperous future for the amputees with limited or no experience in pattern-recognition-based prosthetic device manipulation.It is evident that user training significantly affects performance of pattern-recognition-based myoelectric prosthetic device control. Despite plausible classification accuracy on offline datasets, online accuracy usually suffers from the changes in physiological conditions and electrode displacement. The user ability in generating consistent electromyographic (EMG) patterns can be enhanced via proper user training strategies in order to improve online performance. This study proposes a clustering-feedback strategy that provides real-time feedback to users by means of a visualized online EMG signal input as well

An Analysis of Intrinsic and Extrinsic Hand Muscle EMG for Improved Pattern Recognition Control.

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Adewuyi, Adenike A; Hargrove, Levi J; Kuiken, Todd A

2016-04-01

Pattern recognition control combined with surface electromyography (EMG) from the extrinsic hand muscles has shown great promise for control of multiple prosthetic functions for transradial amputees. There is, however, a need to adapt this control method when implemented for partial-hand amputees, who possess both a functional wrist and information-rich residual intrinsic hand muscles. We demonstrate that combining EMG data from both intrinsic and extrinsic hand muscles to classify hand grasps and finger motions allows up to 19 classes of hand grasps and individual finger motions to be decoded, with an accuracy of 96% for non-amputees and 85% for partial-hand amputees. We evaluated real-time pattern recognition control of three hand motions in seven different wrist positions. We found that a system trained with both intrinsic and extrinsic muscle EMG data, collected while statically and dynamically varying wrist position increased completion rates from 73% to 96% for partial-hand amputees and from 88% to 100% for non-amputees when compared to a system trained with only extrinsic muscle EMG data collected in a neutral wrist position. Our study shows that incorporating intrinsic muscle EMG data and wrist motion can significantly improve the robustness of pattern recognition control for application to partial-hand prosthetic control.

Integration Head Mounted Display Device and Hand Motion Gesture Device for Virtual Reality Laboratory

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Rengganis, Y. A.; Safrodin, M.; Sukaridhoto, S.

2018-01-01

Virtual Reality Laboratory (VR Lab) is an innovation for conventional learning media which show us whole learning process in laboratory. There are many tools and materials are needed by user for doing practical in it, so user could feel new learning atmosphere by using this innovation. Nowadays, technologies more sophisticated than before. So it would carry in education and it will be more effective, efficient. The Supported technologies are needed us for making VR Lab such as head mounted display device and hand motion gesture device. The integration among them will be used us for making this research. Head mounted display device for viewing 3D environment of virtual reality laboratory. Hand motion gesture device for catching user real hand and it will be visualized in virtual reality laboratory. Virtual Reality will show us, if using the newest technologies in learning process it could make more interesting and easy to understand.

Smart Sensor-Based Motion Detection System for Hand Movement Training in Open Surgery.

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Sun, Xinyao; Byrns, Simon; Cheng, Irene; Zheng, Bin; Basu, Anup

2017-02-01

We introduce a smart sensor-based motion detection technique for objective measurement and assessment of surgical dexterity among users at different experience levels. The goal is to allow trainees to evaluate their performance based on a reference model shared through communication technology, e.g., the Internet, without the physical presence of an evaluating surgeon. While in the current implementation we used a Leap Motion Controller to obtain motion data for analysis, our technique can be applied to motion data captured by other smart sensors, e.g., OptiTrack. To differentiate motions captured from different participants, measurement and assessment in our approach are achieved using two strategies: (1) low level descriptive statistical analysis, and (2) Hidden Markov Model (HMM) classification. Based on our surgical knot tying task experiment, we can conclude that finger motions generated from users with different surgical dexterity, e.g., expert and novice performers, display differences in path length, number of movements and task completion time. In order to validate the discriminatory ability of HMM for classifying different movement patterns, a non-surgical task was included in our analysis. Experimental results demonstrate that our approach had 100 % accuracy in discriminating between expert and novice performances. Our proposed motion analysis technique applied to open surgical procedures is a promising step towards the development of objective computer-assisted assessment and training systems.

Identification of hand motion using background subtraction method and extraction of image binary with backpropagation neural network on skeleton model

Science.gov (United States)

Fauziah; Wibowo, E. P.; Madenda, S.; Hustinawati

2018-03-01

Capturing and recording motion in human is mostly done with the aim for sports, health, animation films, criminality, and robotic applications. In this study combined background subtraction and back propagation neural network. This purpose to produce, find similarity movement. The acquisition process using 8 MP resolution camera MP4 format, duration 48 seconds, 30frame/rate. video extracted produced 1444 pieces and results hand motion identification process. Phase of image processing performed is segmentation process, feature extraction, identification. Segmentation using bakground subtraction, extracted feature basically used to distinguish between one object to another object. Feature extraction performed by using motion based morfology analysis based on 7 invariant moment producing four different classes motion: no object, hand down, hand-to-side and hands-up. Identification process used to recognize of hand movement using seven inputs. Testing and training with a variety of parameters tested, it appears that architecture provides the highest accuracy in one hundred hidden neural network. The architecture is used propagate the input value of the system implementation process into the user interface. The result of the identification of the type of the human movement has been clone to produce the highest acuracy of 98.5447%. The training process is done to get the best results.

Kinematic Differences between Set- and Jump-Shot Motions in Basketball

OpenAIRE

Hiroki Okubo; Mont Hubbard

2018-01-01

Shooting arm motions at release in one-hand set and jump basketball shots have been analyzed using a kinematic model. Set and jump shots are classified by the vertical velocity and acceleration of the shooter’s shooting-side shoulder at release. The two-dimensional three-segment model includes the vertical shooting-side shoulder velocity and acceleration. Numerical simulation investigates the effect of shoulder motion. Release backspin angular velocity can be described as a function of the ve...

Feasibility of an AI-Based Measure of the Hand Motions of Expert and Novice Surgeons

Directory of Open Access Journals (Sweden)

Munenori Uemura

2018-01-01

Full Text Available This study investigated whether parameters derived from hand motions of expert and novice surgeons accurately and objectively reflect laparoscopic surgical skill levels using an artificial intelligence system consisting of a three-layer chaos neural network. Sixty-seven surgeons (23 experts and 44 novices performed a laparoscopic skill assessment task while their hand motions were recorded using a magnetic tracking sensor. Eight parameters evaluated as measures of skill in a previous study were used as inputs to the neural network. Optimization of the neural network was achieved after seven trials with a training dataset of 38 surgeons, with a correct judgment ratio of 0.99. The neural network that prospectively worked with the remaining 29 surgeons had a correct judgment rate of 79% for distinguishing between expert and novice surgeons. In conclusion, our artificial intelligence system distinguished between expert and novice surgeons among surgeons with unknown skill levels.

Atypical activation of the mirror neuron system during perception of hand motion in autism.

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Martineau, Joëlle; Andersson, Frédéric; Barthélémy, Catherine; Cottier, Jean-Philippe; Destrieux, Christophe

2010-03-12

Disorders in the autism spectrum are characterized by deficits in social and communication skills such as imitation, pragmatic language, theory of mind, and empathy. The discovery of the "mirror neuron system" (MNS) in macaque monkeys may provide a basis from which to explain some of the behavioral dysfunctions seen in individuals with autism spectrum disorders (ASD).We studied seven right-handed high-functioning male autistic and eight normal subjects (TD group) using functional magnetic resonance imaging during observation and execution of hand movements compared to a control condition (rest). The between group comparison of the contrast [observation versus rest] provided evidence of a bilateral greater activation of inferior frontal gyrus during observation of human motion than during rest for the ASD group than for the TD group. This hyperactivation of the pars opercularis (belonging to the MNS) during observation of human motion in autistic subjects provides strong support for the hypothesis of atypical activity of the MNS that may be at the core of the social deficits in autism. Copyright 2010 Elsevier B.V. All rights reserved.

Hand gesture recognition in confined spaces with partial observability and occultation constraints

Science.gov (United States)

Shirkhodaie, Amir; Chan, Alex; Hu, Shuowen

2016-05-01

Human activity detection and recognition capabilities have broad applications for military and homeland security. These tasks are very complicated, however, especially when multiple persons are performing concurrent activities in confined spaces that impose significant obstruction, occultation, and observability uncertainty. In this paper, our primary contribution is to present a dedicated taxonomy and kinematic ontology that are developed for in-vehicle group human activities (IVGA). Secondly, we describe a set of hand-observable patterns that represents certain IVGA examples. Thirdly, we propose two classifiers for hand gesture recognition and compare their performance individually and jointly. Finally, we present a variant of Hidden Markov Model for Bayesian tracking, recognition, and annotation of hand motions, which enables spatiotemporal inference to human group activity perception and understanding. To validate our approach, synthetic (graphical data from virtual environment) and real physical environment video imagery are employed to verify the performance of these hand gesture classifiers, while measuring their efficiency and effectiveness based on the proposed Hidden Markov Model for tracking and interpreting dynamic spatiotemporal IVGA scenarios.

Registration-based segmentation with articulated model from multipostural magnetic resonance images for hand bone motion animation.

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Chen, Hsin-Chen; Jou, I-Ming; Wang, Chien-Kuo; Su, Fong-Chin; Sun, Yung-Nien

2010-06-01

obtain more accurate segmentation results automatically. Moreover, realistic hand motion animations can be generated based on the bone segmentation results. The proposed method is found helpful for understanding hand bone geometries in dynamic postures that can be used in simulating 3D hand motion through multipostural MR images.

Kinematic Differences between Set- and Jump-Shot Motions in Basketball

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Hiroki Okubo

2018-02-01

Full Text Available Shooting arm motions at release in one-hand set and jump basketball shots have been analyzed using a kinematic model. Set and jump shots are classified by the vertical velocity and acceleration of the shooter’s shooting-side shoulder at release. The two-dimensional three-segment model includes the vertical shooting-side shoulder velocity and acceleration. Numerical simulation investigates the effect of shoulder motion. Release backspin angular velocity can be described as a function of the vertical shoulder acceleration and the vertical fingertip acceleration relative to the shoulder. For proper backspin, jump shots require large vertical fingertip acceleration relative to the shoulder. The upward shoulder speed at release contributes to the vertical fingertip velocity relative to the shoulder for a given desired ball release speed, angle and backspin. On the other hand, upward shoulder motion does not contribute to the horizontal direction. As horizontal shot distance increases, upper arm angular speed also increases to produce the ball release conditions. Ball release with upward shoulder speed reduces the magnitudes of the upper arm, forearm and hand angular velocities. All these facts imply that the shooting arm motion in the jump shot is different from that of the set shot.

Robust automated classification of first-motion polarities for focal mechanism determination with machine learning

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Ross, Z. E.; Meier, M. A.; Hauksson, E.

2017-12-01

Accurate first-motion polarities are essential for determining earthquake focal mechanisms, but are difficult to measure automatically because of picking errors and signal to noise issues. Here we develop an algorithm for reliable automated classification of first-motion polarities using machine learning algorithms. A classifier is designed to identify whether the first-motion polarity is up, down, or undefined by examining the waveform data directly. We first improve the accuracy of automatic P-wave onset picks by maximizing a weighted signal/noise ratio for a suite of candidate picks around the automatic pick. We then use the waveform amplitudes before and after the optimized pick as features for the classification. We demonstrate the method's potential by training and testing the classifier on tens of thousands of hand-made first-motion picks by the Southern California Seismic Network. The classifier assigned the same polarity as chosen by an analyst in more than 94% of the records. We show that the method is generalizable to a variety of learning algorithms, including neural networks and random forest classifiers. The method is suitable for automated processing of large seismic waveform datasets, and can potentially be used in real-time applications, e.g. for improving the source characterizations of earthquake early warning algorithms.

Motion tracking and electromyography-assisted identification of mirror hand contributions to functional near-infrared spectroscopy images acquired during a finger-tapping task performed by children with cerebral palsy

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Hervey, Nathan; Khan, Bilal; Shagman, Laura; Tian, Fenghua; Delgado, Mauricio R.; Tulchin-Francis, Kirsten; Shierk, Angela; Roberts, Heather; Smith, Linsley; Reid, Dahlia; Clegg, Nancy J.; Liu, Hanli; MacFarlane, Duncan; Alexandrakis, George

2014-01-01

Abstract. Recent studies have demonstrated functional near-infrared spectroscopy (fNIRS) to be a viable and sensitive method for imaging sensorimotor cortex activity in children with cerebral palsy (CP). However, during unilateral finger tapping, children with CP often exhibit unintended motions in the nontapping hand, known as mirror motions, which confuse the interpretation of resulting fNIRS images. This work presents a method for separating some of the mirror motion contributions to fNIRS images and demonstrates its application to fNIRS data from four children with CP performing a finger-tapping task with mirror motions. Finger motion and arm muscle activity were measured simultaneously with fNIRS signals using motion tracking and electromyography (EMG), respectively. Subsequently, subject-specific regressors were created from the motion capture or EMG data and independent component analysis was combined with a general linear model to create an fNIRS image representing activation due to the tapping hand and one image representing activation due to the mirror hand. The proposed method can provide information on how mirror motions contribute to fNIRS images, and in some cases, it helps remove mirror motion contamination from the tapping hand activation images. PMID:26157980

Clinical effectiveness of combined virtual reality and robot assisted fine hand motion rehabilitation in subacute stroke patients.

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Huang, Xianwei; Naghdy, Fazel; Naghdy, Golshah; Du, Haiping

2017-07-01

Robot-assisted therapy is regarded as an effective and reliable method for the delivery of highly repetitive rehabilitation training in restoring motor skills after a stroke. This study focuses on the rehabilitation of fine hand motion skills due to their vital role in performing delicate activities of daily living (ADL) tasks. The proposed rehabilitation system combines an adaptive assist-as-needed (AAN) control algorithm and a Virtual Reality (VR) based rehabilitation gaming system (RGS). The developed system is described and its effectiveness is validated through clinical trials on a group of eight subacute stroke patients for a period of six weeks. The impact of the training is verified through standard clinical evaluation methods and measuring key kinematic parameters. A comparison of the pre- and post-training results indicates that the method proposed in this study can improve fine hand motion rehabilitation training effectiveness.

Comparing Machine Learning Classifiers and Linear/Logistic Regression to Explore the Relationship between Hand Dimensions and Demographic Characteristics.

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Miguel-Hurtado, Oscar; Guest, Richard; Stevenage, Sarah V; Neil, Greg J; Black, Sue

2016-01-01

Understanding the relationship between physiological measurements from human subjects and their demographic data is important within both the biometric and forensic domains. In this paper we explore the relationship between measurements of the human hand and a range of demographic features. We assess the ability of linear regression and machine learning classifiers to predict demographics from hand features, thereby providing evidence on both the strength of relationship and the key features underpinning this relationship. Our results show that we are able to predict sex, height, weight and foot size accurately within various data-range bin sizes, with machine learning classification algorithms out-performing linear regression in most situations. In addition, we identify the features used to provide these relationships applicable across multiple applications.

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

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Shin, Henry; Watkins, Zach; Hu, Xiaogang

2017-11-29

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

A qualitative motion analysis study of voluntary hand movement induced by music in patients with Rett syndrome.

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Go, Tohshin; Mitani, Asako

2009-01-01

Patients with Rett syndrome are known to respond well to music irrespective of their physical and verbal disabilities. Therefore, the relationship between auditory rhythm and their behavior was investigated employing a two-dimensional motion analysis system. Ten female patients aged from three to 17 years were included. When music with a simple regular rhythm started, body rocking appeared automatically in a back and forth direction in all four patients who showed the same rocking motion as their stereotyped movement. Through this body rocking, voluntary movement of the hand increased gradually, and finally became sufficient to beat a tambourine. However, the induction of body rocking by music was not observed in the other six patients who did not show stereotyped body rocking in a back and forth direction. When the music stopped suddenly, voluntary movement of the hand disappeared. When the music changed from a simple regular rhythm to a continuous tone without an auditory rhythm, the periodic movement of both the hand and body prolonged. Auditory rhythm shows a close relationship with body movement and facilitates synchronized body movement. This mechanism was demonstrated to be preserved in some patients with Rett syndrome, and stimulation with music could be utilized for their rehabilitation.

3D pose estimation and motion analysis of the articulated human hand-forearm limb in an industrial production environment

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Hahn, Markus; Barrois, Björn; Krüger, Lars; Wöhler, Christian; Sagerer, Gerhard; Kummert, Franz

2010-09-01

This study introduces an approach to model-based 3D pose estimation and instantaneous motion analysis of the human hand-forearm limb in the application context of safe human-robot interaction. 3D pose estimation is performed using two approaches: The Multiocular Contracting Curve Density (MOCCD) algorithm is a top-down technique based on pixel statistics around a contour model projected into the images from several cameras. The Iterative Closest Point (ICP) algorithm is a bottom-up approach which uses a motion-attributed 3D point cloud to estimate the object pose. Due to their orthogonal properties, a fusion of these algorithms is shown to be favorable. The fusion is performed by a weighted combination of the extracted pose parameters in an iterative manner. The analysis of object motion is based on the pose estimation result and the motion-attributed 3D points belonging to the hand-forearm limb using an extended constraint-line approach which does not rely on any temporal filtering. A further refinement is obtained using the Shape Flow algorithm, a temporal extension of the MOCCD approach, which estimates the temporal pose derivative based on the current and the two preceding images, corresponding to temporal filtering with a short response time of two or at most three frames. Combining the results of the two motion estimation stages provides information about the instantaneous motion properties of the object. Experimental investigations are performed on real-world image sequences displaying several test persons performing different working actions typically occurring in an industrial production scenario. In all example scenes, the background is cluttered, and the test persons wear various kinds of clothes. For evaluation, independently obtained ground truth data are used. [Figure not available: see fulltext.

Development and evaluation of a hand tracker using depth images captured from an overhead perspective.

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Czarnuch, Stephen; Mihailidis, Alex

2015-03-27

We present the development and evaluation of a robust hand tracker based on single overhead depth images for use in the COACH, an assistive technology for people with dementia. The new hand tracker was designed to overcome limitations experienced by the COACH in previous clinical trials. We train a random decision forest classifier using ∼5000 manually labeled, unbalanced, training images. Hand positions from the classifier are translated into task actions based on proximity to environmental objects. Tracker performance is evaluated using a large set of ∼24 000 manually labeled images captured from 41 participants in a fully-functional washroom, and compared to the system's previous colour-based hand tracker. Precision and recall were 0.994 and 0.938 for the depth tracker compared to 0.981 and 0.822 for the colour tracker with the current data, and 0.989 and 0.466 in the previous study. The improved tracking performance supports integration of the depth-based tracker into the COACH toward unsupervised, real-world trials. Implications for Rehabilitation The COACH is an intelligent assistive technology that can enable people with cognitive disabilities to stay at home longer, supporting the concept of aging-in-place. Automated prompting systems, a type of intelligent assistive technology, can help to support the independent completion of activities of daily living, increasing the independence of people with cognitive disabilities while reducing the burden of care experienced by caregivers. Robust motion tracking using depth imaging supports the development of intelligent assistive technologies like the COACH. Robust motion tracking also has application to other forms of assistive technologies including gaming, human-computer interaction and automated assessments.

Anthropomorphic Robot Hand And Teaching Glove

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Engler, Charles D., Jr.

1991-01-01

Robotic forearm-and-hand assembly manipulates objects by performing wrist and hand motions with nearly human grasping ability and dexterity. Imitates hand motions of human operator who controls robot in real time by programming via exoskeletal "teaching glove". Telemanipulator systems based on this robotic-hand concept useful where humanlike dexterity required. Underwater, high-radiation, vacuum, hot, cold, toxic, or inhospitable environments potential application sites. Particularly suited to assisting astronauts on space station in safely executing unexpected tasks requiring greater dexterity than standard gripper.

Laban movement analysis to classify emotions from motion

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Dewan, Swati; Agarwal, Shubham; Singh, Navjyoti

2018-04-01

In this paper, we present the study of Laban Movement Analysis (LMA) to understand basic human emotions from nonverbal human behaviors. While there are a lot of studies on understanding behavioral patterns based on natural language processing and speech processing applications, understanding emotions or behavior from non-verbal human motion is still a very challenging and unexplored field. LMA provides a rich overview of the scope of movement possibilities. These basic elements can be used for generating movement or for describing movement. They provide an inroad to understanding movement and for developing movement efficiency and expressiveness. Each human being combines these movement factors in his/her own unique way and organizes them to create phrases and relationships which reveal personal, artistic, or cultural style. In this work, we build a motion descriptor based on a deep understanding of Laban theory. The proposed descriptor builds up on previous works and encodes experiential features by using temporal windows. We present a more conceptually elaborate formulation of Laban theory and test it in a relatively new domain of behavioral research with applications in human-machine interaction. The recognition of affective human communication may be used to provide developers with a rich source of information for creating systems that are capable of interacting well with humans. We test our algorithm on UCLIC dataset which consists of body motions of 13 non-professional actors portraying angry, fear, happy and sad emotions. We achieve an accuracy of 87.30% on this dataset.

A qualitative motion analysis study of voluntary hand movement induced by music in patients with Rett syndrome

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Tohshin Go

2009-10-01

Full Text Available Tohshin Go1, Asako Mitani21Center for Baby Science, Doshisha University, Kizugawa, Kyoto, Japan; 2Independent Music Therapist (Poco A Poco Music Room, Tokyo, JapanAbstract: Patients with Rett syndrome are known to respond well to music irrespective of their physical and verbal disabilities. Therefore, the relationship between auditory rhythm and their behavior was investigated employing a two-dimensional motion analysis system. Ten female patients aged from three to 17 years were included. When music with a simple regular rhythm started, body rocking appeared automatically in a back and forth direction in all four patients who showed the same rocking motion as their stereotyped movement. Through this body rocking, voluntary movement of the hand increased gradually, and finally became sufficient to beat a tambourine. However, the induction of body rocking by music was not observed in the other six patients who did not show stereotyped body rocking in a back and forth direction. When the music stopped suddenly, voluntary movement of the hand disappeared. When the music changed from a simple regular rhythm to a continuous tone without an auditory rhythm, the periodic movement of both the hand and body prolonged. Auditory rhythm shows a close relationship with body movement and facilitates synchronized body movement. This mechanism was demonstrated to be preserved in some patients with Rett syndrome, and stimulation with music could be utilized for their rehabilitation.Keywords: Rett syndrome, music, auditory rhythm, stereotyped movement, body rocking, voluntary movement

Learning Motion Features for Example-Based Finger Motion Estimation for Virtual Characters

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Mousas, Christos; Anagnostopoulos, Christos-Nikolaos

2017-09-01

This paper presents a methodology for estimating the motion of a character's fingers based on the use of motion features provided by a virtual character's hand. In the presented methodology, firstly, the motion data is segmented into discrete phases. Then, a number of motion features are computed for each motion segment of a character's hand. The motion features are pre-processed using restricted Boltzmann machines, and by using the different variations of semantically similar finger gestures in a support vector machine learning mechanism, the optimal weights for each feature assigned to a metric are computed. The advantages of the presented methodology in comparison to previous solutions are the following: First, we automate the computation of optimal weights that are assigned to each motion feature counted in our metric. Second, the presented methodology achieves an increase (about 17%) in correctly estimated finger gestures in comparison to a previous method.

Myelopathy hand in cervical radiculopathy

International Nuclear Information System (INIS)

Hosono, Noboru; Mukai, Yoshihiro; Takenaka, Shota; Fuji, Takeshi; Sakaura, Hironobu; Miwa, Toshitada; Makino, Takahiro

2010-01-01

The so-called 'myelopathy hand', or characteristic finger paralysis, often recognized in cervical compression myelopathy, has been considered a unique manifestation of cervical myelopathy. We used our original grip and release test, a 15-second test in which finger motion is captured with a digital camera, to investigate whether cervical radiculopathy has the same characteristics as myelopathy hand. Thirty patients with pure radiculopathy, id est (i.e.), who had radiating arm pain and evidence of corresponding nerve root impingement on X-ray images or MRI scans, but did not have spinal cord compression, served as the subjects. In contrast to other radiculopathies, C7 radiculopathy was manifested by a significant reduction in the number of finger motion cycles on the affected side in comparison with the unaffected side, the same as in myelopathy hand. Uncoordinated finger motion was significantly more frequent on the affected side in C6 radiculopathy than on the unaffected side. These findings contradict the conventional notion that myelopathy hand is a unique manifestation of cervical myelopathy, but some radiculopathies manifested the same kinds of finger paralysis observed in myelopathy hand. (author)

Biomechanical Reconstruction Using the Tacit Learning System: Intuitive Control of Prosthetic Hand Rotation.

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Oyama, Shintaro; Shimoda, Shingo; Alnajjar, Fady S K; Iwatsuki, Katsuyuki; Hoshiyama, Minoru; Tanaka, Hirotaka; Hirata, Hitoshi

2016-01-01

Background: For mechanically reconstructing human biomechanical function, intuitive proportional control, and robustness to unexpected situations are required. Particularly, creating a functional hand prosthesis is a typical challenge in the reconstruction of lost biomechanical function. Nevertheless, currently available control algorithms are in the development phase. The most advanced algorithms for controlling multifunctional prosthesis are machine learning and pattern recognition of myoelectric signals. Despite the increase in computational speed, these methods cannot avoid the requirement of user consciousness and classified separation errors. "Tacit Learning System" is a simple but novel adaptive control strategy that can self-adapt its posture to environment changes. We introduced the strategy in the prosthesis rotation control to achieve compensatory reduction, as well as evaluated the system and its effects on the user. Methods: We conducted a non-randomized study involving eight prosthesis users to perform a bar relocation task with/without Tacit Learning System support. Hand piece and body motions were recorded continuously with goniometers, videos, and a motion-capture system. Findings: Reduction in the participants' upper extremity rotatory compensation motion was monitored during the relocation task in all participants. The estimated profile of total body energy consumption improved in five out of six participants. Interpretation: Our system rapidly accomplished nearly natural motion without unexpected errors. The Tacit Learning System not only adapts human motions but also enhances the human ability to adapt to the system quickly, while the system amplifies compensation generated by the residual limb. The concept can be extended to various situations for reconstructing lost functions that can be compensated.

To Classify Spontaneous Motion Intention of Step Size by Using Cerebral Hemoglobin Information

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Zhu Kai

2017-01-01

Full Text Available To improve the effect of walking-assistive devices, there is a need for it to develop devices controlled by spontaneous intention of patients. In recent study, we identified spontaneous motion intention of walking step based on cerebral hemoglobin information. Twenty healthy subjects performed walking tasks in three levels of step size (small, normal and large. According to distribution features of signals’ power spectral-density, six frequency bands (0-0.18Hz with an interval of 0.03Hz for each band width divided by applying wavelet packets decomposition were mainly analyzed. Feature vectors were extracted from the difference between oxygenated hemoglobin (oxyHb and deoxygenated hemoglobin (dexoyHb in different measuring channels in the six frequency bands. Support vector machine (SVM method was utilized to classify the three levels of step sizes. Mean recognition accuracy achieved up to 83.3%. The result indicated that it is possible to identify spontaneous walking by using cerebral hemoglobin information. This is helpful for enhancing the intelligence of walking-assistive devices and motivating the active control of patients, which further is profitable for enhancing self-confidence of patients.

A natural human hand model

NARCIS (Netherlands)

Van Nierop, O.A.; Van der Helm, A.; Overbeeke, K.J.; Djajadiningrat, T.J.P.

2007-01-01

We present a skeletal linked model of the human hand that has natural motion. We show how this can be achieved by introducing a new biology-based joint axis that simulates natural joint motion and a set of constraints that reduce an estimated 150 possible motions to twelve. The model is based on

Thai Finger-Spelling Recognition Using a Cascaded Classifier Based on Histogram of Orientation Gradient Features

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Kittasil Silanon

2017-01-01

Full Text Available Hand posture recognition is an essential module in applications such as human-computer interaction (HCI, games, and sign language systems, in which performance and robustness are the primary requirements. In this paper, we proposed automatic classification to recognize 21 hand postures that represent letters in Thai finger-spelling based on Histogram of Orientation Gradient (HOG feature (which is applied with more focus on the information within certain region of the image rather than each single pixel and Adaptive Boost (i.e., AdaBoost learning technique to select the best weak classifier and to construct a strong classifier that consists of several weak classifiers to be cascaded in detection architecture. We collected 21 static hand posture images from 10 subjects for testing and training in Thai letters finger-spelling. The parameters for the training process have been adjusted in three experiments, false positive rates (FPR, true positive rates (TPR, and number of training stages (N, to achieve the most suitable training model for each hand posture. All cascaded classifiers are loaded into the system simultaneously to classify different hand postures. A correlation coefficient is computed to distinguish the hand postures that are similar. The system achieves approximately 78% accuracy on average on all classifier experiments.

The Combined Effects of Adaptive Control and Virtual Reality on Robot-Assisted Fine Hand Motion Rehabilitation in Chronic Stroke Patients: A Case Study.

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Huang, Xianwei; Naghdy, Fazel; Naghdy, Golshah; Du, Haiping; Todd, Catherine

2018-01-01

Robot-assisted therapy is regarded as an effective and reliable method for the delivery of highly repetitive training that is needed to trigger neuroplasticity following a stroke. However, the lack of fully adaptive assist-as-needed control of the robotic devices and an inadequate immersive virtual environment that can promote active participation during training are obstacles hindering the achievement of better training results with fewer training sessions required. This study thus focuses on these research gaps by combining these 2 key components into a rehabilitation system, with special attention on the rehabilitation of fine hand motion skills. The effectiveness of the proposed system is tested by conducting clinical trials on a chronic stroke patient and verified through clinical evaluation methods by measuring the key kinematic features such as active range of motion (ROM), finger strength, and velocity. By comparing the pretraining and post-training results, the study demonstrates that the proposed method can further enhance the effectiveness of fine hand motion rehabilitation training by improving finger ROM, strength, and coordination. Copyright © 2018 National Stroke Association. Published by Elsevier Inc. All rights reserved.

Quality control of structural MRI images applied using FreeSurfer - a hands-on workflow to rate motion artifacts

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Lea Luise Backhausen

2016-12-01

Full Text Available In structural magnetic resonance imaging motion artifacts are common, especially when not scanning healthy young adults. It has been shown that motion affects the analysis with automated image-processing techniques (e.g. FreeSurfer. This can bias results. Several developmental and adult studies have found reduced volume and thickness of gray matter due to motion artifacts. Thus, quality control is necessary in order to ensure an acceptable level of quality and to define exclusion criteria of images (i.e. determine participants with most severe artifacts. However, information about the quality control workflow and image exclusion procedure is largely lacking in the current literature and the existing rating systems differ. Here we propose a stringent workflow of quality control steps during and after acquisition of T1-weighted images, which enables researchers dealing with populations that are typically affected by motion artifacts to enhance data quality and maximize sample sizes. As an underlying aim we established a thorough quality control rating system for T1-weighted images and applied it to the analysis of developmental clinical data using the automated processing pipeline FreeSurfer. This hands-on workflow and quality control rating system will aid researchers in minimizing motion artifacts in the final data set, and therefore enhance the quality of structural magnetic resonance imaging studies.

3D hand motion trajectory prediction from EEG mu and beta bandpower.

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Korik, A; Sosnik, R; Siddique, N; Coyle, D

2016-01-01

A motion trajectory prediction (MTP) - based brain-computer interface (BCI) aims to reconstruct the three-dimensional (3D) trajectory of upper limb movement using electroencephalography (EEG). The most common MTP BCI employs a time series of bandpass-filtered EEG potentials (referred to here as the potential time-series, PTS, model) for reconstructing the trajectory of a 3D limb movement using multiple linear regression. These studies report the best accuracy when a 0.5-2Hz bandpass filter is applied to the EEG. In the present study, we show that spatiotemporal power distribution of theta (4-8Hz), mu (8-12Hz), and beta (12-28Hz) bands are more robust for movement trajectory decoding when the standard PTS approach is replaced with time-varying bandpower values of a specified EEG band, ie, with a bandpower time-series (BTS) model. A comprehensive analysis comprising of three subjects performing pointing movements with the dominant right arm toward six targets is presented. Our results show that the BTS model produces significantly higher MTP accuracy (R~0.45) compared to the standard PTS model (R~0.2). In the case of the BTS model, the highest accuracy was achieved across the three subjects typically in the mu (8-12Hz) and low-beta (12-18Hz) bands. Additionally, we highlight a limitation of the commonly used PTS model and illustrate how this model may be suboptimal for decoding motion trajectory relevant information. Although our results, showing that the mu and beta bands are prominent for MTP, are not in line with other MTP studies, they are consistent with the extensive literature on classical multiclass sensorimotor rhythm-based BCI studies (classification of limbs as opposed to motion trajectory prediction), which report the best accuracy of imagined limb movement classification using power values of mu and beta frequency bands. The methods proposed here provide a positive step toward noninvasive decoding of imagined 3D hand movements for movement-free BCIs. �

Motion tracking and electromyography assist the removal of mirror hand contributions to fNIRS images acquired during a finger tapping task performed by children with cerebral palsy

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Hervey, Nathan; Khan, Bilal; Shagman, Laura; Tian, Fenghua; Delgado, Mauricio R.; Tulchin-Francis, Kirsten; Shierk, Angela; Smith, Linsley; Reid, Dahlia; Clegg, Nancy J.; Liu, Hanli; MacFarlane, Duncan; Alexandrakis, George

2013-03-01

Functional neurological imaging has been shown to be valuable in evaluating brain plasticity in children with cerebral palsy (CP). In recent studies it has been demonstrated that functional near-infrared spectroscopy (fNIRS) is a viable and sensitive method for imaging motor cortex activities in children with CP. However, during unilateral finger tapping tasks children with CP often exhibit mirror motions (unintended motions in the non-tapping hand), and current fNIRS image formation techniques do not account for this. Therefore, the resulting fNIRS images contain activation from intended and unintended motions. In this study, cortical activity was mapped with fNIRS on four children with CP and five controls during a finger tapping task. Finger motion and arm muscle activation were concurrently measured using motion tracking cameras and electromyography (EMG). Subject-specific regressors were created from motion capture and EMG data and used in a general linear model (GLM) analysis in an attempt to create fNIRS images representative of different motions. The analysis provided an fNIRS image representing activation due to motion and muscle activity for each hand. This method could prove to be valuable in monitoring brain plasticity in children with CP by providing more consistent images between measurements. Additionally, muscle effort versus cortical effort was compared between control and CP subjects. More cortical effort was required to produce similar muscle effort in children with CP. It is possible this metric could be a valuable diagnostic tool in determining response to treatment.

A Tool for Creating Regionally Calibrated High-Resolution Land Cover Data Sets for the West African Sahel: Using Machine Learning to Scale Up Hand-Classified Maps in a Data-Sparse Environment

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Van Gordon, M.; Van Gordon, S.; Min, A.; Sullivan, J.; Weiner, Z.; Tappan, G. G.

2017-12-01

Using support vector machine (SVM) learning and high-accuracy hand-classified maps, we have developed a publicly available land cover classification tool for the West African Sahel. Our classifier produces high-resolution and regionally calibrated land cover maps for the Sahel, representing a significant contribution to the data available for this region. Global land cover products are unreliable for the Sahel, and accurate land cover data for the region are sparse. To address this gap, the U.S. Geological Survey and the Regional Center for Agriculture, Hydrology and Meteorology (AGRHYMET) in Niger produced high-quality land cover maps for the region via hand-classification of Landsat images. This method produces highly accurate maps, but the time and labor required constrain the spatial and temporal resolution of the data products. By using these hand-classified maps alongside SVM techniques, we successfully increase the resolution of the land cover maps by 1-2 orders of magnitude, from 2km-decadal resolution to 30m-annual resolution. These high-resolution regionally calibrated land cover datasets, along with the classifier we developed to produce them, lay the foundation for major advances in studies of land surface processes in the region. These datasets will provide more accurate inputs for food security modeling, hydrologic modeling, analyses of land cover change and climate change adaptation efforts. The land cover classification tool we have developed will be publicly available for use in creating additional West Africa land cover datasets with future remote sensing data and can be adapted for use in other parts of the world.

Development of a robotic evaluation system for the ability of proprioceptive sensation in slow hand motion.

Science.gov (United States)

Tanaka, Yoshiyuki; Mizoe, Genki; Kawaguchi, Tomohiro

2015-01-01

This paper proposes a simple diagnostic methodology for checking the ability of proprioceptive/kinesthetic sensation by using a robotic device. The perception ability of virtual frictional forces is examined in operations of the robotic device by the hand at a uniform slow velocity along the virtual straight/circular path. Experimental results by healthy subjects demonstrate that percentage of correct answers for the designed perceptual tests changes in the motion direction as well as the arm configuration and the HFM (human force manipulability) measure. It can be supposed that the proposed methodology can be applied into the early detection of neuromuscular/neurological disorders.

Extracting attempted hand movements from EEGs in people with complete hand paralysis following stroke

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Abirami eMuralidharan

2011-03-01

Full Text Available This study examines the feasibility of using electroencephalograms (EEGs to rapidly detect the intent to open one’s hand in individuals with complete hand paralysis following a subcortical ischemic stroke. If detectable, this motor planning activity could be used in real time to trigger a motorized hand exoskeleton or an electrical stimulation device that opens/closes the hand. While EEG-triggered movement-assist devices could restore function, they may also promote recovery by reinforcing the use of remaining cortical circuits. EEGs were recorded while participants were cued to either relax or attempt to extend their fingers. Linear discriminant analysis was used to detect onset of finger extension from the EEGs in a leave-one-trial-out cross-validation process. In each testing trial, the classifier was applied in pseudo real time starting from an initial hand-relaxed phase, through movement planning, and into the initial attempted finger extension phase (finger extension phase estimated from typical time-to-movement-onset measured in the unaffected hand. The classifiers detected attempted finger-extension at a significantly higher rate during both motor planning and early attempted execution compared to rest. To reduce inappropriate triggering of a movement-assist device during rest, the classification threshold could be adjusted to require more certainty about one’s intent to move before triggering a device. Additionally, a device could be set to activate only after multiple time samples in a row were classified as finger extension events. These options resulted in some sessions with no false triggers while the person was resting, but moderate-to-high true trigger rates during attempted movements.

Hand Grasping Synergies As Biometrics.

Science.gov (United States)

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

2017-01-01

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

Hand Grasping Synergies As Biometrics

Directory of Open Access Journals (Sweden)

Ramana Vinjamuri

2017-05-01

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

Control System Design of the YWZ Multi-Fingered Dexterous Hand

Directory of Open Access Journals (Sweden)

Wenzhen Yang

2012-07-01

Full Text Available The manipulation abilities of a multi-fingered dexterous hand, such as motion in real-time, flexibility, grasp stability etc., are largely dependent on its control system. This paper developed a control system for the YWZ dexterous hand, which had five fingers and twenty degrees of freedom (DOFs. All of the finger joints of the YWZ dexterous handwere active joints driven by twenty micro-stepper motors respectively. The main contribution of this paper was that we were able to use stepper motor control to actuate the hand's fingers, thus, increasing the hands feasibility. Based the actuators of the YWZ dexterous hand, we firstly developed an integrated circuit board (ICB, which was the communication hardware between the personal computer (PC and the YWZ dexterous hand. The ICB included a centre controller, twenty driver chips, a USB port and other electrical parts. Then, a communication procedure between the PC and the ICB was developed to send the control commands to actuate the YWZ dexterous hand. Experiment results showed that under this control system, the motion of the YWZ dexterous hand was real-time; both the motion accuracy and the motion stability of the YWZ dexterous hand were reliable. Compared with other types of actuators related to dexterous hands, such as pneumatic servo cylinder, DC servo motor, shape memory alloy etc., experiment results verified that the stepper motors as actuators for the dexterous handswere effective, economical, controllable and stable.

Development of five-finger robotic hand using master-slave control for hand-assisted laparoscopic surgery.

Science.gov (United States)

Yoshida, Koki; Yamada, Hiroshi; Kato, Ryu; Seki, Tatsuya; Yokoi, Hiroshi; Mukai, Masaya

2016-08-01

This study aims to develop a robotic hand as a substitute for a surgeon's hand in hand-assisted laparoscopic surgery (HALS). We determined the requirements for the proposed hand from a surgeon's motions in HALS. We identified four basic behaviors: "power grasp," "precision grasp," "open hand for exclusion," and "peace sign for extending peritoneum." The proposed hand had the minimum necessary DOFs for performing these behaviors, five fingers as in a human's hand, a palm that can be folded when a surgeon inserts the hand into the abdomen, and an arm for adjusting the hand's position. We evaluated the proposed hand based on a performance test and a physician's opinions, and we confirmed that it can grasp organs.

[Study on an Exoskeleton Hand Function Training Device].

Science.gov (United States)

Hu, Xin; Zhang, Ying; Li, Jicai; Yi, Jinhua; Yu, Hongliu; He, Rongrong

2016-02-01

Based on the structure and motion bionic principle of the normal adult fingers, biological characteristics of human hands were analyzed, and a wearable exoskeleton hand function training device for the rehabilitation of stroke patients or patients with hand trauma was designed. This device includes the exoskeleton mechanical structure and the electromyography (EMG) control system. With adjustable mechanism, the device was capable to fit different finger lengths, and by capturing the EMG of the users' contralateral limb, the motion state of the exoskeleton hand was controlled. Then driven by the device, the user's fingers conducting adduction/abduction rehabilitation training was carried out. Finally, the mechanical properties and training effect of the exoskeleton hand were verified through mechanism simulation and the experiments on the experimental prototype of the wearable exoskeleton hand function training device.

Design of a wearable hand exoskeleton for exercising flexion/extension of the fingers.

Science.gov (United States)

Jo, Inseong; Lee, Jeongsoo; Park, Yeongyu; Bae, Joonbum

2017-07-01

In this paper, design of a wearable hand exoskeleton system for exercising flexion/extension of the fingers, is proposed. The exoskeleton was designed with a simple and wearable structure to aid finger motions in 1 degree of freedom (DOF). A hand grasping experiment by fully-abled people was performed to investigate general hand flexion/extension motions and the polynomial curve of general hand motions was obtained. To customize the hand exoskeleton for the user, the polynomial curve was adjusted to the joint range of motion (ROM) of the user and the optimal design of the exoskeleton structure was obtained using the optimization algorithm. A prototype divided into two parts (one part for the thumb, the other for rest fingers) was actuated by only two linear motors for compact size and light weight.

Comparative Study on Interaction of Form and Motion Processing Streams by Applying Two Different Classifiers in Mechanism for Recognition of Biological Movement

Science.gov (United States)

2014-01-01

Research on psychophysics, neurophysiology, and functional imaging shows particular representation of biological movements which contains two pathways. The visual perception of biological movements formed through the visual system called dorsal and ventral processing streams. Ventral processing stream is associated with the form information extraction; on the other hand, dorsal processing stream provides motion information. Active basic model (ABM) as hierarchical representation of the human object had revealed novelty in form pathway due to applying Gabor based supervised object recognition method. It creates more biological plausibility along with similarity with original model. Fuzzy inference system is used for motion pattern information in motion pathway creating more robustness in recognition process. Besides, interaction of these paths is intriguing and many studies in various fields considered it. Here, the interaction of the pathways to get more appropriated results has been investigated. Extreme learning machine (ELM) has been implied for classification unit of this model, due to having the main properties of artificial neural networks, but crosses from the difficulty of training time substantially diminished in it. Here, there will be a comparison between two different configurations, interactions using synergetic neural network and ELM, in terms of accuracy and compatibility. PMID:25276860

Comparative Study on Interaction of Form and Motion Processing Streams by Applying Two Different Classifiers in Mechanism for Recognition of Biological Movement

Directory of Open Access Journals (Sweden)

Bardia Yousefi

2014-01-01

Full Text Available Research on psychophysics, neurophysiology, and functional imaging shows particular representation of biological movements which contains two pathways. The visual perception of biological movements formed through the visual system called dorsal and ventral processing streams. Ventral processing stream is associated with the form information extraction; on the other hand, dorsal processing stream provides motion information. Active basic model (ABM as hierarchical representation of the human object had revealed novelty in form pathway due to applying Gabor based supervised object recognition method. It creates more biological plausibility along with similarity with original model. Fuzzy inference system is used for motion pattern information in motion pathway creating more robustness in recognition process. Besides, interaction of these paths is intriguing and many studies in various fields considered it. Here, the interaction of the pathways to get more appropriated results has been investigated. Extreme learning machine (ELM has been implied for classification unit of this model, due to having the main properties of artificial neural networks, but crosses from the difficulty of training time substantially diminished in it. Here, there will be a comparison between two different configurations, interactions using synergetic neural network and ELM, in terms of accuracy and compatibility.

The Application of Leap Motion in Astronaut Virtual Training

Science.gov (United States)

Qingchao, Xie; Jiangang, Chao

2017-03-01

With the development of computer vision, virtual reality has been applied in astronaut virtual training. As an advanced optic equipment to track hand, Leap Motion can provide precise and fluid tracking of hands. Leap Motion is suitable to be used as gesture input device in astronaut virtual training. This paper built an astronaut virtual training based Leap Motion, and established the mathematics model of hands occlusion. At last the ability of Leap Motion to handle occlusion was analysed. A virtual assembly simulation platform was developed for astronaut training, and occlusion gesture would influence the recognition process. The experimental result can guide astronaut virtual training.

Study of recognizing multiple persons' complicated hand gestures from the video sequence acquired by a moving camera

Science.gov (United States)

Dan, Luo; Ohya, Jun

2010-02-01

Recognizing hand gestures from the video sequence acquired by a dynamic camera could be a useful interface between humans and mobile robots. We develop a state based approach to extract and recognize hand gestures from moving camera images. We improved Human-Following Local Coordinate (HFLC) System, a very simple and stable method for extracting hand motion trajectories, which is obtained from the located human face, body part and hand blob changing factor. Condensation algorithm and PCA-based algorithm was performed to recognize extracted hand trajectories. In last research, this Condensation Algorithm based method only applied for one person's hand gestures. In this paper, we propose a principal component analysis (PCA) based approach to improve the recognition accuracy. For further improvement, temporal changes in the observed hand area changing factor are utilized as new image features to be stored in the database after being analyzed by PCA. Every hand gesture trajectory in the database is classified into either one hand gesture categories, two hand gesture categories, or temporal changes in hand blob changes. We demonstrate the effectiveness of the proposed method by conducting experiments on 45 kinds of sign language based Japanese and American Sign Language gestures obtained from 5 people. Our experimental recognition results show better performance is obtained by PCA based approach than the Condensation algorithm based method.

Non-linear methods for the quantification of cyclic motion

OpenAIRE

Quintana Duque, Juan Carlos

2016-01-01

Traditional methods of human motion analysis assume that fluctuations in cycles (e.g. gait motion) and repetitions (e.g. tennis shots) arise solely from noise. However, the fluctuations may have enough information to describe the properties of motion. Recently, the fluctuations in motion have been analysed based on the concepts of variability and stability, but they are not used uniformly. On the one hand, these concepts are often mixed in the existing literature, while on the other hand, the...

Representative Vector Machines: A Unified Framework for Classical Classifiers.

Science.gov (United States)

Gui, Jie; Liu, Tongliang; Tao, Dacheng; Sun, Zhenan; Tan, Tieniu

2016-08-01

Classifier design is a fundamental problem in pattern recognition. A variety of pattern classification methods such as the nearest neighbor (NN) classifier, support vector machine (SVM), and sparse representation-based classification (SRC) have been proposed in the literature. These typical and widely used classifiers were originally developed from different theory or application motivations and they are conventionally treated as independent and specific solutions for pattern classification. This paper proposes a novel pattern classification framework, namely, representative vector machines (or RVMs for short). The basic idea of RVMs is to assign the class label of a test example according to its nearest representative vector. The contributions of RVMs are twofold. On one hand, the proposed RVMs establish a unified framework of classical classifiers because NN, SVM, and SRC can be interpreted as the special cases of RVMs with different definitions of representative vectors. Thus, the underlying relationship among a number of classical classifiers is revealed for better understanding of pattern classification. On the other hand, novel and advanced classifiers are inspired in the framework of RVMs. For example, a robust pattern classification method called discriminant vector machine (DVM) is motivated from RVMs. Given a test example, DVM first finds its k -NNs and then performs classification based on the robust M-estimator and manifold regularization. Extensive experimental evaluations on a variety of visual recognition tasks such as face recognition (Yale and face recognition grand challenge databases), object categorization (Caltech-101 dataset), and action recognition (Action Similarity LAbeliNg) demonstrate the advantages of DVM over other classifiers.

Confining model with composite left-handed and unconfined right-handed particles

International Nuclear Information System (INIS)

Bordi, F.; Gatto, R.; Dominici, D.; Florence Univ.

1982-01-01

We present a fermionic composite model in which left-handed quarks and leptons transform as bound states of three elementary fermions confined under a subcolor gauge group whereas their right-handed partners are unconfined singlets. All the elementary fermions, confined or unconfined, are classified into a single spinor representation. A mass-mechanism, originating from the breaking of the spinor representation, gives masses to the quarks and leptons, originally massless from the anomaly conditions. A natural mechanism arises for the neutrino mass matrix. (orig.)

Modeling Attitude Dynamics in Simulink: A Study of the Rotational and Translational Motion of a Spacecraft Given Torques and Impulses Generated by RMS Hand Controllers

Science.gov (United States)

Mauldin, Rebecca H.

2010-01-01

In order to study and control the attitude of a spacecraft, it is necessary to understand the natural motion of a body in orbit. Assuming a spacecraft to be a rigid body, dynamics describes the complete motion of the vehicle by the translational and rotational motion of the body. The Simulink Attitude Analysis Model applies the equations of rigid body motion to the study of a spacecraft?s attitude in orbit. Using a TCP/IP connection, Matlab reads the values of the Remote Manipulator System (RMS) hand controllers and passes them to Simulink as specified torque and impulse profiles. Simulink then uses the governing kinematic and dynamic equations of a rigid body in low earth orbit (LE0) to plot the attitude response of a spacecraft for five seconds given known applied torques and impulses, and constant principal moments of inertia.

Utility of electronic hand hygiene counting devices for measuring physicians' hand hygiene adherence applied to outpatient settings.

Science.gov (United States)

Arai, Akie; Tanabe, Masaki; Nakamura, Akiko; Yamasaki, Daisuke; Muraki, Yuichi; Kaneko, Toshihiro; Kadowaki, Ayako; Ito, Masaaki

2016-12-01

Our objectives were to evaluate the utility of electronic hand hygiene counting devices in outpatient settings and the impact of results feedback on physicians' hand hygiene behaviors. We installed 130 electronic hand hygiene counting devices in our redesigned outpatient department. We remotely monitored physicians' hand hygiene practices during outpatient examinations and calculated the adherence rate as follows: number of hand hygiene counts divided by the number of outpatients examined multiplied by 100. Physician individual adherence rates were also classified into 4 categories. Two hundred and eighty physicians from 28 clinical departments were monitored for 3 months. The overall hand hygiene adherence rate was 10.7% at baseline, which improved significantly after feedback to 18.2% in the third month. Of the clinical departments, 78.6% demonstrated significant improvement in hand hygiene compliance. The change in the percentage of physicians in each category before and after feedback were as follows: very low (84.3% to 72.1%), low (8.6% to 14.3%), moderate (2.9% to 8.9%), and high (4.3% to 4.6%), from the first to third month, respectively. Based on category assessment, 17.1% of physicians were classified as responders. Physicians' adherence to hand hygiene practices during outpatient examinations was successfully monitored remotely using electronic counting devices. Audit and feedback of adherence data may have a positive impact on physicians' hand hygiene compliance. Copyright © 2016 Association for Professionals in Infection Control and Epidemiology, Inc. Published by Elsevier Inc. All rights reserved.

Development of the bedridden person support system using hand gesture.

Science.gov (United States)

Ichimura, Kouhei; Magatani, Kazushige

2015-08-01

The purpose of this study is to support the bedridden and physically handicapped person who live independently. In this study, we developed Electric appliances control system that can be used on the bed. The subject can control Electric appliances using hand motion. Infrared sensors of a Kinect are used for the hand motion detection. Our developed system was tested with some normal subjects and results of the experiment were evaluated. In this experiment, all subjects laid on the bed and tried to control our system. As results, most of subjects were able to control our developed system perfectly. However, motion tracking of some subject's hand was reset forcibly. It was difficult for these subjects to make the system recognize his opened hand. From these results, we think if this problem will be improved our support system will be useful for the bedridden and physically handicapped persons.

Hand/Eye Coordination For Fine Robotic Motion

Science.gov (United States)

Lokshin, Anatole M.

1992-01-01

Fine motions of robotic manipulator controlled with help of visual feedback by new method reducing position errors by order of magnitude. Robotic vision subsystem includes five cameras: three stationary ones providing wide-angle views of workspace and two mounted on wrist of auxiliary robot arm. Stereoscopic cameras on arm give close-up views of object and end effector. Cameras measure errors between commanded and actual positions and/or provide data for mapping between visual and manipulator-joint-angle coordinates.

The scaling behavior of hand motions reveals self-organization during an executive function task

Science.gov (United States)

Anastas, Jason R.; Stephen, Damian G.; Dixon, James A.

2011-05-01

Recent approaches to cognition explain cognitive phenomena in terms of interaction-dominant dynamics. In the current experiment, we extend this approach to executive function, a construct used to describe flexible, goal-oriented behavior. Participants were asked to perform a widely used executive function task, card sorting, under two conditions. In one condition, participants were given a rule with which to sort the cards. In the other condition, participants had to induce the rule from experimenter feedback. The motion of each participant’s hand was tracked during the sorting task. Detrended fluctuation analysis was performed on the inter-point time series using a windowing strategy to capture changes over each trial. For participants in the induction condition, the Hurst exponent sharply increased and then decreased. The Hurst exponents for the explicit condition did not show this pattern. Our results suggest that executive function may be understood in terms of changes in stability that arise from interaction-dominant dynamics.

An intention driven hand functions task training robotic system.

Science.gov (United States)

Tong, K Y; Ho, S K; Pang, P K; Hu, X L; Tam, W K; Fung, K L; Wei, X J; Chen, P N; Chen, M

2010-01-01

A novel design of a hand functions task training robotic system was developed for the stroke rehabilitation. It detects the intention of hand opening or hand closing from the stroke person using the electromyography (EMG) signals measured from the hemiplegic side. This training system consists of an embedded controller and a robotic hand module. Each hand robot has 5 individual finger assemblies capable to drive 2 degrees of freedom (DOFs) of each finger at the same time. Powered by the linear actuator, the finger assembly achieves 55 degree range of motion (ROM) at the metacarpophalangeal (MCP) joint and 65 degree range of motion (ROM) at the proximal interphalangeal (PIP) joint. Each finger assembly can also be adjusted to fit for different finger length. With this task training system, stroke subject can open and close their impaired hand using their own intention to carry out some of the daily living tasks.

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)

Kinesthetic information disambiguates visual motion signals.

Science.gov (United States)

Hu, Bo; Knill, David C

2010-05-25

Numerous studies have shown that extra-retinal signals can disambiguate motion information created by movements of the eye or head. We report a new form of cross-modal sensory integration in which the kinesthetic information generated by active hand movements essentially captures ambiguous visual motion information. Several previous studies have shown that active movement can bias observers' percepts of bi-stable stimuli; however, these effects seem to be best explained by attentional mechanisms. We show that kinesthetic information can change an otherwise stable perception of motion, providing evidence of genuine fusion between visual and kinesthetic information. The experiments take advantage of the aperture problem, in which the motion of a one-dimensional grating pattern behind an aperture, while geometrically ambiguous, appears to move stably in the grating normal direction. When actively moving the pattern, however, the observer sees the motion to be in the hand movement direction. Copyright 2010 Elsevier Ltd. All rights reserved.

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

Science.gov (United States)

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

2017-06-01

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

The right inhibition? Callosal correlates of hand performance in healthy children and adolescents callosal correlates of hand performance.

Science.gov (United States)

Kurth, Florian; Mayer, Emeran A; Toga, Arthur W; Thompson, Paul M; Luders, Eileen

2013-09-01

Numerous studies suggest that interhemispheric inhibition-relayed via the corpus callosum-plays an important role in unilateral hand motions. Interestingly, transcallosal inhibition appears to be indicative of a strong laterality effect, where generally the dominant hemisphere exerts inhibition on the nondominant one. These effects have been largely identified through functional studies in adult populations, but links between motor performance and callosal structure (especially during sensitive periods of neurodevelopment) remain largely unknown. We therefore investigated correlations between Purdue Pegboard performance (a test of motor function) and local callosal thickness in 170 right-handed children and adolescents (mean age: 11.5 ± 3.4 years; range, 6-17 years). Better task performance with the right (dominant) hand was associated with greater callosal thickness in isthmus and posterior midbody. Task performance using both hands yielded smaller and less significant correlations in the same regions, while task performance using the left (nondominant) hand showed no significant correlations with callosal thickness. There were no significant interactions with age and sex. These links between motor performance and callosal structure may constitute the neural correlate of interhemispheric inhibition, which is thought to be necessary for fast and complex unilateral motions and to be biased towards the dominant hand. Copyright © 2012 Wiley Periodicals, Inc., a Wiley company.

User-Independent Motion State Recognition Using Smartphone Sensors.

Science.gov (United States)

Gu, Fuqiang; Kealy, Allison; Khoshelham, Kourosh; Shang, Jianga

2015-12-04

The recognition of locomotion activities (e.g., walking, running, still) is important for a wide range of applications like indoor positioning, navigation, location-based services, and health monitoring. Recently, there has been a growing interest in activity recognition using accelerometer data. However, when utilizing only acceleration-based features, it is difficult to differentiate varying vertical motion states from horizontal motion states especially when conducting user-independent classification. In this paper, we also make use of the newly emerging barometer built in modern smartphones, and propose a novel feature called pressure derivative from the barometer readings for user motion state recognition, which is proven to be effective for distinguishing vertical motion states and does not depend on specific users' data. Seven types of motion states are defined and six commonly-used classifiers are compared. In addition, we utilize the motion state history and the characteristics of people's motion to improve the classification accuracies of those classifiers. Experimental results show that by using the historical information and human's motion characteristics, we can achieve user-independent motion state classification with an accuracy of up to 90.7%. In addition, we analyze the influence of the window size and smartphone pose on the accuracy.

User-Independent Motion State Recognition Using Smartphone Sensors

Directory of Open Access Journals (Sweden)

Fuqiang Gu

2015-12-01

Full Text Available The recognition of locomotion activities (e.g., walking, running, still is important for a wide range of applications like indoor positioning, navigation, location-based services, and health monitoring. Recently, there has been a growing interest in activity recognition using accelerometer data. However, when utilizing only acceleration-based features, it is difficult to differentiate varying vertical motion states from horizontal motion states especially when conducting user-independent classification. In this paper, we also make use of the newly emerging barometer built in modern smartphones, and propose a novel feature called pressure derivative from the barometer readings for user motion state recognition, which is proven to be effective for distinguishing vertical motion states and does not depend on specific users’ data. Seven types of motion states are defined and six commonly-used classifiers are compared. In addition, we utilize the motion state history and the characteristics of people’s motion to improve the classification accuracies of those classifiers. Experimental results show that by using the historical information and human’s motion characteristics, we can achieve user-independent motion state classification with an accuracy of up to 90.7%. In addition, we analyze the influence of the window size and smartphone pose on the accuracy.

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...

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.

Unreal Interactive Puppet Game Development Using Leap Motion

Science.gov (United States)

Huang, An-Pin; Huang, Fay; Jhu, Jing-Siang

2018-04-01

This paper proposed a novel puppet play method utilizing recent technology. An interactive puppet game has been developed based on the theme of a famous Chinese classical novel. This project was implemented using Unreal Engine, which is a leading software of integrated tools for developers to design and build games. On the other hand, Leap Motion Controller is a sensor device for recognizing hand movements and gestures. It is commonly used in systems which require close-range finger-based user interaction. In order to manipulate puppets’ movements, the developed program employs the Leap Motion SDK, which provides a friendly way to add motion-controlled 3D hands to an Unreal game. The novelty of our project is to replace 3D model of rigged hands by two 3D humanoid rigged characters. The challenges of this task are two folds. First, the skeleton structure of a human hand and a humanoid character (i.e., puppets) are totally different. Making the puppets to follow the hand poses of the user and yet ensuring reasonable puppets’ movements has not been discussed in the literatures nor in the developer forums. Second, there are only a limited number of built-in recognizable hand gestures. More recognizable hand gestures need to be created for the interactive game. This paper reports the proposed solutions to these challenges.

A new approach to hand-based authentication

Science.gov (United States)

Amayeh, G.; Bebis, G.; Erol, A.; Nicolescu, M.

2007-04-01

Hand-based authentication is a key biometric technology with a wide range of potential applications both in industry and government. Traditionally, hand-based authentication is performed by extracting information from the whole hand. To account for hand and finger motion, guidance pegs are employed to fix the position and orientation of the hand. In this paper, we consider a component-based approach to hand-based verification. Our objective is to investigate the discrimination power of different parts of the hand in order to develop a simpler, faster, and possibly more accurate and robust verification system. Specifically, we propose a new approach which decomposes the hand in different regions, corresponding to the fingers and the back of the palm, and performs verification using information from certain parts of the hand only. Our approach operates on 2D images acquired by placing the hand on a flat lighting table. Using a part-based representation of the hand allows the system to compensate for hand and finger motion without using any guidance pegs. To decompose the hand in different regions, we use a robust methodology based on morphological operators which does not require detecting any landmark points on the hand. To capture the geometry of the back of the palm and the fingers in suffcient detail, we employ high-order Zernike moments which are computed using an effcient methodology. The proposed approach has been evaluated on a database of 100 subjects with 10 images per subject, illustrating promising performance. Comparisons with related approaches using the whole hand for verification illustrate the superiority of the proposed approach. Moreover, qualitative comparisons with state-of-the-art approaches indicate that the proposed approach has comparable or better performance.

Teaching Motion with the Global Positioning System

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Budisa, Marko; Planinsic, Gorazd

2003-01-01

We have used the GPS receiver and a PC interface to track different types of motion. Various hands-on experiments that enlighten the physics of motion at the secondary school level are suggested (visualization of 2D and 3D motion, measuring car drag coefficient and fuel consumption). (Contains 8 figures.)

Complex Human Activity Recognition Using Smartphone and Wrist-Worn Motion Sensors.

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Shoaib, Muhammad; Bosch, Stephan; Incel, Ozlem Durmaz; Scholten, Hans; Havinga, Paul J M

2016-03-24

The position of on-body motion sensors plays an important role in human activity recognition. Most often, mobile phone sensors at the trouser pocket or an equivalent position are used for this purpose. However, this position is not suitable for recognizing activities that involve hand gestures, such as smoking, eating, drinking coffee and giving a talk. To recognize such activities, wrist-worn motion sensors are used. However, these two positions are mainly used in isolation. To use richer context information, we evaluate three motion sensors (accelerometer, gyroscope and linear acceleration sensor) at both wrist and pocket positions. Using three classifiers, we show that the combination of these two positions outperforms the wrist position alone, mainly at smaller segmentation windows. Another problem is that less-repetitive activities, such as smoking, eating, giving a talk and drinking coffee, cannot be recognized easily at smaller segmentation windows unlike repetitive activities, like walking, jogging and biking. For this purpose, we evaluate the effect of seven window sizes (2-30 s) on thirteen activities and show how increasing window size affects these various activities in different ways. We also propose various optimizations to further improve the recognition of these activities. For reproducibility, we make our dataset publicly available.

Study of hand signs in Judeo-Christian art.

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Ram, Ashwin N; Chung, Kevin C

2008-09-01

Hand gestures play a crucial role in religious art. An examination of Judeo-Christian art finds an ecclesiastical language that is concealed in metaphors and expressed by unique hand gestures. Many of these hand signs convey messages that are not familiar to most people admiring these paintings. Investigating the history and classifying some of the predominant hand signs found in Judeo-Christian art might serve to stimulate discussion concerning the many nuances of symbolic art. This presentation examines the meaning behind 8 common hand signs in Judeo-Christian art.

Motion control, motion sickness, and the postural dynamics of mobile devices.

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Stoffregen, Thomas A; Chen, Yi-Chou; Koslucher, Frank C

2014-04-01

Drivers are less likely than passengers to experience motion sickness, an effect that is important for any theoretical account of motion sickness etiology. We asked whether different types of control would affect the incidence of motion sickness, and whether any such effects would be related to participants' control of their own bodies. Participants played a video game on a tablet computer. In the Touch condition, the device was stationary and participants controlled the game exclusively through fingertip inputs via the device's touch screen. In the Tilt condition, participants held the device in their hands and moved the device to control some game functions. Results revealed that the incidence of motion sickness was greater in the Touch condition than in the Tilt condition. During game play, movement of the head and torso differed as a function of the type of game control. Before the onset of subjective symptoms of motion sickness, movement of the head and torso differed between participants who later reported motion sickness and those that did not. We discuss implications of these results for theories of motion sickness etiology.

Mobilidade articular dos dedos não lesados pós-reparo em lesão dos tendões flexores da mão Joint range of motion of uninjured fingers after repairs to flexor tendon injuries of the hand

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RB Rabelo

2007-10-01

were examined at the time of removing the plaster splint. Early mobilization was performed using the modified Duran method. Goniometric data were used for recording the TAM (total active motion values of the fingers on the injured and uninjured (control hands. To analyze the data, the functional index formula proposed by the American Society for Surgery of the Hand (ASSH was utilized, and for statistical calculations the mixed-effect model was selected. RESULTS: The ASSH formula for the injured fingers classified the movement as "good" in 18.33%, "fair" in 18.33% and "poor" in 63.34%. The means, in degrees, of the measurements for all the fingers were compared with each other within each group (control and injured and between the groups. A significant difference was found between control and injured groups. There was no statistical difference between the TAM of each finger on the injured hand. CONCLUSION: Independent of how many fingers on one hand had suffered tendon injuries, the uninjured fingers also presented diminished active ROM during the period immediately after removal of the immobilization.

Using hierarchical clustering methods to classify motor activities of COPD patients from wearable sensor data

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Reilly John J

2005-06-01

Full Text Available Abstract Background Advances in miniature sensor technology have led to the development of wearable systems that allow one to monitor motor activities in the field. A variety of classifiers have been proposed in the past, but little has been done toward developing systematic approaches to assess the feasibility of discriminating the motor tasks of interest and to guide the choice of the classifier architecture. Methods A technique is introduced to address this problem according to a hierarchical framework and its use is demonstrated for the application of detecting motor activities in patients with chronic obstructive pulmonary disease (COPD undergoing pulmonary rehabilitation. Accelerometers were used to collect data for 10 different classes of activity. Features were extracted to capture essential properties of the data set and reduce the dimensionality of the problem at hand. Cluster measures were utilized to find natural groupings in the data set and then construct a hierarchy of the relationships between clusters to guide the process of merging clusters that are too similar to distinguish reliably. It provides a means to assess whether the benefits of merging for performance of a classifier outweigh the loss of resolution incurred through merging. Results Analysis of the COPD data set demonstrated that motor tasks related to ambulation can be reliably discriminated from tasks performed in a seated position with the legs in motion or stationary using two features derived from one accelerometer. Classifying motor tasks within the category of activities related to ambulation requires more advanced techniques. While in certain cases all the tasks could be accurately classified, in others merging clusters associated with different motor tasks was necessary. When merging clusters, it was found that the proposed method could lead to more than 12% improvement in classifier accuracy while retaining resolution of 4 tasks. Conclusion Hierarchical

Action Recognition in Semi-synthetic Images using Motion Primitives

DEFF Research Database (Denmark)

Fihl, Preben; Holte, Michael Boelstoft; Moeslund, Thomas B.

This technical report describes an action recognition approach based on motion primitives. A few characteristic time instances are found in a sequence containing an action and the action is classified from these instances. The characteristic instances are defined solely on the human motion, hence...... motion primitives. The motion primitives are extracted by double difference images and represented by four features. In each frame the primitive, if any, that best explains the observed data is identified. This leads to a discrete recognition problem since a video sequence will be converted into a string...... containing a sequence of symbols, each representing a primitive. After pruning the string a probabilistic Edit Distance classifier is applied to identify which action best describes the pruned string. The method is evaluated on five one-arm gestures. A test is performed with semi-synthetic input data...

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

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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.

New frontiers in the rubber hand experiment: when a robotic hand becomes one's own.

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Caspar, Emilie A; De Beir, Albert; Magalhaes De Saldanha Da Gama, Pedro A; Yernaux, Florence; Cleeremans, Axel; Vanderborght, Bram

2015-09-01

The rubber hand illusion is an experimental paradigm in which participants consider a fake hand to be part of their body. This paradigm has been used in many domains of psychology (i.e., research on pain, body ownership, agency) and is of clinical importance. The classic rubber hand paradigm nevertheless suffers from limitations, such as the absence of active motion or the reliance on approximate measurements, which makes strict experimental conditions difficult to obtain. Here, we report on the development of a novel technology-a robotic, user- and computer-controllable hand-that addresses many of the limitations associated with the classic rubber hand paradigm. Because participants can actively control the robotic hand, the device affords higher realism and authenticity. Our robotic hand has a comparatively low cost and opens up novel and innovative methods. In order to validate the robotic hand, we have carried out three experiments. The first two studies were based on previous research using the rubber hand, while the third was specific to the robotic hand. We measured both sense of agency and ownership. Overall, results show that participants experienced a "robotic hand illusion" in the baseline conditions. Furthermore, we also replicated previous results about agency and ownership.

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

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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.

The Importance of Spatiotemporal Information in Biological Motion Perception: White Noise Presented with a Step-like Motion Activates the Biological Motion Area.

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Callan, Akiko; Callan, Daniel; Ando, Hiroshi

2017-02-01

Humans can easily recognize the motion of living creatures using only a handful of point-lights that describe the motion of the main joints (biological motion perception). This special ability to perceive the motion of animate objects signifies the importance of the spatiotemporal information in perceiving biological motion. The posterior STS (pSTS) and posterior middle temporal gyrus (pMTG) region have been established by many functional neuroimaging studies as a locus for biological motion perception. Because listening to a walking human also activates the pSTS/pMTG region, the region has been proposed to be supramodal in nature. In this study, we investigated whether the spatiotemporal information from simple auditory stimuli is sufficient to activate this biological motion area. We compared spatially moving white noise, having a running-like tempo that was consistent with biological motion, with stationary white noise. The moving-minus-stationary contrast showed significant differences in activation of the pSTS/pMTG region. Our results suggest that the spatiotemporal information of the auditory stimuli is sufficient to activate the biological motion area.

Development of a parametric kinematic model of the human hand and a novel robotic exoskeleton.

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Burton, T M W; Vaidyanathan, R; Burgess, S C; Turton, A J; Melhuish, C

2011-01-01

This paper reports the integration of a kinematic model of the human hand during cylindrical grasping, with specific focus on the accurate mapping of thumb movement during grasping motions, and a novel, multi-degree-of-freedom assistive exoskeleton mechanism based on this model. The model includes thumb maximum hyper-extension for grasping large objects (~> 50 mm). The exoskeleton includes a novel four-bar mechanism designed to reproduce natural thumb opposition and a novel synchro-motion pulley mechanism for coordinated finger motion. A computer aided design environment is used to allow the exoskeleton to be rapidly customized to the hand dimensions of a specific patient. Trials comparing the kinematic model to observed data of hand movement show the model to be capable of mapping thumb and finger joint flexion angles during grasping motions. Simulations show the exoskeleton to be capable of reproducing the complex motion of the thumb to oppose the fingers during cylindrical and pinch grip motions. © 2011 IEEE

Real-time and wearable functional electrical stimulation system for volitional hand motor function control using the electromyography bridge method

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Hai-peng Wang

2017-01-01

Full Text Available Voluntary participation of hemiplegic patients is crucial for functional electrical stimulation therapy. A wearable functional electrical stimulation system has been proposed for real-time volitional hand motor function control using the electromyography bridge method. Through a series of novel design concepts, including the integration of a detecting circuit and an analog-to-digital converter, a miniaturized functional electrical stimulation circuit technique, a low-power super-regeneration chip for wireless receiving, and two wearable armbands, a prototype system has been established with reduced size, power, and overall cost. Based on wrist joint torque reproduction and classification experiments performed on six healthy subjects, the optimized surface electromyography thresholds and trained logistic regression classifier parameters were statistically chosen to establish wrist and hand motion control with high accuracy. Test results showed that wrist flexion/extension, hand grasp, and finger extension could be reproduced with high accuracy and low latency. This system can build a bridge of information transmission between healthy limbs and paralyzed limbs, effectively improve voluntary participation of hemiplegic patients, and elevate efficiency of rehabilitation training.

Natural-pose hand detection in low-resolution images

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Nyan Bo Bo1

2009-07-01

Full Text Available Robust real-time hand detection and tracking in video sequences would enable many applications in areas as diverse ashuman-computer interaction, robotics, security and surveillance, and sign language-based systems. In this paper, we introducea new approach for detecting human hands that works on single, cluttered, low-resolution images. Our prototype system, whichis primarily intended for security applications in which the images are noisy and low-resolution, is able to detect hands as smallas 2424 pixels in cluttered scenes. The system uses grayscale appearance information to classify image sub-windows as eithercontaining or not containing a human hand very rapidly at the cost of a high false positive rate. To improve on the false positiverate of the main classifier without affecting its detection rate, we introduce a post-processor system that utilizes the geometricproperties of skin color blobs. When we test our detector on a test image set containing 106 hands, 92 of those hands aredetected (86.8% detection rate, with an average false positive rate of 1.19 false positive detections per image. The rapiddetection speed, the high detection rate of 86.8%, and the low false positive rate together ensure that our system is useable asthe main detector in a diverse variety of applications requiring robust hand detection and tracking in low-resolution, clutteredscenes.

Finger tips detection for two handed gesture recognition

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Bhuyan, M. K.; Kar, Mithun Kumar; Neog, Debanga Raj

2011-10-01

In this paper, a novel algorithm is proposed for fingertips detection in view of two-handed static hand pose recognition. In our method, finger tips of both hands are detected after detecting hand regions by skin color-based segmentation. At first, the face is removed in the image by using Haar classifier and subsequently, the regions corresponding to the gesturing hands are isolated by a region labeling technique. Next, the key geometric features characterizing gesturing hands are extracted for two hands. Finally, for all possible/allowable finger movements, a probabilistic model is developed for pose recognition. Proposed method can be employed in a variety of applications like sign language recognition and human-robot-interactions etc.

Fully embedded myoelectric control for a wearable robotic hand orthosis.

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Ryser, Franziska; Butzer, Tobias; Held, Jeremia P; Lambercy, Olivier; Gassert, Roger

2017-07-01

To prevent learned non-use of the affected hand in chronic stroke survivors, rehabilitative training should be continued after discharge from the hospital. Robotic hand orthoses are a promising approach for home rehabilitation. When combined with intuitive control based on electromyography, the therapy outcome can be improved. However, such systems often require extensive cabling, experience in electrode placement and connection to external computers. This paper presents the framework for a stand-alone, fully wearable and real-time myoelectric intention detection system based on the Myo armband. The hard and software for real-time gesture classification were developed and combined with a routine to train and customize the classifier, leading to a unique ease of use. The system including training of the classifier can be set up within less than one minute. Results demonstrated that: (1) the proposed algorithm can classify five gestures with an accuracy of 98%, (2) the final system can online classify three gestures with an accuracy of 94.3% and, in a preliminary test, (3) classify three gestures from data acquired from mildly to severely impaired stroke survivors with an accuracy of over 78.8%. These results highlight the potential of the presented system for electromyography-based intention detection for stroke survivors and, with the integration of the system into a robotic hand orthosis, the potential for a wearable platform for all day robot-assisted home rehabilitation.

A motion-tolerant approach for monitoring SpO2 and heart rate using photoplethysmography signal with dual frame length processing and multi-classifier fusion.

Science.gov (United States)

Fan, Feiyi; Yan, Yuepeng; Tang, Yongzhong; Zhang, Hao

2017-12-01

Monitoring pulse oxygen saturation (SpO 2 ) and heart rate (HR) using photoplethysmography (PPG) signal contaminated by a motion artifact (MA) remains a difficult problem, especially when the oximeter is not equipped with a 3-axis accelerometer for adaptive noise cancellation. In this paper, we report a pioneering investigation on the impact of altering the frame length of Molgedey and Schuster independent component analysis (ICAMS) on performance, design a multi-classifier fusion strategy for selecting the PPG correlated signal component, and propose a novel approach to extract SpO 2 and HR readings from PPG signal contaminated by strong MA interference. The algorithm comprises multiple stages, including dual frame length ICAMS, a multi-classifier-based PPG correlated component selector, line spectral analysis, tree-based HR monitoring, and post-processing. Our approach is evaluated by multi-subject tests. The root mean square error (RMSE) is calculated for each trial. Three statistical metrics are selected as performance evaluation criteria: mean RMSE, median RMSE and the standard deviation (SD) of RMSE. The experimental results demonstrate that a shorter ICAMS analysis window probably results in better performance in SpO 2 estimation. Notably, the designed multi-classifier signal component selector achieved satisfactory performance. The subject tests indicate that our algorithm outperforms other baseline methods regarding accuracy under most criteria. The proposed work can contribute to improving the performance of current pulse oximetry and personal wearable monitoring devices. Copyright © 2017 Elsevier Ltd. All rights reserved.

Full-motion video analysis for improved gender classification

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Flora, Jeffrey B.; Lochtefeld, Darrell F.; Iftekharuddin, Khan M.

2014-06-01

The ability of computer systems to perform gender classification using the dynamic motion of the human subject has important applications in medicine, human factors, and human-computer interface systems. Previous works in motion analysis have used data from sensors (including gyroscopes, accelerometers, and force plates), radar signatures, and video. However, full-motion video, motion capture, range data provides a higher resolution time and spatial dataset for the analysis of dynamic motion. Works using motion capture data have been limited by small datasets in a controlled environment. In this paper, we explore machine learning techniques to a new dataset that has a larger number of subjects. Additionally, these subjects move unrestricted through a capture volume, representing a more realistic, less controlled environment. We conclude that existing linear classification methods are insufficient for the gender classification for larger dataset captured in relatively uncontrolled environment. A method based on a nonlinear support vector machine classifier is proposed to obtain gender classification for the larger dataset. In experimental testing with a dataset consisting of 98 trials (49 subjects, 2 trials per subject), classification rates using leave-one-out cross-validation are improved from 73% using linear discriminant analysis to 88% using the nonlinear support vector machine classifier.

Validation of the Leap Motion Controller using markered motion capture technology.

Science.gov (United States)

Smeragliuolo, Anna H; Hill, N Jeremy; Disla, Luis; Putrino, David

2016-06-14

The Leap Motion Controller (LMC) is a low-cost, markerless motion capture device that tracks hand, wrist and forearm position. Integration of this technology into healthcare applications has begun to occur rapidly, making validation of the LMC׳s data output an important research goal. Here, we perform a detailed evaluation of the kinematic data output from the LMC, and validate this output against gold-standard, markered motion capture technology. We instructed subjects to perform three clinically-relevant wrist (flexion/extension, radial/ulnar deviation) and forearm (pronation/supination) movements. The movements were simultaneously tracked using both the LMC and a marker-based motion capture system from Motion Analysis Corporation (MAC). Adjusting for known inconsistencies in the LMC sampling frequency, we compared simultaneously acquired LMC and MAC data by performing Pearson׳s correlation (r) and root mean square error (RMSE). Wrist flexion/extension and radial/ulnar deviation showed good overall agreement (r=0.95; RMSE=11.6°, and r=0.92; RMSE=12.4°, respectively) with the MAC system. However, when tracking forearm pronation/supination, there were serious inconsistencies in reported joint angles (r=0.79; RMSE=38.4°). Hand posture significantly influenced the quality of wrist deviation (P<0.005) and forearm supination/pronation (P<0.001), but not wrist flexion/extension (P=0.29). We conclude that the LMC is capable of providing data that are clinically meaningful for wrist flexion/extension, and perhaps wrist deviation. It cannot yet return clinically meaningful data for measuring forearm pronation/supination. Future studies should continue to validate the LMC as updated versions of their software are developed. Copyright © 2016 Elsevier Ltd. All rights reserved.

Please Don't Move-Evaluating Motion Artifact From Peripheral Quantitative Computed Tomography Scans Using Textural Features.

Science.gov (United States)

Rantalainen, Timo; Chivers, Paola; Beck, Belinda R; Robertson, Sam; Hart, Nicolas H; Nimphius, Sophia; Weeks, Benjamin K; McIntyre, Fleur; Hands, Beth; Siafarikas, Aris

Most imaging methods, including peripheral quantitative computed tomography (pQCT), are susceptible to motion artifacts particularly in fidgety pediatric populations. Methods currently used to address motion artifact include manual screening (visual inspection) and objective assessments of the scans. However, previously reported objective methods either cannot be applied on the reconstructed image or have not been tested for distal bone sites. Therefore, the purpose of the present study was to develop and validate motion artifact classifiers to quantify motion artifact in pQCT scans. Whether textural features could provide adequate motion artifact classification performance in 2 adolescent datasets with pQCT scans from tibial and radial diaphyses and epiphyses was tested. The first dataset was split into training (66% of sample) and validation (33% of sample) datasets. Visual classification was used as the ground truth. Moderate to substantial classification performance (J48 classifier, kappa coefficients from 0.57 to 0.80) was observed in the validation dataset with the novel texture-based classifier. In applying the same classifier to the second cross-sectional dataset, a slight-to-fair (κ = 0.01-0.39) classification performance was observed. Overall, this novel textural analysis-based classifier provided a moderate-to-substantial classification of motion artifact when the classifier was specifically trained for the measurement device and population. Classification based on textural features may be used to prescreen obviously acceptable and unacceptable scans, with a subsequent human-operated visual classification of any remaining scans. Copyright © 2017 The International Society for Clinical Densitometry. Published by Elsevier Inc. All rights reserved.

Bayesian Classifier for Medical Data from Doppler Unit

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J. Málek

2006-01-01

Full Text Available Nowadays, hand-held ultrasonic Doppler units (probes are often used for noninvasive screening of atherosclerosis in the arteries of the lower limbs. The mean velocity of blood flow in time and blood pressures are measured on several positions on each lower limb. By listening to the acoustic signal generated by the device or by reading the signal displayed on screen, a specialist can detect peripheral arterial disease (PAD.This project aims to design software that will be able to analyze data from such a device and classify it into several diagnostic classes. At the Department of Functional Diagnostics at the Regional Hospital in Liberec a database of several hundreds signals was collected. In cooperation with the specialist, the signals were manually classified into four classes. For each class, selected signal features were extracted and then used for training a Bayesian classifier. Another set of signals was used for evaluating and optimizing the parameters of the classifier. Slightly above 84 % of successfully recognized diagnostic states, was recently achieved on the test data. 

A mechatronics platform to study prosthetic hand control using EMG signals.

Science.gov (United States)

Geethanjali, P

2016-09-01

In this paper, a low-cost mechatronics platform for the design and development of robotic hands as well as a surface electromyogram (EMG) pattern recognition system is proposed. This paper also explores various EMG classification techniques using a low-cost electronics system in prosthetic hand applications. The proposed platform involves the development of a four channel EMG signal acquisition system; pattern recognition of acquired EMG signals; and development of a digital controller for a robotic hand. Four-channel surface EMG signals, acquired from ten healthy subjects for six different movements of the hand, were used to analyse pattern recognition in prosthetic hand control. Various time domain features were extracted and grouped into five ensembles to compare the influence of features in feature-selective classifiers (SLR) with widely considered non-feature-selective classifiers, such as neural networks (NN), linear discriminant analysis (LDA) and support vector machines (SVM) applied with different kernels. The results divulged that the average classification accuracy of the SVM, with a linear kernel function, outperforms other classifiers with feature ensembles, Hudgin's feature set and auto regression (AR) coefficients. However, the slight improvement in classification accuracy of SVM incurs more processing time and memory space in the low-level controller. The Kruskal-Wallis (KW) test also shows that there is no significant difference in the classification performance of SLR with Hudgin's feature set to that of SVM with Hudgin's features along with AR coefficients. In addition, the KW test shows that SLR was found to be better in respect to computation time and memory space, which is vital in a low-level controller. Similar to SVM, with a linear kernel function, other non-feature selective LDA and NN classifiers also show a slight improvement in performance using twice the features but with the drawback of increased memory space requirement and time

Leap Motion Device Used to Control a Real Anthropomorphic Gripper

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Ionel Staretu

2016-06-01

Full Text Available This paper presents for the first time the use of the Leap Motion device to control an anthropomorphic gripper with five fingers. First, a description of the Leap Motion device is presented, highlighting its main functional characteristics, followed by testing of its use for capturing the movements of a human hand's fingers in different configurations. Next, the HandCommander soft module and the Interface Controller application are described. The HandCommander is a software module created to facilitate interaction between a human hand and the GraspIT virtual environment, and the Interface Controller application is required to send motion data to the virtual environment and to test the communication protocol. For the test, a prototype of an anthropomorphic gripper with five fingers was made, including a proper hardware system of command and control, which is briefly presented in this paper. Following the creation of the prototype, the command system performance test was conducted under real conditions, evaluating the recognition efficiency of the objects to be gripped and the efficiency of the command and control strategies for the gripping process. The gripping test is exemplified by the gripping of an object, such as a screw spanner. It was found that the command system, both in terms of capturing human hand gestures with the Leap Motion device and effective object gripping, is operational. Suggestive figures are presented as examples.

Identification of Object Dynamics Using Hand Worn Motion and Force Sensors

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Henk G. Kortier

2016-11-01

Full Text Available Emerging microelectromechanical system (MEMS-based sensors become much more applicable for on-body measurement purposes lately. Especially, the development of a finger tip-sized tri-axial force sensor gives the opportunity to measure interaction forces between the human hand and environmental objects. We have developed a new prototype device that allows simultaneous 3D force and movement measurements at the finger and thumb tips. The combination of interaction forces and movements makes it possible to identify the dynamical characteristics of the object being handled by the hand. With this device attached to the hand, a subject manipulated mass and spring objects under varying conditions. We were able to identify and estimate the weight of two physical mass objects (0.44 kg: 29 . 3 % ± 18 . 9 % and 0.28 kg: 19 . 7 % ± 10 . 6 % and the spring constant of a physical spring object ( 16 . 3 % ± 12 . 6 % . The system is a first attempt to quantify the interactions of the hand with the environment and has many potential applications in rehabilitation, ergonomics and sports.

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.

Operator Fractional Brownian Motion and Martingale Differences

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Hongshuai Dai

2014-01-01

Full Text Available It is well known that martingale difference sequences are very useful in applications and theory. On the other hand, the operator fractional Brownian motion as an extension of the well-known fractional Brownian motion also plays an important role in both applications and theory. In this paper, we study the relation between them. We construct an approximation sequence of operator fractional Brownian motion based on a martingale difference sequence.

Frame by frame stop motion non-traditional approaches to stop motion animation

CERN Document Server

Gasek, Tom

2011-01-01

In a world that is dominated by computer images, alternative stop motion techniques like pixilation, time-lapse photography and down-shooting techniques combined with new technologies offer a new, tangible and exciting approach to animation. With over 25 years professional experience, industry veteran, Tom Gasek presents a comprehensive guide to stop motion animation without the focus on puppetry or model animation. With tips, tricks and hands-on exercises, Frame by Frame will help both experienced and novice filmmakers get the most effective results from this underutilized branch of animation

Hand function and quality of life before and after fasciectomy for Dupuytren contracture.

Science.gov (United States)

Engstrand, Christina; Krevers, Barbro; Nylander, Göran; Kvist, Joanna

2014-07-01

To describe changes in joint motion, sensibility, and scar pliability and to investigate the patients' expectations, self-reported recovery, and satisfaction with hand function, disability, and quality of life after surgery and hand therapy for Dupuytren disease. This prospective cohort study collected measurements before surgery and 3, 6, and 12 months after surgery and hand therapy. Ninety patients with total active extension deficits of 60° or more from Dupuytren contracture were included. Outcomes measures were range of motion; sensibility; scar pliability; self-reported outcomes on expectations, recovery, and satisfaction with hand function; Disabilities of the Arm, Shoulder, and Hand scores; safety and social issues of hand function; physical activity habits; and quality of life with the Euroqol. The extension deficit decreased, and there was a transient decrease in active finger flexion during the first year after surgery. Sensibility remained unaffected. Generally, patients with surgery on multiple fingers had worse scar pliability. The majority of the patients had their expectations met, and at 6 months, 32% considered hand function as fully recovered, and 73% were satisfied with their hand function. Fear of hurting the hand and worry about not trusting the hand function were of greatest concern among safety and social issues. The Disability of the Arm, Shoulder, and Hand score and the Euroqol improved over time. After surgery and hand therapy, disability decreased independent of single or multiple operated fingers. The total active finger extension improved enough for the patients to reach a functional range of motion despite an impairment of active finger flexion still present 12 months after treatment. Therapeutic IV. Copyright © 2014 American Society for Surgery of the Hand. Published by Elsevier Inc. All rights reserved.

Noninvasive assessment of right ventricular wall motion by radionuclide cardioangiography

International Nuclear Information System (INIS)

Nishimura, Tsunehiko; Uehara, Toshiisa; Naito, Hiroaki; Hayashida, Kohei; Kozuka, Takahiro

1981-01-01

Radionuclide cardioangiography is a useful method to evaluate the left ventricular wall motion in various heart diseases. It has been also attempted to assess the right ventricular wall motion simultaneously by radionuclide method. In this study, using the combination of first-pass (RAO 30 0 ) and multi-gate (LAO 40 0 ) method, the site of right vetricle was classified in five. (1 inflow, 2 sinus, 3 outflow, 4 septal, 5 lateral) and the degree of wall motion was classified in four stages (dyskinesis, akinesis, hypokinesis, normal) according to the AHA committee report. These methods were applied clinically to forty-eight patients with various heart diseases. In the cases with right ventricular pressure or volume overload such as COLD, pulmonary infarction, the right ventricle was dilated and the wall motion was reduced in all portions. Especially, in the cases with right ventricular infarction, the right ventricular wall motion was reduced in the infarcted area. The findings of radionuclide method were in good agreement with those of contrast right ventriculography or echocardiography. In conclusion, radionuclide cardioangiography is a useful and noninvasive method to assess not only the left but also the right ventricular wall motion. (author)

Design and implementation of a dexterous anthropomorphic robotic typing (DART) hand

International Nuclear Information System (INIS)

Thayer, Nicholas; Priya, Shashank

2011-01-01

This paper focuses on design and implementation of a biomimetic dexterous humanoid hand. Several design rules are proposed to retain human form and functionality in a robotic hand while overcoming the difficultly of actuation within a confined geometry. Size and weight have been optimized in order to achieve human-like performance with the prime objective of typing on a computer keyboard. Each finger has four joints and three degrees of freedom (DOF) while the thumb has an additional degree of freedom necessary for manipulating small objects. The hand consists of 16 servo motors dedicated to finger motion and three motors for wrist motion. A closed-loop kinematic control scheme utilizing the Denavit–Hartenberg convention for spatial joint positioning was implemented. Servo motors housed in the forearm act as an origin for wires to travel to their insertion points in the hand. The dexterity of the DART hand was measured by quantifying functionality and typing speed on a standard keyboard. The typing speed of a single DART hand was found to be 20 words min −1 . In comparison, the average human has a typing speed of 33 words min −1 with two hands

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.

Mechanical design and control of a new myoelectric hand prosthesis

NARCIS (Netherlands)

Peerdeman, B.; Stramigioli, Stefano; Hekman, Edsko E.G.; Brouwer, Dannis Michel; Misra, Sarthak

2011-01-01

The development of modern, myoelectrically controlled hand prostheses can be difficult, due to the many requirements its mechanical design and control system need to fulfill [1]. The hand should be controllable with few input signals, while being able to perform a wide range of motions. It should be

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.

On the acquisition of classifiers in 5 – 6 year-old Deaf children

NARCIS (Netherlands)

A. Hammer; J. Nijen Twilhaar; L. Pieters - van Noord; A. Veeninga; E. van Loon

2015-01-01

Posterpresentatie op Conferentie. Introduction: Classifiers are handshapes (sometimes combined with a specific orientation) that, when combined with the other parameters of movement and location form a ‘verb of motion or location’. There is a limited body of research available on the acquisition

Controller design for Robotic hand through Electroencephalogram

OpenAIRE

Pandelidis P.; Kiriazis N.; Orgianelis K.; Koulios N.

2016-01-01

- This paper deals with the designing, the construction and the control of a robotic hand via an electroencephalogram sensor. First a robotic device that is able to mimic a real human hand is constructed. A PID controller is designed in order to improve the performance of the robotic arm for grabbing objects. Furthermore, a novel design approach is presented for controlling the motion of the robotic arm using signals produced from an innovative electroencephalogram sensor that detects the con...

Development of a humanoid robot hand with coupling four-bar linkage

Directory of Open Access Journals (Sweden)

Xinhua Liu

2017-01-01

Full Text Available To improve the operating performance of robots’ end-effector, a humanoid robot hand based on coupling four-bar linkage was designed. An improved transmission system was proposed for the base joint of the thumb. Thus, a far greater motion range and more reasonable layout of the palm were obtained. Moreover, the mathematical model for kinematics simulation was presented based on the Assur linkage group theory to verify and optimize the proposed structure. To research the motion relationships between the fingers and the object in the process of grasping object, the grasping analysis of multi-finger manipulation was presented based on contact kinematics. Finally, a prototype of the humanoid robot hand was produced by a three-dimensional printer, and a kinematics simulation example and the workspace solving of the humanoid robot hand were carried out. The results showed that the velocities of finger joints approximately met the proportion relationship 1:1:1, which accorded with the grasping law of the human hand. In addition, the large workspace, reasonable layout, and good manipulability of the humanoid robot hand were verified.

Basic Hand Gestures Classification Based on Surface Electromyography

Directory of Open Access Journals (Sweden)

Aleksander Palkowski

2016-01-01

Full Text Available This paper presents an innovative classification system for hand gestures using 2-channel surface electromyography analysis. The system developed uses the Support Vector Machine classifier, for which the kernel function and parameter optimisation are conducted additionally by the Cuckoo Search swarm algorithm. The system developed is compared with standard Support Vector Machine classifiers with various kernel functions. The average classification rate of 98.12% has been achieved for the proposed method.

Magnetotherapy in hand osteoarthritis: a pilot trial.

Science.gov (United States)

Kanat, Elvan; Alp, Alev; Yurtkuran, Merih

2013-12-01

To evaluate the effectiveness of magnetotherapy in the treatment of hand osteoarthritis (HO). In this randomized controlled single-blind follow-up study, patients with HO were randomly assigned into 2 groups (G1 and G2). The subjects in G1 (n=25) received 25Hz, 450 pulse/s, 5-80G, magnetotherapy of totally 10 days and 20 min/day combined with active range of motion/strengthening exercises for the hand. G2 (n=25) received sham-magnetotherapy for 20 min/day for the same duration combined with the same hand exercises. Outcome measures were pain and joint stiffness evaluation, handgrip and pinchgrip strength (HPS), Duruöz and Auscan Hand Osteoarthritis Indexes (DAOI) and Short Form-36 Health Questionnaire (SF-36) administered at baseline, immediately after treatment and at the follow up. When the groups were compared with each other, improvement observed in SF-36 Pain (p<0.001), SF-36 Social Function (p=0.030), SF-36 Vitality (p=0.002), SF-36 General Health (p=0.001), Pain at rest (p<0.001), Pain at motion (p<0.001), Joint stiffness (p<0.001), DAOI (p<0.001) were in favor of G1. Changes in pain, function and quality of life scores showed significant advantage in favor of the applied electromagnetic intervention in patients with HO. Copyright © 2013 Elsevier Ltd. All rights reserved.

Factors associated with combined hand and foot eczema

DEFF Research Database (Denmark)

Agner, T; Aalto-Korte, K; Andersen, K E

2017-01-01

BACKGROUND: As for hand eczema, the aetiology of foot eczema is multifactorial and not very well understood. The aim of the present study was to identify factors associated with foot eczema in a cohort of hand eczema patients being classified into different subgroups. METHODS: Associations between...... foot and hand eczema were studied in a cross-sectional design in a cohort of hand eczema patients. Consecutive patients were recruited from nine different European Centres during the period October 2011-September 2012. Data on demographic factors, presence of foot eczema, hand eczema duration...... and severity, and whether the hand eczema was work-related or not were available, as well as patch-test results. RESULTS: Of a total of 427 hand eczema patients identified, information on foot eczema was available in 419 patients who were included in the present study. A total of 125 patients (29.8%) had...

Natural control capabilities of robotic hands by hand amputated subjects.

Science.gov (United States)

Atzori, Manfredo; Gijsberts, Arjan; Caputo, Barbara; Muller, Henning

2014-01-01

People with transradial hand amputations who own a myoelectric prosthesis currently have some control capabilities via sEMG. However, the control systems are still limited and not natural. The Ninapro project is aiming at helping the scientific community to overcome these limits through the creation of publicly available electromyography data sources to develop and test machine learning algorithms. In this paper we describe the movement classification results gained from three subjects with an homogeneous level of amputation, and we compare them with the results of 40 intact subjects. The number of considered subjects can seem small at first sight, but it is not considering the literature of the field (which has to face the difficulty of recruiting trans-radial hand amputated subjects). The classification is performed with four different classifiers and the obtained balanced classification rates are up to 58.6% on 50 movements, which is an excellent result compared to the current literature. Successively, for each subject we find a subset of up to 9 highly independent movements, (defined as movements that can be distinguished with more than 90% accuracy), which is a deeply innovative step in literature. The natural control of a robotic hand in so many movements could lead to an immediate progress in robotic hand prosthetics and it could deeply change the quality of life of amputated subjects.

Neural-Network Control Of Prosthetic And Robotic Hands

Science.gov (United States)

Buckley, Theresa M.

1991-01-01

Electronic neural networks proposed for use in controlling robotic and prosthetic hands and exoskeletal or glovelike electromechanical devices aiding intact but nonfunctional hands. Specific to patient, who activates grasping motion by voice command, by mechanical switch, or by myoelectric impulse. Patient retains higher-level control, while lower-level control provided by neural network analogous to that of miniature brain. During training, patient teaches miniature brain to perform specialized, anthropomorphic movements unique to himself or herself.

Humanlike robot hands controlled by brain activity arouse illusion of ownership in operators

Science.gov (United States)

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2013-08-01

Operators of a pair of robotic hands report ownership for those hands when they hold image of a grasp motion and watch the robot perform it. We present a novel body ownership illusion that is induced by merely watching and controlling robot's motions through a brain machine interface. In past studies, body ownership illusions were induced by correlation of such sensory inputs as vision, touch and proprioception. However, in the presented illusion none of the mentioned sensations are integrated except vision. Our results show that during BMI-operation of robotic hands, the interaction between motor commands and visual feedback of the intended motions is adequate to incorporate the non-body limbs into one's own body. Our discussion focuses on the role of proprioceptive information in the mechanism of agency-driven illusions. We believe that our findings will contribute to improvement of tele-presence systems in which operators incorporate BMI-operated robots into their body representations.

Optimal threshold estimation for binary classifiers using game theory.

Science.gov (United States)

Sanchez, Ignacio Enrique

2016-01-01

Many bioinformatics algorithms can be understood as binary classifiers. They are usually compared using the area under the receiver operating characteristic ( ROC ) curve. On the other hand, choosing the best threshold for practical use is a complex task, due to uncertain and context-dependent skews in the abundance of positives in nature and in the yields/costs for correct/incorrect classification. We argue that considering a classifier as a player in a zero-sum game allows us to use the minimax principle from game theory to determine the optimal operating point. The proposed classifier threshold corresponds to the intersection between the ROC curve and the descending diagonal in ROC space and yields a minimax accuracy of 1-FPR. Our proposal can be readily implemented in practice, and reveals that the empirical condition for threshold estimation of "specificity equals sensitivity" maximizes robustness against uncertainties in the abundance of positives in nature and classification costs.

Segmentation Based Video Steganalysis to Detect Motion Vector Modification

Directory of Open Access Journals (Sweden)

Peipei Wang

2017-01-01

Full Text Available This paper presents a steganalytic approach against video steganography which modifies motion vector (MV in content adaptive manner. Current video steganalytic schemes extract features from fixed-length frames of the whole video and do not take advantage of the content diversity. Consequently, the effectiveness of the steganalytic feature is influenced by video content and the problem of cover source mismatch also affects the steganalytic performance. The goal of this paper is to propose a steganalytic method which can suppress the differences of statistical characteristics caused by video content. The given video is segmented to subsequences according to block’s motion in every frame. The steganalytic features extracted from each category of subsequences with close motion intensity are used to build one classifier. The final steganalytic result can be obtained by fusing the results of weighted classifiers. The experimental results have demonstrated that our method can effectively improve the performance of video steganalysis, especially for videos of low bitrate and low embedding ratio.

Analysis and Visualization of 3D Motion Data for UPDRS Rating of Patients with Parkinson’s Disease

Directory of Open Access Journals (Sweden)

Neltje E. Piro

2016-06-01

Full Text Available Remote monitoring of Parkinson’s Disease (PD patients with inertia sensors is a relevant method for a better assessment of symptoms. We present a new approach for symptom quantification based on motion data: the automatic Unified Parkinson Disease Rating Scale (UPDRS classification in combination with an animated 3D avatar giving the neurologist the impression of having the patient live in front of him. In this study we compared the UPDRS ratings of the pronation-supination task derived from: (a an examination based on video recordings as a clinical reference; (b an automatically classified UPDRS; and (c a UPDRS rating from the assessment of the animated 3D avatar. Data were recorded using Magnetic, Angular Rate, Gravity (MARG sensors with 15 subjects performing a pronation-supination movement of the hand. After preprocessing, the data were classified with a J48 classifier and animated as a 3D avatar. Video recording of the movements, as well as the 3D avatar, were examined by movement disorder specialists and rated by UPDRS. The mean agreement between the ratings based on video and (b the automatically classified UPDRS is 0.48 and with (c the 3D avatar it is 0.47. The 3D avatar is similarly suitable for assessing the UPDRS as video recordings for the examined task and will be further developed by the research team.

Controller design for Robotic hand through Electroencephalogram

Directory of Open Access Journals (Sweden)

Pandelidis P.

2016-01-01

Full Text Available - This paper deals with the designing, the construction and the control of a robotic hand via an electroencephalogram sensor. First a robotic device that is able to mimic a real human hand is constructed. A PID controller is designed in order to improve the performance of the robotic arm for grabbing objects. Furthermore, a novel design approach is presented for controlling the motion of the robotic arm using signals produced from an innovative electroencephalogram sensor that detects the concentration of the brain

TREATMENT OF FRACTURES TO THE HAND

Directory of Open Access Journals (Sweden)

Valentina Colombo

2012-03-01

Full Text Available The aim of this article is to discuss the treatment of fractures to the hand given the importance of this organ in terms of functional anatomy. After classifying the various types of fractures, surgery and rehabilitation options for all types are discussed. Particular emphasis is placed on therapy for the most frequently seen lesions such as fractures to the scaphoid, the fifth metacarpal and the base of the first metacarpal. The importance of the use of prophylaxis against stiffness and treatment for oedema, which are commonly seen in fractures to the hand, is also highlighted.

Real-Time Control of an Exoskeleton Hand Robot with Myoelectric Pattern Recognition.

Science.gov (United States)

Lu, Zhiyuan; Chen, Xiang; Zhang, Xu; Tong, Kay-Yu; Zhou, Ping

2017-08-01

Robot-assisted training provides an effective approach to neurological injury rehabilitation. To meet the challenge of hand rehabilitation after neurological injuries, this study presents an advanced myoelectric pattern recognition scheme for real-time intention-driven control of a hand exoskeleton. The developed scheme detects and recognizes user's intention of six different hand motions using four channels of surface electromyography (EMG) signals acquired from the forearm and hand muscles, and then drives the exoskeleton to assist the user accomplish the intended motion. The system was tested with eight neurologically intact subjects and two individuals with spinal cord injury (SCI). The overall control accuracy was [Formula: see text] for the neurologically intact subjects and [Formula: see text] for the SCI subjects. The total lag of the system was approximately 250[Formula: see text]ms including data acquisition, transmission and processing. One SCI subject also participated in training sessions in his second and third visits. Both the control accuracy and efficiency tended to improve. These results show great potential for applying the advanced myoelectric pattern recognition control of the wearable robotic hand system toward improving hand function after neurological injuries.

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.

RGBD Video Based Human Hand Trajectory Tracking and Gesture Recognition System

Directory of Open Access Journals (Sweden)

Weihua Liu

2015-01-01

Full Text Available The task of human hand trajectory tracking and gesture trajectory recognition based on synchronized color and depth video is considered. Toward this end, in the facet of hand tracking, a joint observation model with the hand cues of skin saliency, motion and depth is integrated into particle filter in order to move particles to local peak in the likelihood. The proposed hand tracking method, namely, salient skin, motion, and depth based particle filter (SSMD-PF, is capable of improving the tracking accuracy considerably, in the context of the signer performing the gesture toward the camera device and in front of moving, cluttered backgrounds. In the facet of gesture recognition, a shape-order context descriptor on the basis of shape context is introduced, which can describe the gesture in spatiotemporal domain. The efficient shape-order context descriptor can reveal the shape relationship and embed gesture sequence order information into descriptor. Moreover, the shape-order context leads to a robust score for gesture invariant. Our approach is complemented with experimental results on the settings of the challenging hand-signed digits datasets and American sign language dataset, which corroborate the performance of the novel techniques.

Development of a new assessment tool for cervical myelopathy using hand-tracking sensor: Part 2: normative values.

Science.gov (United States)

Alagha, M Abdulhadi; Alagha, Mahmoud A; Dunstan, Eleanor; Sperwer, Olaf; Timmins, Kate A; Boszczyk, Bronek M

2017-04-01

To set a baseline measurement of the number of hand flexion-extension cycles and analyse the degree of motion in young healthy individuals, measured by leap motion controller (LMC), besides describing gender and dominant hand differences. Fifty healthy participants were asked to fully grip-and-release their dominant hand as rapidly as possible for a maximum of 3 min or until subjects fatigued, while wearing a non-metal wrist splint. Participants also performed a 15-s grip-and-release test. An assessor blindly counted the frequency of grip-and-release cycles and magnitude of motion from the LMC data. The mean number of the 15-s G-R cycles recorded by LMC was: 47.7 ± 6.5 (test 1, LMC); and 50.2 ± 6.5 (test 2, LMC). In the 3-min test, the total number of hand flexion-extension cycles and the degree of motion decreased as the person fatigued. However, the decline in frequency preceded that of motion's magnitude. The mean frequency of cycles per 10-s interval decreased from 35.4 to 26.6 over the 3 min. Participants reached fatigue from 59.38 s; 43 participants were able to complete the 3-min test. Normative values of the frequency of cycles and extent of motion for young healthy individuals, aged 18-35 years, are provided. Future work is needed to establish values in a wider age range and in a clinical setting.

POD evaluation for joint angles from inertial and optical motion capturing system

International Nuclear Information System (INIS)

Shimizu, Kai; Kobayashi, Futoshi; Nakamoto, Hiroyuki; Kojima, Fumio

2016-01-01

It has been recognized that advances in preventive maintenance can improve the sustainment of systems, facilities, and infrastructure. Robot technologies have also received attention for maintenance applications. In order to operate delicate tasks, multi-fingered robot hands have been proposed in cases where human capability is deficient. This paper deals with motion capturing systems for controlling the hand/arm robot remotely. Several types of motion capturing systems have been developed so far. However, it is difficult for individual motion capturing systems to measure precise joint angles of a human arm. Therefore, in this paper, we integrate the inertial motion capturing system with the optical motion capturing system to capture a human arm posture. By evaluating the reliability of each motion capturing system, the integration is carried out. The probability of detection (POD) is applied to evaluate and compare the reliability of datasets measured by each motion capturing system. POD is one of the widely used statistical techniques to determine reliability. We apply the â analysis to determine the POD(a) function from the data set. Based on the POD evaluation, two motion capturing systems are integrated. (author)

Machine Learning Methods for Classifying Human Physical Activity from On-Body Accelerometers

Science.gov (United States)

Mannini, Andrea; Sabatini, Angelo Maria

2010-01-01

The use of on-body wearable sensors is widespread in several academic and industrial domains. Of great interest are their applications in ambulatory monitoring and pervasive computing systems; here, some quantitative analysis of human motion and its automatic classification are the main computational tasks to be pursued. In this paper, we discuss how human physical activity can be classified using on-body accelerometers, with a major emphasis devoted to the computational algorithms employed for this purpose. In particular, we motivate our current interest for classifiers based on Hidden Markov Models (HMMs). An example is illustrated and discussed by analysing a dataset of accelerometer time series. PMID:22205862

Recognizing the Operating Hand and the Hand-Changing Process for User Interface Adjustment on Smartphones.

Science.gov (United States)

Guo, Hansong; Huang, He; Huang, Liusheng; Sun, Yu-E

2016-08-20

As the size of smartphone touchscreens has become larger and larger in recent years, operability with a single hand is getting worse, especially for female users. We envision that user experience can be significantly improved if smartphones are able to recognize the current operating hand, detect the hand-changing process and then adjust the user interfaces subsequently. In this paper, we proposed, implemented and evaluated two novel systems. The first one leverages the user-generated touchscreen traces to recognize the current operating hand, and the second one utilizes the accelerometer and gyroscope data of all kinds of activities in the user's daily life to detect the hand-changing process. These two systems are based on two supervised classifiers constructed from a series of refined touchscreen trace, accelerometer and gyroscope features. As opposed to existing solutions that all require users to select the current operating hand or confirm the hand-changing process manually, our systems follow much more convenient and practical methods and allow users to change the operating hand frequently without any harm to the user experience. We conduct extensive experiments on Samsung Galaxy S4 smartphones, and the evaluation results demonstrate that our proposed systems can recognize the current operating hand and detect the hand-changing process with 94.1% and 93.9% precision and 94.1% and 93.7% True Positive Rates (TPR) respectively, when deciding with a single touchscreen trace or accelerometer-gyroscope data segment, and the False Positive Rates (FPR) are as low as 2.6% and 0.7% accordingly. These two systems can either work completely independently and achieve pretty high accuracies or work jointly to further improve the recognition accuracy.

Wavelet transform and real-time learning method for myoelectric signal in motion discrimination

International Nuclear Information System (INIS)

Liu Haihua; Chen Xinhao; Chen Yaguang

2005-01-01

This paper discusses the applicability of the Wavelet transform for analyzing an EMG signal and discriminating motion classes. In many previous works, researchers have dealt with steady EMG and have proposed suitable analyzing methods for the EMG, for example FFT and STFT. Therefore, it is difficult for the previous approaches to discriminate motions from the EMG in the different phases of muscle activity, i.e., pre-activity, in activity, postactivity phases, as well as the period of motion transition from one to another. In this paper, we introduce the Wavelet transform using the Coiflet mother wavelet into our real-time EMG prosthetic hand controller for discriminating motions from steady and unsteady EMG. A preliminary experiment to discriminate three hand motions from four channel EMG in the initial pre-activity and in activity phase is carried out to show the effectiveness of the approach. However, future research efforts are necessary to discriminate more motions much precisely

One-Step Dynamic Classifier Ensemble Model for Customer Value Segmentation with Missing Values

Directory of Open Access Journals (Sweden)

Jin Xiao

2014-01-01

Full Text Available Scientific customer value segmentation (CVS is the base of efficient customer relationship management, and customer credit scoring, fraud detection, and churn prediction all belong to CVS. In real CVS, the customer data usually include lots of missing values, which may affect the performance of CVS model greatly. This study proposes a one-step dynamic classifier ensemble model for missing values (ODCEM model. On the one hand, ODCEM integrates the preprocess of missing values and the classification modeling into one step; on the other hand, it utilizes multiple classifiers ensemble technology in constructing the classification models. The empirical results in credit scoring dataset “German” from UCI and the real customer churn prediction dataset “China churn” show that the ODCEM outperforms four commonly used “two-step” models and the ensemble based model LMF and can provide better decision support for market managers.

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

OpenAIRE

Staffan Appelgren; Anna Bohlin

2015-01-01

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...

Equation of motion for the axial gravitational superfield

International Nuclear Information System (INIS)

Ogievetsky, V.; Sokatchev, E.

1980-01-01

Transformation properties of the axial supergravitational field variants are investigated. The equation of motion for the axial gravitational superfield is derived by direct variation of the N = 1 supergravity action. The left-hand side of this equation is a component of the torsion tensor, and the right-hand side is the supercurrent. The question about the cosmological term in supergravity is discussed

Efficient Multi-Concept Visual Classifier Adaptation in Changing Environments

Science.gov (United States)

2016-09-01

sets of images, hand annotated by humans with region boundary outlines followed by label assignment. This annotation is time consuming , and...performed as a necessary but time- consuming step to train su- pervised classifiers. U nsupervised o r s elf-supervised a pproaches h ave b een used to...time- consuming labeling pro- cess. However, the lack of human supervision has limited most of this work to binary classification (e.g., traversability

Sensitive and Flexible Polymeric Strain Sensor for Accurate Human Motion Monitoring.

Science.gov (United States)

Khan, Hassan; Razmjou, Amir; Ebrahimi Warkiani, Majid; Kottapalli, Ajay; Asadnia, Mohsen

2018-02-01

Flexible electronic devices offer the capability to integrate and adapt with human body. These devices are mountable on surfaces with various shapes, which allow us to attach them to clothes or directly onto the body. This paper suggests a facile fabrication strategy via electrospinning to develop a stretchable, and sensitive poly (vinylidene fluoride) nanofibrous strain sensor for human motion monitoring. A complete characterization on the single PVDF nano fiber has been performed. The charge generated by PVDF electrospun strain sensor changes was employed as a parameter to control the finger motion of the robotic arm. As a proof of concept, we developed a smart glove with five sensors integrated into it to detect the fingers motion and transfer it to a robotic hand. Our results shows that the proposed strain sensors are able to detect tiny motion of fingers and successfully run the robotic hand.

Sensitive and Flexible Polymeric Strain Sensor for Accurate Human Motion Monitoring

Directory of Open Access Journals (Sweden)

Hassan Khan

2018-02-01

Full Text Available Flexible electronic devices offer the capability to integrate and adapt with human body. These devices are mountable on surfaces with various shapes, which allow us to attach them to clothes or directly onto the body. This paper suggests a facile fabrication strategy via electrospinning to develop a stretchable, and sensitive poly (vinylidene fluoride nanofibrous strain sensor for human motion monitoring. A complete characterization on the single PVDF nano fiber has been performed. The charge generated by PVDF electrospun strain sensor changes was employed as a parameter to control the finger motion of the robotic arm. As a proof of concept, we developed a smart glove with five sensors integrated into it to detect the fingers motion and transfer it to a robotic hand. Our results shows that the proposed strain sensors are able to detect tiny motion of fingers and successfully run the robotic hand.

Generating Concise Rules for Human Motion Retrieval

Science.gov (United States)

Mukai, Tomohiko; Wakisaka, Ken-Ichi; Kuriyama, Shigeru

This paper proposes a method for retrieving human motion data with concise retrieval rules based on the spatio-temporal features of motion appearance. Our method first converts motion clip into a form of clausal language that represents geometrical relations between body parts and their temporal relationship. A retrieval rule is then learned from the set of manually classified examples using inductive logic programming (ILP). ILP automatically discovers the essential rule in the same clausal form with a user-defined hypothesis-testing procedure. All motions are indexed using this clausal language, and the desired clips are retrieved by subsequence matching using the rule. Such rule-based retrieval offers reasonable performance and the rule can be intuitively edited in the same language form. Consequently, our method enables efficient and flexible search from a large dataset with simple query language.

Modular finger and hand motion capturing system based on inertial and magnetic sensors

Directory of Open Access Journals (Sweden)

Valtin Markus

2017-03-01

Full Text Available The assessment of hand posture and kinematics is increasingly important in various fields. This includes the rehabilitation of stroke survivors with restricted hand function. This paper presents a modular, ambulatory measurement system for the assement of the remaining hand function and for closed-loop controlled therapy. The device is based on inertial sensors and utilizes up to five interchangeable sensor strips to achieve modularity and to simplify the sensor attachment. We introduce the modular hardware design and describe algorithms used to calculate the joint angles. Measurements with two experimental setups demonstrate the feasibility and the potential of such a tracking device.

Transformation of hand-shape features for a biometric identification approach.

Science.gov (United States)

Travieso, Carlos M; Briceño, Juan Carlos; Alonso, Jesús B

2012-01-01

The present work presents a biometric identification system for hand shape identification. The different contours have been coded based on angular descriptions forming a Markov chain descriptor. Discrete Hidden Markov Models (DHMM), each representing a target identification class, have been trained with such chains. Features have been calculated from a kernel based on the HMM parameter descriptors. Finally, supervised Support Vector Machines were used to classify parameters from the DHMM kernel. First, the system was modelled using 60 users to tune the DHMM and DHMM_kernel+SVM configuration parameters and finally, the system was checked with the whole database (GPDS database, 144 users with 10 samples per class). Our experiments have obtained similar results in both cases, demonstrating a scalable, stable and robust system. Our experiments have achieved an upper success rate of 99.87% for the GPDS database using three hand samples per class in training mode, and seven hand samples in test mode. Secondly, the authors have verified their algorithms using another independent and public database (the UST database). Our approach has reached 100% and 99.92% success for right and left hand, respectively; showing the robustness and independence of our algorithms. This success was found using as features the transformation of 100 points hand shape with our DHMM kernel, and as classifier Support Vector Machines with linear separating functions, with similar success.

Transformation of Hand-Shape Features for a Biometric Identification Approach

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Jesús B. Alonso

2012-01-01

Full Text Available The present work presents a biometric identification system for hand shape identification. The different contours have been coded based on angular descriptions forming a Markov chain descriptor. Discrete Hidden Markov Models (DHMM, each representing a target identification class, have been trained with such chains. Features have been calculated from a kernel based on the HMM parameter descriptors. Finally, supervised Support Vector Machines were used to classify parameters from the DHMM kernel. First, the system was modelled using 60 users to tune the DHMM and DHMM_kernel+SVM configuration parameters and finally, the system was checked with the whole database (GPDS database, 144 users with 10 samples per class. Our experiments have obtained similar results in both cases, demonstrating a scalable, stable and robust system. Our experiments have achieved an upper success rate of 99.87% for the GPDS database using three hand samples per class in training mode, and seven hand samples in test mode. Secondly, the authors have verified their algorithms using another independent and public database (the UST database. Our approach has reached 100% and 99.92% success for right and left hand, respectively; showing the robustness and independence of our algorithms. This success was found using as features the transformation of 100 points hand shape with our DHMM kernel, and as classifier Support Vector Machines with linear separating functions, with similar success.

Site classification of Indian strong motion network using response spectra ratios

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Chopra, Sumer; Kumar, Vikas; Choudhury, Pallabee; Yadav, R. B. S.

2018-03-01

In the present study, we tried to classify the Indian strong motion sites spread all over Himalaya and adjoining region, located on varied geological formations, based on response spectral ratio. A total of 90 sites were classified based on 395 strong motion records from 94 earthquakes recorded at these sites. The magnitude of these earthquakes are between 2.3 and 7.7 and the hypocentral distance for most of the cases is less than 50 km. The predominant period obtained from response spectral ratios is used to classify these sites. It was found that the shape and predominant peaks of the spectra at these sites match with those in Japan, Italy, Iran, and at some of the sites in Europe and the same classification scheme can be applied to Indian strong motion network. We found that the earlier schemes based on description of near-surface geology, geomorphology, and topography were not able to capture the effect of sediment thickness. The sites are classified into seven classes (CL-I to CL-VII) with varying predominant periods and ranges as proposed by Alessandro et al. (Bull Seismol Soc Am 102:680-695 2012). The effect of magnitudes and hypocentral distances on the shape and predominant peaks were also studied and found to be very small. The classification scheme is robust and cost-effective and can be used in region-specific attenuation relationships for accounting local site effect.

Design of a compact low-power human-computer interaction equipment for hand motion

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Wu, Xianwei; Jin, Wenguang

2017-01-01

Human-Computer Interaction (HCI) raises demand of convenience, endurance, responsiveness and naturalness. This paper describes a design of a compact wearable low-power HCI equipment applied to gesture recognition. System combines multi-mode sense signals: the vision sense signal and the motion sense signal, and the equipment is equipped with the depth camera and the motion sensor. The dimension (40 mm × 30 mm) and structure is compact and portable after tight integration. System is built on a module layered framework, which contributes to real-time collection (60 fps), process and transmission via synchronous confusion with asynchronous concurrent collection and wireless Blue 4.0 transmission. To minimize equipment's energy consumption, system makes use of low-power components, managing peripheral state dynamically, switching into idle mode intelligently, pulse-width modulation (PWM) of the NIR LEDs of the depth camera and algorithm optimization by the motion sensor. To test this equipment's function and performance, a gesture recognition algorithm is applied to system. As the result presents, general energy consumption could be as low as 0.5 W.

Recognizing the Operating Hand and the Hand-Changing Process for User Interface Adjustment on Smartphones

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Hansong Guo

2016-08-01

Full Text Available As the size of smartphone touchscreens has become larger and larger in recent years, operability with a single hand is getting worse, especially for female users. We envision that user experience can be significantly improved if smartphones are able to recognize the current operating hand, detect the hand-changing process and then adjust the user interfaces subsequently. In this paper, we proposed, implemented and evaluated two novel systems. The first one leverages the user-generated touchscreen traces to recognize the current operating hand, and the second one utilizes the accelerometer and gyroscope data of all kinds of activities in the user’s daily life to detect the hand-changing process. These two systems are based on two supervised classifiers constructed from a series of refined touchscreen trace, accelerometer and gyroscope features. As opposed to existing solutions that all require users to select the current operating hand or confirm the hand-changing process manually, our systems follow much more convenient and practical methods and allow users to change the operating hand frequently without any harm to the user experience. We conduct extensive experiments on Samsung Galaxy S4 smartphones, and the evaluation results demonstrate that our proposed systems can recognize the current operating hand and detect the hand-changing process with 94.1% and 93.9% precision and 94.1% and 93.7% True Positive Rates (TPR respectively, when deciding with a single touchscreen trace or accelerometer-gyroscope data segment, and the False Positive Rates (FPR are as low as 2.6% and 0.7% accordingly. These two systems can either work completely independently and achieve pretty high accuracies or work jointly to further improve the recognition accuracy.

Recognizing the Operating Hand and the Hand-Changing Process for User Interface Adjustment on Smartphones †

Science.gov (United States)

Guo, Hansong; Huang, He; Huang, Liusheng; Sun, Yu-E

2016-01-01

As the size of smartphone touchscreens has become larger and larger in recent years, operability with a single hand is getting worse, especially for female users. We envision that user experience can be significantly improved if smartphones are able to recognize the current operating hand, detect the hand-changing process and then adjust the user interfaces subsequently. In this paper, we proposed, implemented and evaluated two novel systems. The first one leverages the user-generated touchscreen traces to recognize the current operating hand, and the second one utilizes the accelerometer and gyroscope data of all kinds of activities in the user’s daily life to detect the hand-changing process. These two systems are based on two supervised classifiers constructed from a series of refined touchscreen trace, accelerometer and gyroscope features. As opposed to existing solutions that all require users to select the current operating hand or confirm the hand-changing process manually, our systems follow much more convenient and practical methods and allow users to change the operating hand frequently without any harm to the user experience. We conduct extensive experiments on Samsung Galaxy S4 smartphones, and the evaluation results demonstrate that our proposed systems can recognize the current operating hand and detect the hand-changing process with 94.1% and 93.9% precision and 94.1% and 93.7% True Positive Rates (TPR) respectively, when deciding with a single touchscreen trace or accelerometer-gyroscope data segment, and the False Positive Rates (FPR) are as low as 2.6% and 0.7% accordingly. These two systems can either work completely independently and achieve pretty high accuracies or work jointly to further improve the recognition accuracy. PMID:27556461

Augmented robotic device for EVA hand manoeuvres

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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

Leap Motion controller application in augmented reality technology

OpenAIRE

Artemčiukas, Edgaras; Sakalauskas, Leonidas

2014-01-01

In this work the analysis of interaction techniques, devices and its’ possibilities were accomplished. It was determined that the problem, which many researchers tries to solve – more natural interaction between users and computers. Interaction system in augmented reality environment using Leap Motion controller was developed. To achieve this goal augmented reality NyARToolkit and Leap Motion controller libraries were used. Solution ensures extensive information about hand, finger...

Efficacy of Low Level Laser Therapy After Hand Flexor Tendon Repair

Science.gov (United States)

Ayad, K. E.; El Gohary, H. M.; Abd Elrahman, M.; Abd El Mejeed, S. F.; Bekheet, A. B.

2009-09-01

Flexor tendon injury is a common problem requiring suturing repair followed by early postoperative mobilization. Muscle atrophy, joint stiffness, osteoarthritis, infection, skin necrosis, ulceration of joint cartilage and tendocutaneous adhesion are familiar complications produced by prolonged immobilization of surgically repaired tendon ruptures. The purpose of this study was to clarify the importance of low level laser therapy after hand flexor tendon repair in zone II. Thirty patients aging between 20 and 40 years were divided into two groups. Patients in group A (n = 15) received a conventional therapeutic exercise program while patients in group B (n = 15) received low level laser therapy combined with the same therapeutic exercise program. The results showed a statistically significant increase in total active motion of the proximal and distal interphalangeal joints as well as maximum hand grip strength at three weeks and three months postoperative, but improvement was more significant in group B. It was concluded that the combination of low level laser therapy and early therapeutic exercises was more effective than therapeutic exercises alone in improving total active motion of proximal and distal interphalangeal joints and hand grip strength after hand flexor tendon repair.

Two channel EEG thought pattern classifier.

Science.gov (United States)

Craig, D A; Nguyen, H T; Burchey, H A

2006-01-01

This paper presents a real-time electro-encephalogram (EEG) identification system with the goal of achieving hands free control. With two EEG electrodes placed on the scalp of the user, EEG signals are amplified and digitised directly using a ProComp+ encoder and transferred to the host computer through the RS232 interface. Using a real-time multilayer neural network, the actual classification for the control of a powered wheelchair has a very fast response. It can detect changes in the user's thought pattern in 1 second. Using only two EEG electrodes at positions O(1) and C(4) the system can classify three mental commands (forward, left and right) with an accuracy of more than 79 %

Hand Rehabilitation Learning System With an Exoskeleton Robotic Glove.

Science.gov (United States)

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.

Human motion sensing and recognition a fuzzy qualitative approach

CERN Document Server

Liu, Honghai; Ji, Xiaofei; Chan, Chee Seng; Khoury, Mehdi

2017-01-01

This book introduces readers to the latest exciting advances in human motion sensing and recognition, from the theoretical development of fuzzy approaches to their applications. The topics covered include human motion recognition in 2D and 3D, hand motion analysis with contact sensors, and vision-based view-invariant motion recognition, especially from the perspective of Fuzzy Qualitative techniques. With the rapid development of technologies in microelectronics, computers, networks, and robotics over the last decade, increasing attention has been focused on human motion sensing and recognition in many emerging and active disciplines where human motions need to be automatically tracked, analyzed or understood, such as smart surveillance, intelligent human-computer interaction, robot motion learning, and interactive gaming. Current challenges mainly stem from the dynamic environment, data multi-modality, uncertain sensory information, and real-time issues. These techniques are shown to effectively address the ...

Hand VR Exergame for Occupational Health Care.

Science.gov (United States)

Ortiz, Saskia; Uribe-Quevedo, Alvaro; Kapralos, Bill

2016-01-01

The widespread use and ubiquity of mobile computing technologies such as smartphones, tablets, laptops and portable gaming consoles has led to an increase in musculoskeletal disorders due to overuse, bad posture, repetitive movements, fixed postures and physical de-conditioning caused by low muscular demands while using (and over-using) these devices. In this paper we present the development of a hand motion-based virtual reality-based exergame for occupational health purposes that allows the user to perform simple exercises using a cost-effective non-invasive motion capture device to help overcome and prevent some of the muskoloskeletal problems associated with the over-use of keyboards and mobile devices.

Motion Analysis of Thumb in Cellular Phone Use

Directory of Open Access Journals (Sweden)

Naotaka Sakai

2010-01-01

Full Text Available The thumb motion of 10 normal subjects during cellular phone use was measured using a reflective marker detection system to compare the maximum, minimum and range of flexion angles of the interphalangeal (IP, metacarpophalangeal (MP and carpometacarpal (CM joints. Two micro-reflective markers 3 mm in diameter were each placed on the dorsal surface of the distal phalanx, basal phalanx and metacarpal bone of the thumb. Three markers were placed on the dorsal hand in order to define the dorsal hand plane. Each subject pushed the 12 keys of a folding cellular phone with an 85-mm-long and 40-mm-wide keypad, sequentially from ‘1’ to ‘#’, and the pushing motion was recorded by six infrared video cameras for 12 seconds, using the VICON 612 system. The mean maximum flexion angle of the MP joint was significantly (p < .05 larger than the CM joint, and the mean minimum flexion angle of the CM joint was significantly (p < .01 smaller than the IP and MP joints. The mean range of motion of the IP joint was significantly (p < .05 larger than the MP and the CM joints. In a comparison of different key-pushing motions, only the CM joint was significantly (p < .05 larger in its range of motion. In conclusion, thumb motion on pushing the keys of the cellular phone was produced mainly by the MP and the CM joints. In addition, the ability to reach keys in different areas of the cellular phone keypad is regulated by changing the flexion angle of the CM joint.

Design and control of five fingered under-actuated robotic hand

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Sahoo, Biswojit; Parida, Pramod Kumar

2018-04-01

Now a day's research regarding humanoid robots and its application in different fields (industry, household, rehabilitation and exploratory) is going on entire the globe. Among which a challenging topic is to design a dexterous robotic hand which not only can perform as a hand of a robot but also can be used in re habilitation. The basic key concern is a dexterous robot hand which can be able to mimic the function of biological hand to perform different operations. This thesis work is regarding design and control of a under-actuated robotic hand consisting of four under actuated fingers (index finger, middle finger, little finger and ring finger ) , a thumb and a dexterous palm which can copy the motions and grasp type of human hand which having 21degrees of freedom instead of 25Degree Of Freedom.

Rubber hand illusion affects joint angle perception.

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Martin V Butz

Full Text Available The Rubber Hand Illusion (RHI is a well-established experimental paradigm. It has been shown that the RHI can affect hand location estimates, arm and hand motion towards goals, the subjective visual appearance of the own hand, and the feeling of body ownership. Several studies also indicate that the peri-hand space is partially remapped around the rubber hand. Nonetheless, the question remains if and to what extent the RHI can affect the perception of other body parts. In this study we ask if the RHI can alter the perception of the elbow joint. Participants had to adjust an angular representation on a screen according to their proprioceptive perception of their own elbow joint angle. The results show that the RHI does indeed alter the elbow joint estimation, increasing the agreement with the position and orientation of the artificial hand. Thus, the results show that the brain does not only adjust the perception of the hand in body-relative space, but it also modifies the perception of other body parts. In conclusion, we propose that the brain continuously strives to maintain a consistent internal body image and that this image can be influenced by the available sensory information sources, which are mediated and mapped onto each other by means of a postural, kinematic body model.

Why is joint range of motion limited in patients with cerebral palsy?

NARCIS (Netherlands)

de Bruin, M.; Smeulders, M. J. C.; Kreulen, M.

2013-01-01

Patients with spastic cerebral palsy of the upper limb typically present with various problems including an impaired range of motion that affects the positioning of the upper extremity. This impaired range of motion often develops into contractures that further limit functioning of the spastic hand

Decoding conjunctions of direction-of-motion and binocular disparity from human visual cortex.

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Seymour, Kiley J; Clifford, Colin W G

2012-05-01

Motion and binocular disparity are two features in our environment that share a common correspondence problem. Decades of psychophysical research dedicated to understanding stereopsis suggest that these features interact early in human visual processing to disambiguate depth. Single-unit recordings in the monkey also provide evidence for the joint encoding of motion and disparity across much of the dorsal visual stream. Here, we used functional MRI and multivariate pattern analysis to examine where in the human brain conjunctions of motion and disparity are encoded. Subjects sequentially viewed two stimuli that could be distinguished only by their conjunctions of motion and disparity. Specifically, each stimulus contained the same feature information (leftward and rightward motion and crossed and uncrossed disparity) but differed exclusively in the way these features were paired. Our results revealed that a linear classifier could accurately decode which stimulus a subject was viewing based on voxel activation patterns throughout the dorsal visual areas and as early as V2. This decoding success was conditional on some voxels being individually sensitive to the unique conjunctions comprising each stimulus, thus a classifier could not rely on independent information about motion and binocular disparity to distinguish these conjunctions. This study expands on evidence that disparity and motion interact at many levels of human visual processing, particularly within the dorsal stream. It also lends support to the idea that stereopsis is subserved by early mechanisms also tuned to direction of motion.

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

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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.

Double-Windows-Based Motion Recognition in Multi-Floor Buildings Assisted by a Built-In Barometer.

Science.gov (United States)

Liu, Maolin; Li, Huaiyu; Wang, Yuan; Li, Fei; Chen, Xiuwan

2018-04-01

Accelerometers, gyroscopes and magnetometers in smartphones are often used to recognize human motions. Since it is difficult to distinguish between vertical motions and horizontal motions in the data provided by these built-in sensors, the vertical motion recognition accuracy is relatively low. The emergence of a built-in barometer in smartphones improves the accuracy of motion recognition in the vertical direction. However, there is a lack of quantitative analysis and modelling of the barometer signals, which is the basis of barometer's application to motion recognition, and a problem of imbalanced data also exists. This work focuses on using the barometers inside smartphones for vertical motion recognition in multi-floor buildings through modelling and feature extraction of pressure signals. A novel double-windows pressure feature extraction method, which adopts two sliding time windows of different length, is proposed to balance recognition accuracy and response time. Then, a random forest classifier correlation rule is further designed to weaken the impact of imbalanced data on recognition accuracy. The results demonstrate that the recognition accuracy can reach 95.05% when pressure features and the improved random forest classifier are adopted. Specifically, the recognition accuracy of the stair and elevator motions is significantly improved with enhanced response time. The proposed approach proves effective and accurate, providing a robust strategy for increasing accuracy of vertical motions.

Altered Coupling between Motion-Related Activation and Resting-State Brain Activity in the Ipsilesional Sensorimotor Cortex after Cerebral Stroke

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Jianping Hu

2017-07-01

Full Text Available Functional connectivity maps using resting-state functional magnetic resonance imaging (rs-fMRI can closely resemble task fMRI activation patterns, suggesting that resting-state brain activity may predict task-evoked activation or behavioral performance. However, this conclusion was mostly drawn upon a healthy population. It remains unclear whether the predictive ability of resting-state brain activity for task-evoked activation would change under different pathological conditions. This study investigated dynamic changes of coupling between patterns of resting-state functional connectivity (RSFC and motion-related activation in different stages of cerebral stroke. Twenty stroke patients with hand motor function impairment were involved. rs-fMRI and hand motion-related fMRI data were acquired in the acute, subacute, and early chronic stages of cerebral stroke on a 3-T magnetic resonance (MR scanner. Sixteen healthy participants were enrolled as controls. For each subject, an activation map of the affected hand was first created using general linear model analysis on task fMRI data, and then an RSFC map was determined by seeding at the peak region of hand motion activation during the intact hand task. We then measured the extent of coupling between the RSFC maps and motion-related activation maps. Dynamic changes of the coupling between the two fMRI maps were estimated using one-way repeated measures analysis of variance across the three stages. Moreover, imaging parameters were correlated with motor performances. Data analysis showed that there were different coupling patterns between motion-related activation and RSFC maps associating with the affected motor regions during the acute, subacute, and early chronic stages of stroke. Coupling strengths increased as the recovery from stroke progressed. Coupling strengths were correlated with hand motion performance in the acute stage, while coupling recovery was negatively correlated with the recovery

Markerless Kinect-Based Hand Tracking for Robot Teleoperation

Directory of Open Access Journals (Sweden)

Guanglong Du

2012-07-01

Full Text Available This paper presents a real-time remote robot teleoperation method using markerless Kinect-based hand tracking. Using this tracking algorithm, the positions of index finger and thumb in 3D can be estimated by processing depth images from Kinect. The hand pose is used as a model to specify the pose of a real-time remote robot's end-effector. This method provides a way to send a whole task to a remote robot instead of sending limited motion commands like gesture-based approaches and this method has been tested in pick-and-place tasks.

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.

An Approach for Pattern Recognition of EEG Applied in Prosthetic Hand Drive

Directory of Open Access Journals (Sweden)

Xiao-Dong Zhang

2011-12-01

Full Text Available For controlling the prosthetic hand by only electroencephalogram (EEG, it has become the hot spot in robotics research to set up a direct communication and control channel between human brain and prosthetic hand. In this paper, the EEG signal is analyzed based on multi-complicated hand activities. And then, two methods of EEG pattern recognition are investigated, a neural prosthesis hand system driven by BCI is set up, which can complete four kinds of actions (arm’s free state, arm movement, hand crawl, hand open. Through several times of off-line and on-line experiments, the result shows that the neural prosthesis hand system driven by BCI is reasonable and feasible, the C-support vector classifiers-based method is better than BP neural network on the EEG pattern recognition for multi-complicated hand activities.

PLAY HANDS PROTECTIVE GLOVES: TECHNICAL NOTE ON DESIGN AND CONCEPT.

Science.gov (United States)

Houston-Hicks, Michele; Lura, Derek J; Highsmith, M Jason

2016-09-01

Cerebral Palsy (CP) is the leading cause of childhood motor disability, with a global incidence of 1.6 to 2.5/1,000 live births. Approximately 23% of children with CP are dependent upon assistive technologies. Some children with developmental disabilities have self-injurious behaviors such as finger biting but also have therapeutic needs. The purpose of this technical note is to describe design considerations for a protective glove and finger covering that maintains finger dexterity for children who exhibit finger and hand chewing (dermatophagia) and require therapeutic range of motion and may benefit from sensory stimulation resulting from constant contact between glove and skin. Protecting Little and Adolescent Youth (PLAY) Hands are protective gloves for children with developmental disorders such as CP who injure themselves by biting their hands due to pain or sensory issues. PLAY Hands will be cosmetically appealing gloves that provide therapeutic warmth, tactile sensory feedback, range of motion for donning/ doffing, and protection to maximize function and quality of life for families of children with developmental disorders. The technology is either a per-finger protective orthosis or an entire glove solution designed from durable 3D-printed biodegradable/bioabsorbable materials such as thermoplastics. PLAY Hands represent a series of protective hand wear interventions in the areas of self-mutilating behavior, kinematics, and sensation. They will be made available in a range of protective iterations from single- or multi-digit finger orthoses to a basic glove design to a more structurally robust and protective iteration. To improve the quality of life for patients and caregivers, they are conceptualized to be cosmetically appealing, protective, and therapeutic.

Preliminary evaluation of SensHand V1 in assessing motor skills performance in Parkinson disease.

Science.gov (United States)

Cavallo, Filippo; Esposito, Dario; Rovini, Erika; Aquilano, Michela; Carrozza, Maria Chiara; Dario, Paolo; Maremmani, Carlo; Bongioanni, Paolo

2013-06-01

Nowadays, the increasing old population 65+ as well as the pace imposed by work activities lead to a high number of people that have particular injuries for limbs. In addition to persistent or temporary disabilities related to accidental injuries we must take into account that part of the population suffers from motor deficits of the hands due to stroke or diseases of various clinical nature. The most recurrent technological solutions to measure the rehabilitation or skill motor performance of the hand are glove-based devices, able to faithfully capture the movements of the hand and fingers. This paper presents a system for hand motion analysis based on 9-axis complete inertial modules and dedicated microcontroller which are fixed on fingers and forearm. The technological solution presented is able to track the patients' hand motions in real-time and then to send data through wireless communication reducing the clutter and the disadvantages of a glove equipped with sensors through a different technological structure. The device proposed has been tested in the study of Parkinson's disease.

Digital ranges of motion: normal values in young adults.

Science.gov (United States)

Mallon, W J; Brown, H R; Nunley, J A

1991-09-01

Analysis of the range of motion of fingers was done in young (eighteen to thirty-five year old) adult volunteers with no history of previous injury to their hands. The data show that there are slight differences between the individual digits. Notably, metacarpophalangeal flexion and total active motion increase linearly in proceeding from the index to the small finger. There were also minor differences in comparing sexes. Women have greater extension at the metacarpophalangeal joint in both active and passive motion and have a greater total active motion at all digits as a result. A significant tenodesis effect was found at the distal interphalangeal joint in normal subjects. No differences were found that could be attributable to handedness.

Clinical effects of using HEXORR (Hand Exoskeleton Rehabilitation Robot) for movement therapy in stroke rehabilitation.

Science.gov (United States)

Godfrey, Sasha Blue; Holley, Rahsaan J; Lum, Peter S

2013-11-01

The goals of this pilot study were to quantify the clinical benefits of using the Hand Exoskeleton Rehabilitation Robot for hand rehabilitation after stroke and to determine the population best served by this intervention. Nine subjects with chronic stroke (one excluded from analysis) completed 18 sessions of training with the Hand Exoskeleton Rehabilitation Robot and a preevaluation, a postevaluation, and a 90-day clinical evaluation. Overall, the subjects improved in both range of motion and clinical measures. Compared with the preevaluation, the subjects showed significant improvements in range of motion, grip strength, and the hand component of the Fugl-Meyer (mean changes, 6.60 degrees, 8.84 percentage points, and 1.86 points, respectively). A subgroup of six subjects exhibited lower tone and received a higher dosage of training. These subjects had significant gains in grip strength, the hand component of the Fugl-Meyer, and the Action Research Arm Test (mean changes, 8.42 percentage points, 2.17 points, and 2.33 points, respectively). Future work is needed to better manage higher levels of hypertonia and provide more support to subjects with higher impairment levels; however, the current results support further study into the Hand Exoskeleton Rehabilitation Robot treatment.

[Results of treatment for high-pressure injection hand injuries].

Science.gov (United States)

Zyluk, A; Walaszek, I

2000-01-01

High-pressure injection injuries of the hand have a reputation for being dangerous for individual fingers and even for whole hand. Usually appearing innocuous at presentation because of small puncture entry wound, these injuries result in severe damage of most internal structures in finger and hand due to extensive penetration of injected substance. This paper reviews the outcome of the treatment of such injuries in 10 patients: 9 sustained injection of toxic paint, and one lead shot. All the patients were operated on: eight a few hours after injury and two with 3 days delay. The surgical technique included wide exposure from site of injection up to the farthest place in which foreign substance was seen. Thorough debridment of injected material and contaminated tissue was performed with careful preservation of neurovascular structures and tendons. Wounds were not closed, but managed by open technique. In all patients wounds healed well: in 3 by secondary intention, in 6 by delayed closure and 2 were covered by skin grafts. No amputation was performed. Final results were assessed form 1.5 to 3.5 years after initial injury (mean at 2.5 years). Two patients complained of moderate pain related to the weather, five of cold intolerance and two of impaired sensation on fingertips. Active range of motion of affected fingers was in whole group from 90% to 104% (mean 97%) of the range of motion of unaffected fingers from the other side. Range of motion of the wrist (2 patients) was 76% and 117% of range of motion of the other side. Pinch grip strength was from 81% to 116% (mean 99%), and global grip strength from 77% to 119% (mean 97%) of the other side. All patients went back to their previous jobs and periods of sick leave were from 2 weeks to 6 months (mean 3 mo). Excellent results achieved in this study--full functional recovery in 9 of 10 patients confirm the effectiveness of aggressive treatment by open wound technique of such injuries.

Development of hand exoskeleton for rehabilitation of post-stroke patient

Science.gov (United States)

Zaid, Amran Mohd; Chean, Tee Chu; Sukor, Jumadi Abdul; Hanafi, Dirman

2017-10-01

Degenerative muscle diseases characterized by loss of strength in human hand significantly affect the physical of affected individuals. A soft assistive exoskeleton glove is designed to help post-stroke patient with their rehabilitation process. The glove uses soft bending actuator which has a rubber like tender characteristic. Due to its rubber like characteristic, flexion of finger can be achieved easily through pneumatic air without considering other hand motions. The application involves a post-stroke patient to wear the soft exoskeleton glove on his paralyzed hand and control the actuation of the glove by using pneumatic air source. The fabrication of the soft bending actuator involves silicone rubber Mold Star® 15 SLOW which falls within the soft category of shore A hardness scale. The soft bending actuator is controlled by Arduino Mega 2560 as main controller board and relay module is used to trigger the 3/2-way single solenoid valve by switching on the 24VDC power supply. The actuation of the soft bending actuator can be manipulated by setting delay ON and OFF for the relay switching. Thus, the repetition of the bending motion can be customized to fulfil the rehabilitation needs of the patient.

Motion Segments Decomposition of RGB-D Sequences for Human Behavior Understanding

OpenAIRE

Devanne , Maxime; Berretti , Stefano; Pala , Pietro; Wannous , Hazem; Daoudi , Mohamed; Bimbo , Alberto ,

2017-01-01

International audience; In this paper, we propose a framework for analyzing and understanding human behavior from depth videos. The proposed solution first employs shape analysis of the human pose across time to decompose the full motion into short temporal segments representing elementary motions. Then, each segment is characterized by human motion and depth appearance around hand joints to describe the change in pose of the body and the interaction with objects. Finally , the sequence of te...

New inverse synthetic aperture radar algorithm for translational motion compensation

Science.gov (United States)

Bocker, Richard P.; Henderson, Thomas B.; Jones, Scott A.; Frieden, B. R.

1991-10-01

Inverse synthetic aperture radar (ISAR) is an imaging technique that shows real promise in classifying airborne targets in real time under all weather conditions. Over the past few years a large body of ISAR data has been collected and considerable effort has been expended to develop algorithms to form high-resolution images from this data. One important goal of workers in this field is to develop software that will do the best job of imaging under the widest range of conditions. The success of classifying targets using ISAR is predicated upon forming highly focused radar images of these targets. Efforts to develop highly focused imaging computer software have been challenging, mainly because the imaging depends on and is affected by the motion of the target, which in general is not precisely known. Specifically, the target generally has both rotational motion about some axis and translational motion as a whole with respect to the radar. The slant-range translational motion kinematic quantities must be first accurately estimated from the data and compensated before the image can be focused. Following slant-range motion compensation, the image is further focused by determining and correcting for target rotation. The use of the burst derivative measure is proposed as a means to improve the computational efficiency of currently used ISAR algorithms. The use of this measure in motion compensation ISAR algorithms for estimating the slant-range translational motion kinematic quantities of an uncooperative target is described. Preliminary tests have been performed on simulated as well as actual ISAR data using both a Sun 4 workstation and a parallel processing transputer array. Results indicate that the burst derivative measure gives significant improvement in processing speed over the traditional entropy measure now employed.

Real-Time Hand Posture Recognition Using a Range Camera

Science.gov (United States)

Lahamy, Herve

The basic goal of human computer interaction is to improve the interaction between users and computers by making computers more usable and receptive to the user's needs. Within this context, the use of hand postures in replacement of traditional devices such as keyboards, mice and joysticks is being explored by many researchers. The goal is to interpret human postures via mathematical algorithms. Hand posture recognition has gained popularity in recent years, and could become the future tool for humans to interact with computers or virtual environments. An exhaustive description of the frequently used methods available in literature for hand posture recognition is provided. It focuses on the different types of sensors and data used, the segmentation and tracking methods, the features used to represent the hand postures as well as the classifiers considered in the recognition process. Those methods are usually presented as highly robust with a recognition rate close to 100%. However, a couple of critical points necessary for a successful real-time hand posture recognition system require major improvement. Those points include the features used to represent the hand segment, the number of postures simultaneously recognizable, the invariance of the features with respect to rotation, translation and scale and also the behavior of the classifiers against non-perfect hand segments for example segments including part of the arm or missing part of the palm. A 3D time-of-flight camera named SR4000 has been chosen to develop a new methodology because of its capability to provide in real-time and at high frame rate 3D information on the scene imaged. This sensor has been described and evaluated for its capability for capturing in real-time a moving hand. A new recognition method that uses the 3D information provided by the range camera to recognize hand postures has been proposed. The different steps of this methodology including the segmentation, the tracking, the hand

Classifying Microorganisms

DEFF Research Database (Denmark)

Sommerlund, Julie

2006-01-01

This paper describes the coexistence of two systems for classifying organisms and species: a dominant genetic system and an older naturalist system. The former classifies species and traces their evolution on the basis of genetic characteristics, while the latter employs physiological characteris......This paper describes the coexistence of two systems for classifying organisms and species: a dominant genetic system and an older naturalist system. The former classifies species and traces their evolution on the basis of genetic characteristics, while the latter employs physiological...... characteristics. The coexistence of the classification systems does not lead to a conflict between them. Rather, the systems seem to co-exist in different configurations, through which they are complementary, contradictory and inclusive in different situations-sometimes simultaneously. The systems come...

Bayes classifiers for imbalanced traffic accidents datasets.

Science.gov (United States)

Mujalli, Randa Oqab; López, Griselda; Garach, Laura

2016-03-01

Traffic accidents data sets are usually imbalanced, where the number of instances classified under the killed or severe injuries class (minority) is much lower than those classified under the slight injuries class (majority). This, however, supposes a challenging problem for classification algorithms and may cause obtaining a model that well cover the slight injuries instances whereas the killed or severe injuries instances are misclassified frequently. Based on traffic accidents data collected on urban and suburban roads in Jordan for three years (2009-2011); three different data balancing techniques were used: under-sampling which removes some instances of the majority class, oversampling which creates new instances of the minority class and a mix technique that combines both. In addition, different Bayes classifiers were compared for the different imbalanced and balanced data sets: Averaged One-Dependence Estimators, Weightily Average One-Dependence Estimators, and Bayesian networks in order to identify factors that affect the severity of an accident. The results indicated that using the balanced data sets, especially those created using oversampling techniques, with Bayesian networks improved classifying a traffic accident according to its severity and reduced the misclassification of killed and severe injuries instances. On the other hand, the following variables were found to contribute to the occurrence of a killed causality or a severe injury in a traffic accident: number of vehicles involved, accident pattern, number of directions, accident type, lighting, surface condition, and speed limit. This work, to the knowledge of the authors, is the first that aims at analyzing historical data records for traffic accidents occurring in Jordan and the first to apply balancing techniques to analyze injury severity of traffic accidents. Copyright © 2015 Elsevier Ltd. All rights reserved.

Compact Dexterous Robotic Hand

Science.gov (United States)

Lovchik, Christopher Scott (Inventor); Diftler, Myron A. (Inventor)

2001-01-01

A compact robotic hand includes a palm housing, a wrist section, and a forearm section. The palm housing supports a plurality of fingers and one or more movable palm members that cooperate with the fingers to grasp and/or release an object. Each flexible finger comprises a plurality of hingedly connected segments, including a proximal segment pivotally connected to the palm housing. The proximal finger segment includes at least one groove defining first and second cam surfaces for engagement with a cable. A plurality of lead screw assemblies each carried by the palm housing are supplied with power from a flexible shaft rotated by an actuator and output linear motion to a cable move a finger. The cable is secured within a respective groove and enables each finger to move between an opened and closed position. A decoupling assembly pivotally connected to a proximal finger segment enables a cable connected thereto to control movement of an intermediate and distal finger segment independent of movement of the proximal finger segment. The dexterous robotic hand closely resembles the function of a human hand yet is light weight and capable of grasping both heavy and light objects with a high degree of precision.

Dry Friction: Motions - Map and Characterization

International Nuclear Information System (INIS)

Motchongom-Tingue, M.; Kenfack-Jiotsa, A.; Tsobgni-Fozap, D.C.; Kofane, T.C.

2009-12-01

We consider a simple model of spring-mass block placed over a constant velocity v of a rolling plate. The map of the dynamic is presented in the (v,r) space where r accounts for the possible variation of the periodic shape profile of the rolling carpet. In order to characterize each type of motion, we found that evaluating the area of the phase space trajectories is more relevant than attempting on one hand, to solve analytically the asymptotic behavior or on the other hand, to obtain an equivalent of the entropy and the free energy. (author)

Bayesian approach to MSD-based analysis of particle motion in live cells.

Science.gov (United States)

Monnier, Nilah; Guo, Syuan-Ming; Mori, Masashi; He, Jun; Lénárt, Péter; Bathe, Mark

2012-08-08

Quantitative tracking of particle motion using live-cell imaging is a powerful approach to understanding the mechanism of transport of biological molecules, organelles, and cells. However, inferring complex stochastic motion models from single-particle trajectories in an objective manner is nontrivial due to noise from sampling limitations and biological heterogeneity. Here, we present a systematic Bayesian approach to multiple-hypothesis testing of a general set of competing motion models based on particle mean-square displacements that automatically classifies particle motion, properly accounting for sampling limitations and correlated noise while appropriately penalizing model complexity according to Occam's Razor to avoid over-fitting. We test the procedure rigorously using simulated trajectories for which the underlying physical process is known, demonstrating that it chooses the simplest physical model that explains the observed data. Further, we show that computed model probabilities provide a reliability test for the downstream biological interpretation of associated parameter values. We subsequently illustrate the broad utility of the approach by applying it to disparate biological systems including experimental particle trajectories from chromosomes, kinetochores, and membrane receptors undergoing a variety of complex motions. This automated and objective Bayesian framework easily scales to large numbers of particle trajectories, making it ideal for classifying the complex motion of large numbers of single molecules and cells from high-throughput screens, as well as single-cell-, tissue-, and organism-level studies. Copyright © 2012 Biophysical Society. Published by Elsevier Inc. All rights reserved.

Avoiding unfavorable results in postburn contracture hand

Science.gov (United States)

Bhattacharya, Sameek

2013-01-01

Deformities of the hands are a fairly common sequel of burn especially in the developing world. This is because of high incidence of burns, limited access to standard treatment and rehabilitation. The best outcome of a burnt hand is when deformities are prevented from developing. A good functional result is possible when due consideration is paid to hands during resuscitation, excisional surgery, reconstructive surgery and physiotherapy. The post-burns deformities of hand develop due direct thermal damage or secondary to intrinsic minus position due to oedema or vascular insufficiency. During the acute phase the concerns are, maintenance circulation minimize oedema prevent unphysiological positioning and wound closure with autogenous tissue as soon as possible. The rehabilitation program during the acute phase starts from day one and goes on till the hand has healed and has regained full range of motion. Full blown hand contractures are challenging to correct and become more difficult as time passes. Long-standing cases often land up with attenuation of extensor apparatus leading to swan neck and boutonniere deformity, muscle shortening and bony ankylosis. The major and most common pitfall after contracture release is relapse. The treatment protocol of contracture is solely directed towards countering this tendency. This article aims to guide a surgeon in obtaining optimal hand function and avoid pit falls at different stages of management of hand burns. The reasons of an unfavourable outcome of a burnt hand are possible lack of optimal care in the acute phase, while planning and performing reconstructive procedure and during aftercare and rehabilitation. PMID:24501479

High-Pressure Injection Injuries to the Hand

Directory of Open Access Journals (Sweden)

Davod Jafari

2016-07-01

Full Text Available Background High-pressure injections into the hand, burden devastating and permanent functional impairments. Many materials including paint, paint thinner, gasoline, oil and grease are reported as the causative agents. These injuries need multiple procedures and reconstructions most of the time and 40% of the injuries may end with amputation of the injured part. Objectives The aim of this study was to report the treatment outcomes and methods of treatments of patients with high-pressure injection injuries of the hand. Methods We retrospectively reviewed the medical records, imaging files and demographic data of patients, who were treated at our center due to the high-pressure injuries to their hands. We recorded the kind of the injected materials, time to the first treatment procedure, times of operation, and methods of their treatments. The outcomes of the injuries as well as the deficiency of the digital joints motion were also reported. Results Nine cases with high-pressure injury of the hand were enrolled in this study. All patients were male with mean age of 26.88 ± 7.52. Mean follow-up time was 28.55 ± 12.49 months. The dominant hand was the right side in seven patients and left in two patients. Injury was in the left hand of seven patients and right hand of two patients. Index finger was the most common involved part (five cases followed by the thumb (two cases. Injected material was grease in seven cases, water-base paint and water, each in one case.Mean time delay to the first treatment procedure was 29.16 ± 25.66 hours for seven patients. This was exceptionally long for two patients (seven days and 24 months. Type of treatment was debridement and skin graft for three cases, debridement and cross finger flap for two cases, debridement for two cases and nerve graft for one case. Amputation of the necrotic digit was performed for one case. Mean hospitalization time was 8.33 ± 3.64 days for all patients.Mean total active range of motion

Cardiac motion extraction and characterization in multislice computed tomography

International Nuclear Information System (INIS)

Simon, A.

2005-12-01

Cardiac kinetics analysis is of a great diagnostic interest in the fight against cardiovascular pathologies. Two methods are proposed in order to estimate cardiac motion from dynamic sequences of three-dimensional volumes acquired in multislice computed tomography. These methods both lie on a feature matching process, carried out within a Markovian framework and according to a multi-resolution scheme. The first method, estimating the correspondences between pre-segmented surfaces, is dependent on the temporal coherence of this segmentation. The second method estimates the correspondences between, on the one hand, a segmented surface and, on the other hand, the original data volume corresponding to the next moment. The motion estimation and the segmentation are then carried out, on the whole sequence, during a single process. Both methods are validated on simulated and real data. (author)

Localized motion in random matrix decomposition of complex financial systems

Science.gov (United States)

Jiang, Xiong-Fei; Zheng, Bo; Ren, Fei; Qiu, Tian

2017-04-01

With the random matrix theory, we decompose the multi-dimensional time series of complex financial systems into a set of orthogonal eigenmode functions, which are classified into the market mode, sector mode, and random mode. In particular, the localized motion generated by the business sectors, plays an important role in financial systems. Both the business sectors and their impact on the stock market are identified from the localized motion. We clarify that the localized motion induces different characteristics of the time correlations for the stock-market index and individual stocks. With a variation of a two-factor model, we reproduce the return-volatility correlations of the eigenmodes.

Using Motion Tracking to Detect Spontaneous Movements in Infants

DEFF Research Database (Denmark)

Olsen, Mikkel Damgaard; Herskind, Anna; Nielsen, Jens Bo

2015-01-01

We study the characteristics of infants’ spontaneous movements, based on data obtained from a markerless motion tracking system. From the pose data, the set of features are generated from the raw joint-angles of the infants and different classifiers are trained and evaluated using annotated data...

Hip strength and range of motion

DEFF Research Database (Denmark)

Mosler, Andrea B.; Crossley, Kay M.; Thorborg, Kristian

2017-01-01

Objectives To determine the normal profiles for hip strength and range of motion (ROM) in a professional football league in Qatar, and examine the effect of leg dominance, age, past history of injury, and ethnicity on these profiles. Design Cross-sectional cohort study. Methods Participants...... values are documented for hip strength and range of motion that can be used as reference profiles in the clinical assessment, screening, and management of professional football players. Leg dominance, recent past injury history and ethnicity do not need to be accounted for when using these profiles...... included 394 asymptomatic, male professional football players, aged 18–40 years. Strength was measured using a hand held dynamometer with an eccentric test in side-lying for hip adduction and abduction, and the squeeze test in supine with 45° hip flexion. Range of motion measures included: hip internal...

Hand interception of occluded motion in humans: a test of model-based vs. on-line control.

Science.gov (United States)

La Scaleia, Barbara; Zago, Myrka; Lacquaniti, Francesco

2015-09-01

Two control schemes have been hypothesized for the manual interception of fast visual targets. In the model-free on-line control, extrapolation of target motion is based on continuous visual information, without resorting to physical models. In the model-based control, instead, a prior model of target motion predicts the future spatiotemporal trajectory. To distinguish between the two hypotheses in the case of projectile motion, we asked participants to hit a ball that rolled down an incline at 0.2 g and then fell in air at 1 g along a parabola. By varying starting position, ball velocity and trajectory differed between trials. Motion on the incline was always visible, whereas parabolic motion was either visible or occluded. We found that participants were equally successful at hitting the falling ball in both visible and occluded conditions. Moreover, in different trials the intersection points were distributed along the parabolic trajectories of the ball, indicating that subjects were able to extrapolate an extended segment of the target trajectory. Remarkably, this trend was observed even at the very first repetition of movements. These results are consistent with the hypothesis of model-based control, but not with on-line control. Indeed, ball path and speed during the occlusion could not be extrapolated solely from the kinematic information obtained during the preceding visible phase. The only way to extrapolate ball motion correctly during the occlusion was to assume that the ball would fall under gravity and air drag when hidden from view. Such an assumption had to be derived from prior experience. Copyright © 2015 the American Physiological Society.

Hand1 overexpression inhibits medulloblastoma metastasis

Energy Technology Data Exchange (ETDEWEB)

Asuthkar, Swapna; Guda, Maheedhara R. [Department of Cancer Biology and Pharmacology, University of Illinois College of Medicine at Peoria, Peoria, IL 61656 (United States); Martin, Sarah E. [Department of Pathology, University of Illinois College of Medicine at Peoria, Peoria, IL 61656 (United States); Antony, Reuben; Fernandez, Karen [Department of Pediatrics, University of Illinois College of Medicine at Peoria, Peoria, IL 61656 (United States); Lin, Julian [Department of Neurosurgery, University of Illinois College of Medicine at Peoria, Peoria, IL 61656 (United States); Tsung, Andrew J. [Department of Cancer Biology and Pharmacology, University of Illinois College of Medicine at Peoria, Peoria, IL 61656 (United States); Department of Neurosurgery, University of Illinois College of Medicine at Peoria, Peoria, IL 61656 (United States); Illinois Neurological Institute, Peoria, IL 61656 (United States); Velpula, Kiran K., E-mail: velpula@uic.edu [Department of Cancer Biology and Pharmacology, University of Illinois College of Medicine at Peoria, Peoria, IL 61656 (United States); Department of Neurosurgery, University of Illinois College of Medicine at Peoria, Peoria, IL 61656 (United States)

2016-08-19

Medulloblastoma (MB) is the most frequent malignant pediatric brain tumor. Current treatment includes surgery, radiation and chemotherapy. However, ongoing treatment in patients is further classified according to the presence or absence of metastasis. Since metastatic medulloblastoma are refractory to current treatments, there is need to identify novel biomarkers that could be used to reduce metastatic potential, and more importantly be targeted therapeutically. Previously, we showed that ionizing radiation-induced uPAR overexpression is associated with increased accumulation of β-catenin in the nucleus. We further demonstrated that uPAR protein act as cytoplasmic sequestration factor for a novel basic helix-loop-helix transcription factor, Hand1. Among the histological subtypes classical and desmoplastic subtypes account for the majority while large cell/anaplastic variant is most commonly associated with metastatic disease. In this present study using immunohistochemical approach and patient data mining for the first time, we demonstrated that Hand1 expression is observed to be downregulated in all the subtypes of medulloblastoma. Previously we showed that Hand1 overexpression regulated medulloblastoma angiogenesis and here we investigated the role of Hand1 in the context of Epithelial-Mesenchymal Transition (EMT). Moreover, UW228 and D283 cells overexpressing Hand1 demonstrated decreased-expression of mesenchymal markers (N-cadherin, β-catenin and SOX2); metastatic marker (SMA); and increased expression of epithelial marker (E-cadherin). Strikingly, human pluripotent stem cell antibody array showed that Hand1 overexpression resulted in substantial decrease in pluripotency markers (Nanog, Oct3/4, Otx2, Flk1) suggesting that Hand1 expression may be essential to attenuate the EMT and our findings underscore a novel role for Hand1 in medulloblastoma metastasis. - Highlights: • Hand1 expression is downregulated in Medulloblastoma. • Hand1 over expression reduce

Hand1 overexpression inhibits medulloblastoma metastasis

International Nuclear Information System (INIS)

Asuthkar, Swapna; Guda, Maheedhara R.; Martin, Sarah E.; Antony, Reuben; Fernandez, Karen; Lin, Julian; Tsung, Andrew J.; Velpula, Kiran K.

2016-01-01

Medulloblastoma (MB) is the most frequent malignant pediatric brain tumor. Current treatment includes surgery, radiation and chemotherapy. However, ongoing treatment in patients is further classified according to the presence or absence of metastasis. Since metastatic medulloblastoma are refractory to current treatments, there is need to identify novel biomarkers that could be used to reduce metastatic potential, and more importantly be targeted therapeutically. Previously, we showed that ionizing radiation-induced uPAR overexpression is associated with increased accumulation of β-catenin in the nucleus. We further demonstrated that uPAR protein act as cytoplasmic sequestration factor for a novel basic helix-loop-helix transcription factor, Hand1. Among the histological subtypes classical and desmoplastic subtypes account for the majority while large cell/anaplastic variant is most commonly associated with metastatic disease. In this present study using immunohistochemical approach and patient data mining for the first time, we demonstrated that Hand1 expression is observed to be downregulated in all the subtypes of medulloblastoma. Previously we showed that Hand1 overexpression regulated medulloblastoma angiogenesis and here we investigated the role of Hand1 in the context of Epithelial-Mesenchymal Transition (EMT). Moreover, UW228 and D283 cells overexpressing Hand1 demonstrated decreased-expression of mesenchymal markers (N-cadherin, β-catenin and SOX2); metastatic marker (SMA); and increased expression of epithelial marker (E-cadherin). Strikingly, human pluripotent stem cell antibody array showed that Hand1 overexpression resulted in substantial decrease in pluripotency markers (Nanog, Oct3/4, Otx2, Flk1) suggesting that Hand1 expression may be essential to attenuate the EMT and our findings underscore a novel role for Hand1 in medulloblastoma metastasis. - Highlights: • Hand1 expression is downregulated in Medulloblastoma. • Hand1 over expression reduce

"Slight" of hand: the processing of visually degraded gestures with speech.

Science.gov (United States)

Kelly, Spencer D; Hansen, Bruce C; Clark, David T

2012-01-01

Co-speech hand gestures influence language comprehension. The present experiment explored what part of the visual processing system is optimized for processing these gestures. Participants viewed short video clips of speech and gestures (e.g., a person saying "chop" or "twist" while making a chopping gesture) and had to determine whether the two modalities were congruent or incongruent. Gesture videos were designed to stimulate the parvocellular or magnocellular visual pathways by filtering out low or high spatial frequencies (HSF versus LSF) at two levels of degradation severity (moderate and severe). Participants were less accurate and slower at processing gesture and speech at severe versus moderate levels of degradation. In addition, they were slower for LSF versus HSF stimuli, and this difference was most pronounced in the severely degraded condition. However, exploratory item analyses showed that the HSF advantage was modulated by the range of motion and amount of motion energy in each video. The results suggest that hand gestures exploit a wide range of spatial frequencies, and depending on what frequencies carry the most motion energy, parvocellular or magnocellular visual pathways are maximized to quickly and optimally extract meaning.

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.

Consistency of hand preference: predictions to intelligence and school achievement.

Science.gov (United States)

Kee, D W; Gottfried, A; Bathurst, K

1991-05-01

Gottfried and Bathurst (1983) reported that hand preference consistency measured over time during infancy and early childhood predicts intellectual precocity for females, but not for males. In the present study longitudinal assessments of children previously classified by Gottfried and Bathurst as consistent or nonconsistent in cross-time hand preference were conducted during middle childhood (ages 5 to 9). Findings show that (a) early measurement of hand preference consistency for females predicts school-age intellectual precocity, (b) the locus of the difference between consistent vs. nonconsistent females is in verbal intelligence, and (c) the precocity of the consistent females was also revealed on tests of school achievement, particularly tests of reading and mathematics.

Using Unconstrained Tongue Motion as an Alternative Control Mechanism for Wheeled Mobility

OpenAIRE

Huo, Xueliang; Ghovanloo, Maysam

2009-01-01

Tongue drive system (TDS) is a tongue-operated, minimally invasive, unobtrusive, noncontact, and wireless assistive technology that infers users’ intentions by detecting and classifying their voluntary tongue motions, and translating them to user-defined commands. We have developed customized interface circuitry between an external TDS (eTDS) prototype and a commercial powered wheelchair (PWC) as well as three control strategies to evaluate the tongue motion as an alternative control input fo...

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.

DFRFT: A Classified Review of Recent Methods with Its Application

Directory of Open Access Journals (Sweden)

Ashutosh Kumar Singh

2013-01-01

Full Text Available In the literature, there are various algorithms available for computing the discrete fractional Fourier transform (DFRFT. In this paper, all the existing methods are reviewed, classified into four categories, and subsequently compared to find out the best alternative from the view point of minimal computational error, computational complexity, transform features, and additional features like security. Subsequently, the correlation theorem of FRFT has been utilized to remove significantly the Doppler shift caused due to motion of receiver in the DSB-SC AM signal. Finally, the role of DFRFT has been investigated in the area of steganography.

Augmenting traditional instruments with a motion capture system

DEFF Research Database (Denmark)

Götzen, Amalia De; Vidolin, Alvise; Bernardini, Nicola

2013-01-01

This paper describes some composition works where the real instruments have been augmented through a motion capture system (Phasespace). While playing his instrument in the traditional way, the player is also controlling some other sound effects by moving his hands: the instrument becomes totally...

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

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

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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.

Golf hand prosthesis performance of transradial amputees.

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Carey, Stephanie L; Wernke, Matthew M; Lura, Derek J; Kahle, Jason T; Dubey, Rajiv V; Highsmith, M Jason

2015-06-01

Typical upper limb prostheses may limit sports participation; therefore, specialized terminal devices are often needed. The purpose of this study was to evaluate the ability of transradial amputees to play golf using a specialized terminal device. Club head speed, X-factor, and elbow motion of two individuals with transradial amputations using an Eagle Golf terminal device were compared to a non-amputee during a golf swing. Measurements were collected pre/post training with various stances and grips. Both prosthesis users preferred a right-handed stance initially; however, after training, one preferred a left-handed stance. The amputees had slower club head speeds and a lower X-factor compared to the non-amputee golfer, but increased their individual elbow motion on the prosthetic side after training. Amputees enjoyed using the device, and it may provide kinematic benefits indicated by the increase in elbow flexion on the prosthetic side. The transradial amputees were able to swing a golf club with sufficient repetition, form, and velocity to play golf recreationally. Increased elbow flexion on the prosthetic side suggests a potential benefit from using the Eagle Golf terminal device. Participating in recreational sports can increase amputees' health and quality of life. © The International Society for Prosthetics and Orthotics 2014.

A bio-inspired design of a hand robotic exoskeleton for rehabilitation

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Ong, Aira Patrice R.; Bugtai, Nilo T.

2018-02-01

This paper presents the methodology for the design of a five-degree of freedom wearable robotic exoskeleton for hand rehabilitation. The design is inspired by the biological structure and mechanism of the human hand. One of the distinct features of the device is the cable-driven actuation, which provides the flexion and extension motion. A prototype of the orthotic device has been developed to prove the model of the system and has been tested in a 3D printed mechanical hand. The result showed that the proposed device was consistent with the requirements of bionics and was able to demonstrate the flexion and extension of the system.

Evaluating Remapped Physical Reach for Hand Interactions with Passive Haptics in Virtual Reality.

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Han, Dustin T; Suhail, Mohamed; Ragan, Eric D

2018-04-01

Virtual reality often uses motion tracking to incorporate physical hand movements into interaction techniques for selection and manipulation of virtual objects. To increase realism and allow direct hand interaction, real-world physical objects can be aligned with virtual objects to provide tactile feedback and physical grasping. However, unless a physical space is custom configured to match a specific virtual reality experience, the ability to perfectly match the physical and virtual objects is limited. Our research addresses this challenge by studying methods that allow one physical object to be mapped to multiple virtual objects that can exist at different virtual locations in an egocentric reference frame. We study two such techniques: one that introduces a static translational offset between the virtual and physical hand before a reaching action, and one that dynamically interpolates the position of the virtual hand during a reaching motion. We conducted two experiments to assess how the two methods affect reaching effectiveness, comfort, and ability to adapt to the remapping techniques when reaching for objects with different types of mismatches between physical and virtual locations. We also present a case study to demonstrate how the hand remapping techniques could be used in an immersive game application to support realistic hand interaction while optimizing usability. Overall, the translational technique performed better than the interpolated reach technique and was more robust for situations with larger mismatches between virtual and physical objects.

Learning robotic eye-arm-hand coordination from human demonstration: a coupled dynamical systems approach.

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Lukic, Luka; Santos-Victor, José; Billard, Aude

2014-04-01

We investigate the role of obstacle avoidance in visually guided reaching and grasping movements. We report on a human study in which subjects performed prehensile motion with obstacle avoidance where the position of the obstacle was systematically varied across trials. These experiments suggest that reaching with obstacle avoidance is organized in a sequential manner, where the obstacle acts as an intermediary target. Furthermore, we demonstrate that the notion of workspace travelled by the hand is embedded explicitly in a forward planning scheme, which is actively involved in detecting obstacles on the way when performing reaching. We find that the gaze proactively coordinates the pattern of eye-arm motion during obstacle avoidance. This study provides also a quantitative assessment of the coupling between the eye-arm-hand motion. We show that the coupling follows regular phase dependencies and is unaltered during obstacle avoidance. These observations provide a basis for the design of a computational model. Our controller extends the coupled dynamical systems framework and provides fast and synchronous control of the eyes, the arm and the hand within a single and compact framework, mimicking similar control system found in humans. We validate our model for visuomotor control of a humanoid robot.

Automatic denoising of functional MRI data: combining independent component analysis and hierarchical fusion of classifiers.

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Salimi-Khorshidi, Gholamreza; Douaud, Gwenaëlle; Beckmann, Christian F; Glasser, Matthew F; Griffanti, Ludovica; Smith, Stephen M

2014-04-15

Many sources of fluctuation contribute to the fMRI signal, and this makes identifying the effects that are truly related to the underlying neuronal activity difficult. Independent component analysis (ICA) - one of the most widely used techniques for the exploratory analysis of fMRI data - has shown to be a powerful technique in identifying various sources of neuronally-related and artefactual fluctuation in fMRI data (both with the application of external stimuli and with the subject "at rest"). ICA decomposes fMRI data into patterns of activity (a set of spatial maps and their corresponding time series) that are statistically independent and add linearly to explain voxel-wise time series. Given the set of ICA components, if the components representing "signal" (brain activity) can be distinguished form the "noise" components (effects of motion, non-neuronal physiology, scanner artefacts and other nuisance sources), the latter can then be removed from the data, providing an effective cleanup of structured noise. Manual classification of components is labour intensive and requires expertise; hence, a fully automatic noise detection algorithm that can reliably detect various types of noise sources (in both task and resting fMRI) is desirable. In this paper, we introduce FIX ("FMRIB's ICA-based X-noiseifier"), which provides an automatic solution for denoising fMRI data via accurate classification of ICA components. For each ICA component FIX generates a large number of distinct spatial and temporal features, each describing a different aspect of the data (e.g., what proportion of temporal fluctuations are at high frequencies). The set of features is then fed into a multi-level classifier (built around several different classifiers). Once trained through the hand-classification of a sufficient number of training datasets, the classifier can then automatically classify new datasets. The noise components can then be subtracted from (or regressed out of) the original

Physiological and subjective evaluation of a human-robot object hand-over task.

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Dehais, Frédéric; Sisbot, Emrah Akin; Alami, Rachid; Causse, Mickaël

2011-11-01

In the context of task sharing between a robot companion and its human partners, the notions of safe and compliant hardware are not enough. It is necessary to guarantee ergonomic robot motions. Therefore, we have developed Human Aware Manipulation Planner (Sisbot et al., 2010), a motion planner specifically designed for human-robot object transfer by explicitly taking into account the legibility, the safety and the physical comfort of robot motions. The main objective of this research was to define precise subjective metrics to assess our planner when a human interacts with a robot in an object hand-over task. A second objective was to obtain quantitative data to evaluate the effect of this interaction. Given the short duration, the "relative ease" of the object hand-over task and its qualitative component, classical behavioral measures based on accuracy or reaction time were unsuitable to compare our gestures. In this perspective, we selected three measurements based on the galvanic skin conductance response, the deltoid muscle activity and the ocular activity. To test our assumptions and validate our planner, an experimental set-up involving Jido, a mobile manipulator robot, and a seated human was proposed. For the purpose of the experiment, we have defined three motions that combine different levels of legibility, safety and physical comfort values. After each robot gesture the participants were asked to rate them on a three dimensional subjective scale. It has appeared that the subjective data were in favor of our reference motion. Eventually the three motions elicited different physiological and ocular responses that could be used to partially discriminate them. Copyright © 2011 Elsevier Ltd and the Ergonomics Society. All rights reserved.

Shape-based hand recognition approach using the morphological pattern spectrum

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Ramirez-Cortes, Juan Manuel; Gomez-Gil, Pilar; Sanchez-Perez, Gabriel; Prieto-Castro, Cesar

2009-01-01

We propose the use of the morphological pattern spectrum, or pecstrum, as the base of a biometric shape-based hand recognition system. The system receives an image of the right hand of a subject in an unconstrained pose, which is captured with a commercial flatbed scanner. According to pecstrum property of invariance to translation and rotation, the system does not require the use of pegs for a fixed hand position, which simplifies the image acquisition process. This novel feature-extraction method is tested using a Euclidean distance classifier for identification and verification cases, obtaining 97% correct identification, and an equal error rate (EER) of 0.0285 (2.85%) for the verification mode. The obtained results indicate that the pattern spectrum represents a good feature-extraction alternative for low- and medium-level hand-shape-based biometric applications.

Deformable motion reconstruction for scanned proton beam therapy using on-line x-ray imaging

NARCIS (Netherlands)

Zhang, Ye; Knopf, A; Tanner, Colby; Boye, Dirk; Lomax, Antony J.

2013-01-01

Organ motion is a major problem for any dynamic radiotherapy delivery technique, and is particularly so for spot scanned proton therapy. On the other hand, the use of narrow, magnetically deflected proton pencil beams is potentially an ideal delivery technique for tracking tumour motion on-line. At

Neural representations of kinematic laws of motion: evidence for action-perception coupling.

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Dayan, Eran; Casile, Antonino; Levit-Binnun, Nava; Giese, Martin A; Hendler, Talma; Flash, Tamar

2007-12-18

Behavioral and modeling studies have established that curved and drawing human hand movements obey the 2/3 power law, which dictates a strong coupling between movement curvature and velocity. Human motion perception seems to reflect this constraint. The functional MRI study reported here demonstrates that the brain's response to this law of motion is much stronger and more widespread than to other types of motion. Compliance with this law is reflected in the activation of a large network of brain areas subserving motor production, visual motion processing, and action observation functions. Hence, these results strongly support the notion of similar neural coding for motion perception and production. These findings suggest that cortical motion representations are optimally tuned to the kinematic and geometrical invariants characterizing biological actions.

NUI framework based on real-time head pose estimation and hand gesture recognition

Directory of Open Access Journals (Sweden)

Kim Hyunduk

2016-01-01

Full Text Available The natural user interface (NUI is used for the natural motion interface without using device or tool such as mice, keyboards, pens and markers. In this paper, we develop natural user interface framework based on two recognition module. First module is real-time head pose estimation module using random forests and second module is hand gesture recognition module, named Hand gesture Key Emulation Toolkit (HandGKET. Using the head pose estimation module, we can know where the user is looking and what the user’s focus of attention is. Moreover, using the hand gesture recognition module, we can also control the computer using the user’s hand gesture without mouse and keyboard. In proposed framework, the user’s head direction and hand gesture are mapped into mouse and keyboard event, respectively.

Space Suit Glove Pressure Garment Metacarpal Joint and Robotic Hand Analysis, Phase I

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National Aeronautics and Space Administration — Spacesuit glove pressure garments have been a design challenge for NASA since the inception of spacesuits. The human hand demands a complex range of motions, a close...

Hybrid method for consistent model of the Pacific absolute plate motion and a test for inter-hotspot motion since 70Ma

Science.gov (United States)

Harada, Y.; Wessel, P.; Sterling, A.; Kroenke, L.

2002-12-01

Inter-hotspot motion within the Pacific plate is one of the most controversial issues in recent geophysical studies. However, it is a fact that many geophysical and geological data including ages and positions of seamount chains in the Pacific plate can largely be explained by a simple model of absolute motion derived from assumptions of rigid plates and fixed hotspots. Therefore we take the stand that if a model of plate motion can explain the ages and positions of Pacific hotspot tracks, inter-hotspot motion would not be justified. On the other hand, if any discrepancies between the model and observations are found, the inter-hotspot motion may then be estimated from these discrepancies. To make an accurate model of the absolute motion of the Pacific plate, we combined two different approaches: the polygonal finite rotation method (PFRM) by Harada and Hamano (2000) and the hot-spotting technique developed by Wessel and Kroenke (1997). The PFRM can determine accurate positions of finite rotation poles for the Pacific plate if the present positions of hotspots are known. On the other hand, the hot-spotting technique can predict present positions of hotspots if the absolute plate motion is given. Therefore we can undertake iterative calculations using the two methods. This hybrid method enables us to determine accurate finite rotation poles for the Pacific plate solely from geometry of Hawaii, Louisville and Easter(Crough)-Line hotspot tracks from around 70 Ma to present. Information of ages can be independently assigned to the model after the poles and rotation angles are determined. We did not detect any inter-hotspot motion from the geometry of these Pacific hotspot tracks using this method. The Ar-Ar ages of Pacific seamounts including new age data of ODP Leg 197 are used to test the newly determined model of the Pacific plate motion. The ages of Hawaii, Louisville, Easter(Crough)-Line, and Cobb hotspot tracks are quite consistent with each other from 70 Ma to

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.

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.

Identifying sports videos using replay, text, and camera motion features

Science.gov (United States)

Kobla, Vikrant; DeMenthon, Daniel; Doermann, David S.

1999-12-01

Automated classification of digital video is emerging as an important piece of the puzzle in the design of content management systems for digital libraries. The ability to classify videos into various classes such as sports, news, movies, or documentaries, increases the efficiency of indexing, browsing, and retrieval of video in large databases. In this paper, we discuss the extraction of features that enable identification of sports videos directly from the compressed domain of MPEG video. These features include detecting the presence of action replays, determining the amount of scene text in vide, and calculating various statistics on camera and/or object motion. The features are derived from the macroblock, motion,and bit-rate information that is readily accessible from MPEG video with very minimal decoding, leading to substantial gains in processing speeds. Full-decoding of selective frames is required only for text analysis. A decision tree classifier built using these features is able to identify sports clips with an accuracy of about 93 percent.

Work, development and waste classifi cation: changes in the past half century

Directory of Open Access Journals (Sweden)

Sabina Dimarco

2013-01-01

Full Text Available During the last decades in almost the whole Latin America a new social actor has arisen: the organizations of urban classifi ers of residues. The present article analyzes this recent phenomenon taking it as a social fact that condenses two deep structural transformations that they have sealed to the Latin-American continent throughout last half century: on the one hand, the changes in the world of the work (in the labor market and in the form about which there is thought what is the “decent” work; on the other hand, the transformations in the form in which the question of the development is thought about these countries from the emergence of the environmental question and the theories of the sustainable development.

Clean-up progress at the SNL/NM Classified Waste Landfill

International Nuclear Information System (INIS)

Slavin, P.J.; Galloway, R.B.

1999-01-01

The Sandia National Laboratories/New Mexico (SNL/NM)Environmental Restoration Project is currently excavating the Classified Waste Landfill in Technical Area II, a disposal area for weapon components for approximately 40 years until it closed in 1987. Many different types of classified parts were disposed in unlined trenches and pits throughout the course of the landfill's history. A percentage of the parts contain explosives and/or radioactive components or contamination. The excavation has progressed backward chronologically from the last trenches filled through to the earlier pits. Excavation commenced in March 1998, and approximately 75 percent of the site (as defined by geophysical anomalies) has been completed as of November 1999. The material excavated consists primarily of classified weapon assemblies and related components, so disposition must include demilitarization and sanitization. This has resulted in substantial waste minimization and cost avoidance for the project as upwards of 90 percent of the classified materials are being demilitarized and recycled. The project is using field screening and lab analysis in conjunction with preliminary and in-process risk assessments to characterize soil and make waste determinations in a timely a fashion as possible. Challenges in waste management have prompted the adoption of innovative solutions. The hand-picked crew (both management and field staff) and the ability to quickly adapt to changing conditions has ensured the success of the project. The current schedule is to complete excavation in July 2000, with follow-on verification sampling, demilitarization, and waste management activities following

All about Motion & Balance. Physical Science for Children[TM]. Schlessinger Science Library. [Videotape].

Science.gov (United States)

2000

Walking on a balance beam or riding a bike both require motion and balance. This program will reveal how unbalanced forces create motion, while balanced forces keep things still. Students also learn how concepts like velocity, acceleration, and momentum fit into this puzzle. A unique hands-on activity combined with vivid imagery and graphics…

Multisensory perception of spatial orientation and self-motion

NARCIS (Netherlands)

de Winkel, K.N.

2013-01-01

The aim of this project was to improve our insight in how the brain combines information from different sensory systems (e.g. vestibular and visual system) into an integrated percept of self-motion and spatial orientation. Based on evidence from other research in different areas, such as hand-eye

A Study on Immersion and Presence of a Portable Hand Haptic System for Immersive Virtual Reality.

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Kim, Mingyu; Jeon, Changyu; Kim, Jinmo

2017-05-17

This paper proposes a portable hand haptic system using Leap Motion as a haptic interface that can be used in various virtual reality (VR) applications. The proposed hand haptic system was designed as an Arduino-based sensor architecture to enable a variety of tactile senses at low cost, and is also equipped with a portable wristband. As a haptic system designed for tactile feedback, the proposed system first identifies the left and right hands and then sends tactile senses (vibration and heat) to each fingertip (thumb and index finger). It is incorporated into a wearable band-type system, making its use easy and convenient. Next, hand motion is accurately captured using the sensor of the hand tracking system and is used for virtual object control, thus achieving interaction that enhances immersion. A VR application was designed with the purpose of testing the immersion and presence aspects of the proposed system. Lastly, technical and statistical tests were carried out to assess whether the proposed haptic system can provide a new immersive presence to users. According to the results of the presence questionnaire and the simulator sickness questionnaire, we confirmed that the proposed hand haptic system, in comparison to the existing interaction that uses only the hand tracking system, provided greater presence and a more immersive environment in the virtual reality.

A Study on Immersion and Presence of a Portable Hand Haptic System for Immersive Virtual Reality

Science.gov (United States)

Kim, Mingyu; Jeon, Changyu; Kim, Jinmo

2017-01-01

This paper proposes a portable hand haptic system using Leap Motion as a haptic interface that can be used in various virtual reality (VR) applications. The proposed hand haptic system was designed as an Arduino-based sensor architecture to enable a variety of tactile senses at low cost, and is also equipped with a portable wristband. As a haptic system designed for tactile feedback, the proposed system first identifies the left and right hands and then sends tactile senses (vibration and heat) to each fingertip (thumb and index finger). It is incorporated into a wearable band-type system, making its use easy and convenient. Next, hand motion is accurately captured using the sensor of the hand tracking system and is used for virtual object control, thus achieving interaction that enhances immersion. A VR application was designed with the purpose of testing the immersion and presence aspects of the proposed system. Lastly, technical and statistical tests were carried out to assess whether the proposed haptic system can provide a new immersive presence to users. According to the results of the presence questionnaire and the simulator sickness questionnaire, we confirmed that the proposed hand haptic system, in comparison to the existing interaction that uses only the hand tracking system, provided greater presence and a more immersive environment in the virtual reality. PMID:28513545

Effects of rehabilitative interventions on pain, function and physical impairments in people with hand osteoarthritis: a systematic review

Science.gov (United States)

2011-01-01

Introduction Hand osteoarthritis (OA) is associated with pain, reduced grip strength, loss of range of motion and joint stiffness leading to impaired hand function and difficulty with daily activities. The effectiveness of different rehabilitation interventions on specific treatment goals has not yet been fully explored. The objective of this systematic review is to provide evidence based knowledge on the treatment effects of different rehabilitation interventions for specific treatment goals for hand OA. Methods A computerized literature search of Medline, the Cumulative Index to Nursing and Allied Health Literature (CINAHL), ISI Web of Science, the Physiotherapy Evidence Database (PEDro) and SCOPUS was performed. Studies that had an evidence level of 2b or higher and that compared a rehabilitation intervention with a control group and assessed at least one of the following outcome measures - pain, physical hand function or other measures of hand impairment - were included. The eligibility and methodological quality of trials were systematically assessed by two independent reviewers using the PEDro scale. Treatment effects were calculated using standardized mean difference and 95% confidence intervals. Results Ten studies, of which six were of higher quality (PEDro score >6), were included. The rehabilitation techniques reviewed included three studies on exercise, two studies each on laser and heat, and one study each on splints, massage and acupuncture. One higher quality trial showed a large positive effect of 12-month use of a night splint on hand pain, function, strength and range of motion. Exercise had no effect on hand pain or function although it may be able to improve hand strength. Low level laser therapy may be useful for improving range of motion. No rehabilitation interventions were found to improve stiffness. Conclusions There is emerging high quality evidence to support that rehabilitation interventions can offer significant benefits to individuals

Real Time Hand Motion Reconstruction System for Trans-Humeral Amputees Using EEG and EMG

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Jacobo Fernandez-Vargas

2016-08-01

Full Text Available Predicting a hand’s position using only biosignals is a complex problem that has not been completely solved. The only reliable solutions currently available require invasive surgery. The attempts using non-invasive technologies are rare, and usually have led to lower correlation values between the real and the reconstructed position than those required for real-world applications. In this study, we propose a solution for reconstructing the hand’s position in three dimensions using EEG and EMG to detect from the shoulder area. This approach would be valid for most trans-humeral amputees. In order to find the best solution, we tested four different architectures for the system based on artificial neural networks. Our results show that it is possible to reconstruct the hand’s motion trajectory with a correlation value up to 0.809 compared to a typical value in the literature of 0.6. We also demonstrated that both EEG and EMG contribute jointly to the motion reconstruction. Furthermore, we discovered that the system architectures do not change the results radically. In addition, our results suggest that different motions may have different brain activity patterns that could be detected through EEG. Finally, we suggest a method to study non-linear relations in the brain through the EEG signals, which may lead to a more accurate system.

Training Classifiers with Shadow Features for Sensor-Based Human Activity Recognition.

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Fong, Simon; Song, Wei; Cho, Kyungeun; Wong, Raymond; Wong, Kelvin K L

2017-02-27

In this paper, a novel training/testing process for building/using a classification model based on human activity recognition (HAR) is proposed. Traditionally, HAR has been accomplished by a classifier that learns the activities of a person by training with skeletal data obtained from a motion sensor, such as Microsoft Kinect. These skeletal data are the spatial coordinates (x, y, z) of different parts of the human body. The numeric information forms time series, temporal records of movement sequences that can be used for training a classifier. In addition to the spatial features that describe current positions in the skeletal data, new features called 'shadow features' are used to improve the supervised learning efficacy of the classifier. Shadow features are inferred from the dynamics of body movements, and thereby modelling the underlying momentum of the performed activities. They provide extra dimensions of information for characterising activities in the classification process, and thereby significantly improve the classification accuracy. Two cases of HAR are tested using a classification model trained with shadow features: one is by using wearable sensor and the other is by a Kinect-based remote sensor. Our experiments can demonstrate the advantages of the new method, which will have an impact on human activity detection research.

Training Classifiers with Shadow Features for Sensor-Based Human Activity Recognition

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Simon Fong

2017-02-01

Full Text Available In this paper, a novel training/testing process for building/using a classification model based on human activity recognition (HAR is proposed. Traditionally, HAR has been accomplished by a classifier that learns the activities of a person by training with skeletal data obtained from a motion sensor, such as Microsoft Kinect. These skeletal data are the spatial coordinates (x, y, z of different parts of the human body. The numeric information forms time series, temporal records of movement sequences that can be used for training a classifier. In addition to the spatial features that describe current positions in the skeletal data, new features called ‘shadow features’ are used to improve the supervised learning efficacy of the classifier. Shadow features are inferred from the dynamics of body movements, and thereby modelling the underlying momentum of the performed activities. They provide extra dimensions of information for characterising activities in the classification process, and thereby significantly improve the classification accuracy. Two cases of HAR are tested using a classification model trained with shadow features: one is by using wearable sensor and the other is by a Kinect-based remote sensor. Our experiments can demonstrate the advantages of the new method, which will have an impact on human activity detection research.

Development of a skateboarding trick classifier using accelerometry and machine learning

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Nicholas Kluge Corrêa

Full Text Available Abstract Introduction Skateboarding is one of the most popular cultures in Brazil, with more than 8.5 million skateboarders. Nowadays, the discipline of street skating has gained recognition among other more classical sports and awaits its debut at the Tokyo 2020 Summer Olympic Games. This study aimed to explore the state-of-the-art for inertial measurement unit (IMU use in skateboarding trick detection, and to develop new classification methods using supervised machine learning and artificial neural networks (ANN. Methods State-of-the-art knowledge regarding motion detection in skateboarding was used to generate 543 artificial acceleration signals through signal modeling, corresponding to 181 flat ground tricks divided into five classes (NOLLIE, NSHOV, FLIP, SHOV, OLLIE. The classifier consisted of a multilayer feed-forward neural network created with three layers and a supervised learning algorithm (backpropagation. Results The use of ANNs trained specifically for each measured axis of acceleration resulted in error percentages inferior to 0.05%, with a computational efficiency that makes real-time application possible. Conclusion Machine learning can be a useful technique for classifying skateboarding flat ground tricks, assuming that the classifiers are properly constructed and trained, and the acceleration signals are preprocessed correctly.

An Efficient Solution for Hand Gesture Recognition from Video Sequence

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PRODAN, R.-C.

2012-08-01

Full Text Available The paper describes a system of hand gesture recognition by image processing for human robot interaction. The recognition and interpretation of the hand postures acquired through a video camera allow the control of the robotic arm activity: motion - translation and rotation in 3D - and tightening/releasing the clamp. A gesture dictionary was defined and heuristic algorithms for recognition were developed and tested. The system can be used for academic and industrial purposes, especially for those activities where the movements of the robotic arm were not previously scheduled, for training the robot easier than using a remote control. Besides the gesture dictionary, the novelty of the paper consists in a new technique for detecting the relative positions of the fingers in order to recognize the various hand postures, and in the achievement of a robust system for controlling robots by postures of the hands.

Advanced dexterous manipulation for IED defeat : report on the feasibility of using the ShadowHand for remote operations.

Energy Technology Data Exchange (ETDEWEB)

Anderson, Robert J.

2011-01-01

Improvised Explosive Device (IED) defeat (IEDD) operations can involve intricate operations that exceed the current capabilities of the grippers on board current bombsquad robots. The Shadow Dexterous Hand from the Shadow Robot Company or 'ShadowHand' for short (www.shadowrobot.com) is the first commercially available robot hand that realistically replicates the motion, degrees-of-freedom and dimensions of a human hand (Figure 1). In this study we evaluate the potential for the ShadowHand to perform potential IED defeat tasks on a mobile platform.

Design for a three-fingered hand. [robotic and prosthetic applications

Science.gov (United States)

Crossley, F. R. E.

1977-01-01

This paper describes the construction of a prototype mechanical hand or 'end effector' for use on a remotely controlled robot, but with possible application as a prosthetic device. An analysis of hand motions is reported, from which it is concluded that the two most important manipulations (apart from grasps) are to be able to pick up a tool and draw it into a nested grip against the palm, and to be able to hold a pistol-grip tool such as an electric drill and pull the trigger. One of our models was tested and found capable of both these operations.

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.

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

Understanding Human Hand Gestures for Learning Robot Pick-and-Place Tasks

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Hsien-I Lin

2015-05-01

Full Text Available Programming robots by human demonstration is an intuitive approach, especially by gestures. Because robot pick-and-place tasks are widely used in industrial factories, this paper proposes a framework to learn robot pick-and-place tasks by understanding human hand gestures. The proposed framework is composed of the module of gesture recognition and the module of robot behaviour control. For the module of gesture recognition, transport empty (TE, transport loaded (TL, grasp (G, and release (RL from Gilbreth's therbligs are the hand gestures to be recognized. A convolution neural network (CNN is adopted to recognize these gestures from a camera image. To achieve the robust performance, the skin model by a Gaussian mixture model (GMM is used to filter out non-skin colours of an image, and the calibration of position and orientation is applied to obtain the neutral hand pose before the training and testing of the CNN. For the module of robot behaviour control, the corresponding robot motion primitives to TE, TL, G, and RL, respectively, are implemented in the robot. To manage the primitives in the robot system, a behaviour-based programming platform based on the Extensible Agent Behavior Specification Language (XABSL is adopted. Because the XABSL provides the flexibility and re-usability of the robot primitives, the hand motion sequence from the module of gesture recognition can be easily used in the XABSL programming platform to implement the robot pick-and-place tasks. The experimental evaluation of seven subjects performing seven hand gestures showed that the average recognition rate was 95.96%. Moreover, by the XABSL programming platform, the experiment showed the cube-stacking task was easily programmed by human demonstration.

A pneumatic muscle hand therapy device.

Science.gov (United States)

Koeneman, E J; Schultz, R S; Wolf, S L; Herring, D E; Koeneman, J B

2004-01-01

Intensive repetitive therapy improves function and quality of life for stroke patients. Intense therapies to overcome upper extremity impairment are beneficial, however, they are expensive because, in part, they rely on individualized interaction between the patient and rehabilitation specialist. The development of a pneumatic muscle driven hand therapy device, the Mentortrade mark, reinforces the need for volitional activation of joint movement while concurrently offering knowledge of results about range of motion, muscle activity or resistance to movement. The device is well tolerated and has received favorable comments from stroke survivors, their caregivers, and therapists.

Arm Motion Recognition and Exercise Coaching System for Remote Interaction

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Hong Zeng

2016-01-01

Full Text Available Arm motion recognition and its related applications have become a promising human computer interaction modal due to the rapid integration of numerical sensors in modern mobile-phones. We implement a mobile-phone-based arm motion recognition and exercise coaching system that can help people carrying mobile-phones to do body exercising anywhere at any time, especially for the persons that have very limited spare time and are constantly traveling across cities. We first design improved k-means algorithm to cluster the collecting 3-axis acceleration and gyroscope data of person actions into basic motions. A learning method based on Hidden Markov Model is then designed to classify and recognize continuous arm motions of both learners and coaches, which also measures the action similarities between the persons. We implement the system on MIUI 2S mobile-phone and evaluate the system performance and its accuracy of recognition.

A multichannel-near-infrared-spectroscopy-triggered robotic hand rehabilitation system for stroke patients.

Science.gov (United States)

Lee, Jongseung; Mukae, Nobutaka; Arata, Jumpei; Iwata, Hiroyuki; Iramina, Keiji; Iihara, Koji; Hashizume, Makoto

2017-07-01

There is a demand for a new neurorehabilitation modality with a brain-computer interface for stroke patients with insufficient or no remaining hand motor function. We previously developed a robotic hand rehabilitation system triggered by multichannel near-infrared spectroscopy (NIRS) to address this demand. In a preliminary prototype system, a robotic hand orthosis, providing one degree-of-freedom motion for a hand's closing and opening, is triggered by a wireless command from a NIRS system, capturing a subject's motor cortex activation. To examine the feasibility of the prototype, we conducted a preliminary test involving six neurologically intact participants. The test comprised a series of evaluations for two aspects of neurorehabilitation training in a real-time manner: classification accuracy and execution time. The effects of classification-related factors, namely the algorithm, signal type, and number of NIRS channels, were investigated. In the comparison of algorithms, linear discrimination analysis performed better than the support vector machine in terms of both accuracy and training time. The oxyhemoglobin versus deoxyhemoglobin comparison revealed that the two concentrations almost equally contribute to the hand motion estimation. The relationship between the number of NIRS channels and accuracy indicated that a certain number of channels are needed and suggested a need for a method of selecting informative channels. The computation time of 5.84 ms was acceptable for our purpose. Overall, the preliminary prototype showed sufficient feasibility for further development and clinical testing with stroke patients.

Ground reaction force characteristics of Tai Chi push hand.

Science.gov (United States)

Chang, Yao-Ting; Chang, Jia-Hao; Huang, Chen-Fu

2014-01-01

Push Hand is an advanced training technique for the Yang-style old frame 108 forms Tai Chi Chuan. It is performed by two practitioners. To clarify how people use forces during Push Hand training, it is important to review the ground reaction force (GRF). Here, we quantify the characteristics of the GRF during Push Hand training. Kinematic data and GRF data from 10 Tai Chi Chuan practitioners (29.9 ± 7.87 years) were synchronously recorded using a three-dimensional motion analysis system (200 frames · s(-1)) and three-dimensional force plates (1000 Hz). The resultant GRF for both feet for the 0%, 50% and 100% phases of attack and defence were compared to body weight using a paired-samples t-test. The differences in the resultant GRF between the 0%, 50% and 100% phases of attack and defence were tested by one-way repeated-measures ANOVA. The significance level was set to 0.05. The total resultant GRF was almost equal to the participant's body weight in push hand. This result was consistent throughout the entire push hand process. Our results revealed that the GRF was comparable to the body weight, implying that practitioners do not push or resist their opponents during the push hand process.

Just-in-time adaptive classifiers-part II: designing the classifier.

Science.gov (United States)

Alippi, Cesare; Roveri, Manuel

2008-12-01

Aging effects, environmental changes, thermal drifts, and soft and hard faults affect physical systems by changing their nature and behavior over time. To cope with a process evolution adaptive solutions must be envisaged to track its dynamics; in this direction, adaptive classifiers are generally designed by assuming the stationary hypothesis for the process generating the data with very few results addressing nonstationary environments. This paper proposes a methodology based on k-nearest neighbor (NN) classifiers for designing adaptive classification systems able to react to changing conditions just-in-time (JIT), i.e., exactly when it is needed. k-NN classifiers have been selected for their computational-free training phase, the possibility to easily estimate the model complexity k and keep under control the computational complexity of the classifier through suitable data reduction mechanisms. A JIT classifier requires a temporal detection of a (possible) process deviation (aspect tackled in a companion paper) followed by an adaptive management of the knowledge base (KB) of the classifier to cope with the process change. The novelty of the proposed approach resides in the general framework supporting the real-time update of the KB of the classification system in response to novel information coming from the process both in stationary conditions (accuracy improvement) and in nonstationary ones (process tracking) and in providing a suitable estimate of k. It is shown that the classification system grants consistency once the change targets the process generating the data in a new stationary state, as it is the case in many real applications.

Development of excavator training simulator using leap motion controller

Science.gov (United States)

Fahmi, F.; Nainggolan, F.; Andayani, U.; Siregar, B.

2018-03-01

Excavator is a heavy machinery that is used for many industries purposes. Controlling the excavator is not easy. Its operator has to be trained well in many skills to make sure it is safe, effective, and efficient while using the excavator. In this research, we proposed a virtual reality excavator simulator supported by a device called Leap Motion Controller that supports finger and hand motions as an input. This prototype will be developed than in the virtual reality environment to give a more real sensing to the user.

LAMI: A gesturally controlled three-dimensional stage Leap (Motion-based) Audio Mixing Interface

OpenAIRE

Wakefield, Jonathan P.; Dewey, Christopher; Gale, William

2017-01-01

Interface designers are increasingly exploring alternative approaches to user input/control. LAMI is a Leap (Motion-based) AMI which takes user’s hand gestures and maps these to a three-dimensional stage displayed on a computer monitor. Audio channels are visualised as spheres whose Y coordinate is spectral centroid and X and Z coordinates are controlled by hand position and represent pan and level respectively. Auxiliary send levels are controlled via wrist rotation and vertical hand positio...

On the motion of non-spherical particles at high Reynolds number

DEFF Research Database (Denmark)

Mandø, Matthias; Rosendahl, Lasse

2010-01-01

This paper contains a critical review of available methodology for dealing with the motion of non-spherical particles at higher Reynolds numbers in the Eulerian- Lagrangian methodology for dispersed flow. First, an account of the various attempts to classify the various shapes and the efforts...... motion it is necessary to account for the non-coincidence between the center of pressure and center of gravity which is a direct consequence of the inertial pressure forces associated with particles at high Reynolds number flow. Extensions for non-spherical particles at higher Reynolds numbers are far...

Selection of suitable hand gestures for reliable myoelectric human computer interface.

Science.gov (United States)

Castro, Maria Claudia F; Arjunan, Sridhar P; Kumar, Dinesh K

2015-04-09

Myoelectric controlled prosthetic hand requires machine based identification of hand gestures using surface electromyogram (sEMG) recorded from the forearm muscles. This study has observed that a sub-set of the hand gestures have to be selected for an accurate automated hand gesture recognition, and reports a method to select these gestures to maximize the sensitivity and specificity. Experiments were conducted where sEMG was recorded from the muscles of the forearm while subjects performed hand gestures and then was classified off-line. The performances of ten gestures were ranked using the proposed Positive-Negative Performance Measurement Index (PNM), generated by a series of confusion matrices. When using all the ten gestures, the sensitivity and specificity was 80.0% and 97.8%. After ranking the gestures using the PNM, six gestures were selected and these gave sensitivity and specificity greater than 95% (96.5% and 99.3%); Hand open, Hand close, Little finger flexion, Ring finger flexion, Middle finger flexion and Thumb flexion. This work has shown that reliable myoelectric based human computer interface systems require careful selection of the gestures that have to be recognized and without such selection, the reliability is poor.

Hybrid classifiers methods of data, knowledge, and classifier combination

CERN Document Server

Wozniak, Michal

2014-01-01

This book delivers a definite and compact knowledge on how hybridization can help improving the quality of computer classification systems. In order to make readers clearly realize the knowledge of hybridization, this book primarily focuses on introducing the different levels of hybridization and illuminating what problems we will face with as dealing with such projects. In the first instance the data and knowledge incorporated in hybridization were the action points, and then a still growing up area of classifier systems known as combined classifiers was considered. This book comprises the aforementioned state-of-the-art topics and the latest research results of the author and his team from Department of Systems and Computer Networks, Wroclaw University of Technology, including as classifier based on feature space splitting, one-class classification, imbalance data, and data stream classification.

A Study on Immersion and Presence of a Portable Hand Haptic System for Immersive Virtual Reality

OpenAIRE

Kim, Mingyu; Jeon, Changyu; Kim, Jinmo

2017-01-01

This paper proposes a portable hand haptic system using Leap Motion as a haptic interface that can be used in various virtual reality (VR) applications. The proposed hand haptic system was designed as an Arduino-based sensor architecture to enable a variety of tactile senses at low cost, and is also equipped with a portable wristband. As a haptic system designed for tactile feedback, the proposed system first identifies the left and right hands and then sends tactile senses (vibration and hea...

Analysis of the Accuracy and Robustness of the Leap Motion Controller

OpenAIRE

Weichert, Frank; Bachmann, Daniel; Rudak, Bartholomäus; Fisseler, Denis

2013-01-01

The Leap Motion Controller is a new device for hand gesture controlled user interfaces with declared sub-millimeter accuracy. However, up to this point its capabilities in real environments have not been analyzed. Therefore, this paper presents a first study of a Leap Motion Controller. The main focus of attention is on the evaluation of the accuracy and repeatability. For an appropriate evaluation, a novel experimental setup was developed making use of an industrial robot with a reference pe...

Self-similarity in the equation of motion of a ship

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Gyeong Joong Lee

2014-06-01

Full Text Available If we want to analyze the motion of a body in fluid, we should use rigid-body dynamics and fluid dynamics together. Even if the rigid-body and fluid dynamics are each self-consistent, there arises the problem of self-similar structure in the equation of motion when the two dynamics are coupled with each other. When the added mass is greater than the mass of a body, the calculated motion is divergent because of its self-similar structure. This study showed that the above problem is an inherent problem. This problem of self-similar structure may arise in the equation of motion in which the fluid dynamic forces are treated as external forces on the right hand side of the equation. A reconfiguration technique for the equation of motion using pseudo-added-mass was proposed to resolve the self-similar structure problem; specifically for the case when the fluid force is expressed by integration of the fluid pressure.

Radiographic findings in wrists and hands of patients with leprosy

International Nuclear Information System (INIS)

Carreto, A.; Montero, F.; Garcia Frasquet, A.; Carpintero, P.

1998-01-01

Leprosy, like other neuropathic disorders, can involve the skeleton, affecting both bone and joints, especially those segments that have to withstand weight. To asses the osteoarticular involvement of the wrist and hand in 58 patients with leprosy. The radiographic images of wrist and hand of 58 patients with Hansen's disease were reviewed. The entire spectrum of specific and nonspecific bone lesions described in the literature is presented. Despite the fact that the upper limbs do not have to withstand the weight that the feet and ankles do, radiographic images show that gripping and other common motions can also produce lesions compatible with those of neuropathic arthropathy. (Author) 20 refs

Stationary Hand Gesture Authentication Using Edit Distance on Finger Pointing Direction Interval

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Alex Ming Hui Wong

2016-01-01

Full Text Available One of the latest authentication methods is by discerning human gestures. Previous research has shown that different people can develop distinct gesture behaviours even when executing the same gesture. Hand gesture is one of the most commonly used gestures in both communication and authentication research since it requires less room to perform as compared to other bodily gestures. There are different types of hand gesture and they have been researched by many researchers, but stationary hand gesture has yet to be thoroughly explored. There are a number of disadvantages and flaws in general hand gesture authentication such as reliability, usability, and computational cost. Although stationary hand gesture is not able to solve all these problems, it still provides more benefits and advantages over other hand gesture authentication methods, such as making gesture into a motion flow instead of trivial image capturing, and requires less room to perform, less vision cue needed during performance, and so forth. In this paper, we introduce stationary hand gesture authentication by implementing edit distance on finger pointing direction interval (ED-FPDI from hand gesture to model behaviour-based authentication system. The accuracy rate of the proposed ED-FPDI shows promising results.

Motion of a Rigid Body Supported at One Point by a Rotating Arm

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Jeffrey D. Stoen

1993-01-01

Full Text Available This article details a scheme for evaluating the stability of motions of a system consisting of a rigid body connected at one point to a rotating arm. The nonlinear equations of motion for the system are formulated, and a method for finding exact solutions representing motions that resemble a state of rest is presented. The equations are then linearized and roots of the eigensystem are classified and used to construct stability diagrams that facilitate the assessment of effects of varying the body's mass properties and system geometry, changing the position of the attachment joint, and adding energy dissipation in the joint.

Self-consistent hole motion and spin excitations in a quantum antiferromagnet

International Nuclear Information System (INIS)

Su, Z.B.; Yu, L.; Li, Y.M.; Lai, W.Y.

1989-12-01

A new quantum Bogoliubov-de Gennes (BdeG) formalism is developed to study the self-consistent motion of holes and spin excitations in a quantum antiferromagnet within the generalized t-J model. On the one hand, the effects of local distortion of spin configurations and the renormalization of the hole motion due to virtual excitations of the distorted spin background are treated on an equal footing to obtain the hole wave function and its spectrum, as well as the effective mass for a propagating hole. On the other hand, the change of the spin excitation spectrum and the spin correlations due to the presence of dynamical holes are studied within the same adiabatic approximation. The stability of the hole states with respect to such changes justifies the self-consistency of the proposed formalism. (author). 25 refs, 6 figs, 1 tab

The application of mean field theory to image motion estimation.

Science.gov (United States)

Zhang, J; Hanauer, G G

1995-01-01

Previously, Markov random field (MRF) model-based techniques have been proposed for image motion estimation. Since motion estimation is usually an ill-posed problem, various constraints are needed to obtain a unique and stable solution. The main advantage of the MRF approach is its capacity to incorporate such constraints, for instance, motion continuity within an object and motion discontinuity at the boundaries between objects. In the MRF approach, motion estimation is often formulated as an optimization problem, and two frequently used optimization methods are simulated annealing (SA) and iterative-conditional mode (ICM). Although the SA is theoretically optimal in the sense of finding the global optimum, it usually takes many iterations to converge. The ICM, on the other hand, converges quickly, but its results are often unsatisfactory due to its "hard decision" nature. Previously, the authors have applied the mean field theory to image segmentation and image restoration problems. It provides results nearly as good as SA but with much faster convergence. The present paper shows how the mean field theory can be applied to MRF model-based motion estimation. This approach is demonstrated on both synthetic and real-world images, where it produced good motion estimates.

Stronger misdirection in curved than in straight motion

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Jorge eOtero-Millan

2011-11-01

Full Text Available Illusions developed by magicians are a rich and largely untapped source of insight into perception and cognition. Here we show that curved motion, as employed by the magician in a classic sleight of hand trick, generates stronger misdirection than rectilinear motion, and that this difference can be explained by the differential engagement of the smooth pursuit and the saccadic oculomotor systems. This research moreover exemplifies how the magician’s intuitive understanding of the spectator’s mindset can surpass that of the cognitive scientist in specific instances, and that observation-based behavioral insights developed by magicians are worthy of quantitative investigation in the neuroscience laboratory.

Reduction of motion artifact in pulse oximetry by smoothed pseudo Wigner-Ville distribution

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Zhang Yuan-ting

2005-03-01

Full Text Available Abstract Background The pulse oximeter, a medical device capable of measuring blood oxygen saturation (SpO2, has been shown to be a valuable device for monitoring patients in critical conditions. In order to incorporate the technique into a wearable device which can be used in ambulatory settings, the influence of motion artifacts on the estimated SpO2 must be reduced. This study investigates the use of the smoothed psuedo Wigner-Ville distribution (SPWVD for the reduction of motion artifacts affecting pulse oximetry. Methods The SPWVD approach is compared with two techniques currently used in this field, i.e. the weighted moving average (WMA and the fast Fourier transform (FFT approaches. SpO2 and pulse rate were estimated from a photoplethysmographic (PPG signal recorded when subject is in a resting position as well as in the act of performing four types of motions: horizontal and vertical movements of the hand, and bending and pressing motions of the finger. For each condition, 24 sets of PPG signals collected from 6 subjects, each of 30 seconds, were studied with reference to the PPG signal recorded simultaneously from the subject's other hand, which was stationary at all times. Results and Discussion The SPWVD approach shows significant improvement (p Conclusion The results suggested that the SPWVD approach could potentially be used to reduce motion artifact on wearable pulse oximeters.

A Self-Powered Insole for Human Motion Recognition

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Yingzhou Han

2016-09-01

Full Text Available Biomechanical energy harvesting is a feasible solution for powering wearable sensors by directly driving electronics or acting as wearable self-powered sensors. A wearable insole that not only can harvest energy from foot pressure during walking but also can serve as a self-powered human motion recognition sensor is reported. The insole is designed as a sandwich structure consisting of two wavy silica gel film separated by a flexible piezoelectric foil stave, which has higher performance compared with conventional piezoelectric harvesters with cantilever structure. The energy harvesting insole is capable of driving some common electronics by scavenging energy from human walking. Moreover, it can be used to recognize human motion as the waveforms it generates change when people are in different locomotion modes. It is demonstrated that different types of human motion such as walking and running are clearly classified by the insole without any external power source. This work not only expands the applications of piezoelectric energy harvesters for wearable power supplies and self-powered sensors, but also provides possible approaches for wearable self-powered human motion monitoring that is of great importance in many fields such as rehabilitation and sports science.

Three-dimensional motion tracking correlates with skill level in upper gastrointestinal endoscopy

DEFF Research Database (Denmark)

Arnold, Sif H.; Svendsen, Morten Bo Søndergaard; Konge, Lars

2015-01-01

untrained medical students) were tested using a virtual reality simulator. A motion sensor was used to collect data regarding the distance between the hands, and height and movement of the scope hand. Test characteristics between groups were explored using Kruskal-Wallis H and Man-Whitney U exact tests......Background and study aim: Feedback is an essential part of training in upper gastrointestinal endoscopy. Virtual reality simulators provide limited feedback, focusing only on visual recognition with no feedback on the procedural part of training. Motion tracking identifies patterns of movement......, and this study aimed to explore the correlation between skill level and operator movement using an objective automated tool. Methods: In this medical education study, 37 operators (12 senior doctors who performed endoscopic retrograde cholangiopancreatography, 13 doctors with varying levels of experience, and 12...

Chaotic behavior appearing in dynamic motions of nanoscale particles

Energy Technology Data Exchange (ETDEWEB)

Ishikawa, M [Innovation Plaza Tokai, Japan Science and Technology Agency, 23-1 Ahara-cho, Minami-ku, Nagoya 457-0063 (Japan); Harada, R [Department of Physics, Aichi University of Education, Hirosawa 1, Igaya-cho, Kariya 448-8542 (Japan); Kato, M [Innovation Plaza Tokai, Japan Science and Technology Agency, 23-1 Ahara-cho, Minami-ku, Nagoya 457-0063 (Japan); Sasaki, N [Department of Applied Physics, Faculty of Science and Engineering, Seikei University, 3-3-1 Kichijoji Kitamachi, Musashino-shi, Tokyo 180-8633 (Japan); Miura, K [Innovation Plaza Tokai, Japan Science and Technology Agency, 23-1 Ahara-cho, Minami-ku, Nagoya 457-0063 (Japan)

2007-11-15

The case of one-directional motion, under which graphite and mica flakes are driven on an octamethylcyclotetrasiloxane (OMCTS) liquid surface, is presented. The dynamical forces needed to move these bodies increase linearly with the logarithm of scanning velocity, which are typical energy dissipation process. A transition from quasi-periodic to chaotic motions occurs in the dynamics of a graphite flake when its velocity is increased. The dynamics of graphite flakes pulled by the nanotip on an OMCTS liquid surface can be treated as that of a nanobody on a liquid. On the other hand, there do not appear chaotic motions in the dynamics of a mica flake because the contact area between a mica flake and an OMCTS liquid surface is larger than that between a graphite flake and an OMCTS liquid surface.

Chaotic behavior appearing in dynamic motions of nanoscale particles

International Nuclear Information System (INIS)

Ishikawa, M; Harada, R; Kato, M; Sasaki, N; Miura, K

2007-01-01

The case of one-directional motion, under which graphite and mica flakes are driven on an octamethylcyclotetrasiloxane (OMCTS) liquid surface, is presented. The dynamical forces needed to move these bodies increase linearly with the logarithm of scanning velocity, which are typical energy dissipation process. A transition from quasi-periodic to chaotic motions occurs in the dynamics of a graphite flake when its velocity is increased. The dynamics of graphite flakes pulled by the nanotip on an OMCTS liquid surface can be treated as that of a nanobody on a liquid. On the other hand, there do not appear chaotic motions in the dynamics of a mica flake because the contact area between a mica flake and an OMCTS liquid surface is larger than that between a graphite flake and an OMCTS liquid surface

Chaotic behavior appearing in dynamic motions of nanoscale particles

Science.gov (United States)

Ishikawa, M.; Harada, R.; Kato, M.; Sasaki, N.; Miura, K.

2007-11-01

The case of one-directional motion, under which graphite and mica flakes are driven on an octamethylcyclotetrasiloxane (OMCTS) liquid surface, is presented. The dynamical forces needed to move these bodies increase linearly with the logarithm of scanning velocity, which are typical energy dissipation process. A transition from quasi-periodic to chaotic motions occurs in the dynamics of a graphite flake when its velocity is increased. The dynamics of graphite flakes pulled by the nanotip on an OMCTS liquid surface can be treated as that of a nanobody on a liquid. On the other hand, there do not appear chaotic motions in the dynamics of a mica flake because the contact area between a mica flake and an OMCTS liquid surface is larger than that between a graphite flake and an OMCTS liquid surface.

Viability of Controlling Prosthetic Hand Utilizing Electroencephalograph (EEG) Dataset Signal

Science.gov (United States)

Miskon, Azizi; A/L Thanakodi, Suresh; Raihan Mazlan, Mohd; Mohd Haziq Azhar, Satria; Nooraya Mohd Tawil, Siti

2016-11-01

This project presents the development of an artificial hand controlled by Electroencephalograph (EEG) signal datasets for the prosthetic application. The EEG signal datasets were used as to improvise the way to control the prosthetic hand compared to the Electromyograph (EMG). The EMG has disadvantages to a person, who has not used the muscle for a long time and also to person with degenerative issues due to age factor. Thus, the EEG datasets found to be an alternative for EMG. The datasets used in this work were taken from Brain Computer Interface (BCI) Project. The datasets were already classified for open, close and combined movement operations. It served the purpose as an input to control the prosthetic hand by using an Interface system between Microsoft Visual Studio and Arduino. The obtained results reveal the prosthetic hand to be more efficient and faster in response to the EEG datasets with an additional LiPo (Lithium Polymer) battery attached to the prosthetic. Some limitations were also identified in terms of the hand movements, weight of the prosthetic, and the suggestions to improve were concluded in this paper. Overall, the objective of this paper were achieved when the prosthetic hand found to be feasible in operation utilizing the EEG datasets.

sEMG Signal Acquisition Strategy towards Hand FES Control

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Cinthya Lourdes Toledo-Peral

2018-01-01

Full Text Available Due to damage of the nervous system, patients experience impediments in their daily life: severe fatigue, tremor or impaired hand dexterity, hemiparesis, or hemiplegia. Surface electromyography (sEMG signal analysis is used to identify motion; however, standardization of electrode placement and classification of sEMG patterns are major challenges. This paper describes a technique used to acquire sEMG signals for five hand motion patterns from six able-bodied subjects using an array of recording and stimulation electrodes placed on the forearm and its effects over functional electrical stimulation (FES and volitional sEMG combinations, in order to eventually control a sEMG-driven FES neuroprosthesis for upper limb rehabilitation. A two-part protocol was performed. First, personalized templates to place eight sEMG bipolar channels were designed; with these data, a universal template, called forearm electrode set (FELT, was built. Second, volitional and evoked movements were recorded during FES application. 95% classification accuracy was achieved using two sessions per movement. With the FELT, it was possible to perform FES and sEMG recordings simultaneously. Also, it was possible to extract the volitional and evoked sEMG from the raw signal, which is highly important for closed-loop FES control.

THE ALLWISE MOTION SURVEY, PART 2

Energy Technology Data Exchange (ETDEWEB)

Kirkpatrick, J. Davy; Kellogg, Kendra; Fajardo-Acosta, Sergio; Gelino, Christopher R.; Schurr, Steven D.; Cutri, Roc M.; Conrow, Tim [Infrared Processing and Analysis Center, MS 100-22, California Institute of Technology, Pasadena, CA 91125 (United States); Schneider, Adam C.; Cushing, Michael C.; Greco, Jennifer [Department of Physics and Astronomy, MS 111, University of Toledo, 2801 W. Bancroft Street, Toledo, OH 43606-3328 (United States); Mace, Gregory N. [Department of Astronomy, University of Texas at Austin, Austin, TX 78712 (United States); Wright, Edward L.; Logsdon, Sarah E.; Martin, Emily C.; McLean, Ian S. [Department of Physics and Astronomy, UCLA, 430 Portola Plaza, Box 951547, Los Angeles, CA 90095-1547 (United States); Eisenhardt, Peter R. M.; Stern, Daniel [Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109 (United States); Faherty, Jacqueline K.; Sheppard, Scott S. [Department of Terrestrial Magnetism, Carnegie Institution of Washington, Washington, DC 20015 (United States); Lansbury, George B., E-mail: davy@ipac.caltech.edu [Department of Physics, Durham University, Durham DH1 3LE (United Kingdom)

2016-06-01

We use the AllWISE Data Release to continue our search for Wide-field Infrared Survey Explorer ( WISE )-detected motions. In this paper, we publish another 27,846 motion objects, bringing the total number to 48,000 when objects found during our original AllWISE motion survey are included. We use this list, along with the lists of confirmed WISE -based motion objects from the recent papers by Luhman and by Schneider et al., and candidate motion objects from the recent paper by Gagné et al., to search for widely separated, common-proper-motion systems. We identify 1039 such candidate systems. All 48,000 objects are further analyzed using color–color and color–mag plots to provide possible characterizations prior to spectroscopic follow-up. We present spectra of 172 of these, supplemented with new spectra of 23 comparison objects from the literature, and provide classifications and physical interpretations of interesting sources. Highlights include: (1) the identification of three G/K dwarfs that can be used as standard candles to study clumpiness and grain size in nearby molecular clouds because these objects are currently moving behind the clouds, (2) the confirmation/discovery of several M, L, and T dwarfs and one white dwarf whose spectrophotometric distance estimates place them 5–20 pc from the Sun, (3) the suggestion that the Na i “D” line be used as a diagnostic tool for interpreting and classifying metal-poor late-M and L dwarfs, (4) the recognition of a triple system including a carbon dwarf and late-M subdwarf, for which model fits of the late-M subdwarf (giving [Fe/H] ≈ −1.0) provide a measured metallicity for the carbon star, and (5) a possible 24 pc distant K5 dwarf + peculiar red L5 system with an apparent physical separation of 0.1 pc.

Muscle Synergy-Driven Robust Motion Control.

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Min, Kyuengbo; Iwamoto, Masami; Kakei, Shinji; Kimpara, Hideyuki

2018-04-01

Humans are able to robustly maintain desired motion and posture under dynamically changing circumstances, including novel conditions. To accomplish this, the brain needs to optimize the synergistic control between muscles against external dynamic factors. However, previous related studies have usually simplified the control of multiple muscles using two opposing muscles, which are minimum actuators to simulate linear feedback control. As a result, they have been unable to analyze how muscle synergy contributes to motion control robustness in a biological system. To address this issue, we considered a new muscle synergy concept used to optimize the synergy between muscle units against external dynamic conditions, including novel conditions. We propose that two main muscle control policies synergistically control muscle units to maintain the desired motion against external dynamic conditions. Our assumption is based on biological evidence regarding the control of multiple muscles via the corticospinal tract. One of the policies is the group control policy (GCP), which is used to control muscle group units classified based on functional similarities in joint control. This policy is used to effectively resist external dynamic circumstances, such as disturbances. The individual control policy (ICP) assists the GCP in precisely controlling motion by controlling individual muscle units. To validate this hypothesis, we simulated the reinforcement of the synergistic actions of the two control policies during the reinforcement learning of feedback motion control. Using this learning paradigm, the two control policies were synergistically combined to result in robust feedback control under novel transient and sustained disturbances that did not involve learning. Further, by comparing our data to experimental data generated by human subjects under the same conditions as those of the simulation, we showed that the proposed synergy concept may be used to analyze muscle synergy

THE ALLWISE MOTION SURVEY, PART 2

International Nuclear Information System (INIS)

Kirkpatrick, J. Davy; Kellogg, Kendra; Fajardo-Acosta, Sergio; Gelino, Christopher R.; Schurr, Steven D.; Cutri, Roc M.; Conrow, Tim; Schneider, Adam C.; Cushing, Michael C.; Greco, Jennifer; Mace, Gregory N.; Wright, Edward L.; Logsdon, Sarah E.; Martin, Emily C.; McLean, Ian S.; Eisenhardt, Peter R. M.; Stern, Daniel; Faherty, Jacqueline K.; Sheppard, Scott S.; Lansbury, George B.

2016-01-01

We use the AllWISE Data Release to continue our search for Wide-field Infrared Survey Explorer ( WISE )-detected motions. In this paper, we publish another 27,846 motion objects, bringing the total number to 48,000 when objects found during our original AllWISE motion survey are included. We use this list, along with the lists of confirmed WISE -based motion objects from the recent papers by Luhman and by Schneider et al., and candidate motion objects from the recent paper by Gagné et al., to search for widely separated, common-proper-motion systems. We identify 1039 such candidate systems. All 48,000 objects are further analyzed using color–color and color–mag plots to provide possible characterizations prior to spectroscopic follow-up. We present spectra of 172 of these, supplemented with new spectra of 23 comparison objects from the literature, and provide classifications and physical interpretations of interesting sources. Highlights include: (1) the identification of three G/K dwarfs that can be used as standard candles to study clumpiness and grain size in nearby molecular clouds because these objects are currently moving behind the clouds, (2) the confirmation/discovery of several M, L, and T dwarfs and one white dwarf whose spectrophotometric distance estimates place them 5–20 pc from the Sun, (3) the suggestion that the Na i “D” line be used as a diagnostic tool for interpreting and classifying metal-poor late-M and L dwarfs, (4) the recognition of a triple system including a carbon dwarf and late-M subdwarf, for which model fits of the late-M subdwarf (giving [Fe/H] ≈ −1.0) provide a measured metallicity for the carbon star, and (5) a possible 24 pc distant K5 dwarf + peculiar red L5 system with an apparent physical separation of 0.1 pc.

Development of Pneumatic Robot Hand and Construction of Master-Slave System

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Tsujiuchi, Nobutaka; Koizumi, Takayuki; Nishino, Shinya; Komatsubara, Hiroyuki; Kudawara, Tatsuwo; Hirano, Masanori

Recently, research and development has focused on robots that work in place of people. It is necessary for robots to perform the same flexible motions as people. Additionally, such robots need to incorporate high-level safety features in order not to injure people. For creation of such robots, we need to develop a robot hand that functions like a human hand. At the same time, this type of robot hand can be used as an artificial hand. Here, we present artificial muscle-type pneumatic actuators as the driving source of a robot hand that is both safe and flexible. Some development of robot hands using pneumatic actuators has already taken place. But, until now, when a pneumatic actuator is used, a big compressor is needed. So, the driving system also needs to be big; enlargement of the driving system is a major problem. Consequently, in this research, we develop a low-pressure, low-volume pneumatic actuator for driving a robot hand that works flexibly and safely on the assumption that it will be in contact with people. We develop a five-fingered robot hand with pneumatic actuators. And, we construct a master-slave system to enable the robot hand to perform the same operations as a human hand. We make a 1-link arm that has one degree of freedom using a pneumatic actuator, and construct a control system for the 1-link arm and verify its control performance.

A Robust and Fast Computation Touchless Palm Print Recognition System Using LHEAT and the IFkNCN Classifier

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Haryati Jaafar

2015-01-01

Full Text Available Mobile implementation is a current trend in biometric design. This paper proposes a new approach to palm print recognition, in which smart phones are used to capture palm print images at a distance. A touchless system was developed because of public demand for privacy and sanitation. Robust hand tracking, image enhancement, and fast computation processing algorithms are required for effective touchless and mobile-based recognition. In this project, hand tracking and the region of interest (ROI extraction method were discussed. A sliding neighborhood operation with local histogram equalization, followed by a local adaptive thresholding or LHEAT approach, was proposed in the image enhancement stage to manage low-quality palm print images. To accelerate the recognition process, a new classifier, improved fuzzy-based k nearest centroid neighbor (IFkNCN, was implemented. By removing outliers and reducing the amount of training data, this classifier exhibited faster computation. Our experimental results demonstrate that a touchless palm print system using LHEAT and IFkNCN achieves a promising recognition rate of 98.64%.

A Novel Model-Based Driving Behavior Recognition System Using Motion Sensors

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Minglin Wu

2016-10-01

Full Text Available In this article, a novel driving behavior recognition system based on a specific physical model and motion sensory data is developed to promote traffic safety. Based on the theory of rigid body kinematics, we build a specific physical model to reveal the data change rule during the vehicle moving process. In this work, we adopt a nine-axis motion sensor including a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, and apply a Kalman filter for noise elimination and an adaptive time window for data extraction. Based on the feature extraction guided by the built physical model, various classifiers are accomplished to recognize different driving behaviors. Leveraging the system, normal driving behaviors (such as accelerating, braking, lane changing and turning with caution and aggressive driving behaviors (such as accelerating, braking, lane changing and turning with a sudden can be classified with a high accuracy of 93.25%. Compared with traditional driving behavior recognition methods using machine learning only, the proposed system possesses a solid theoretical basis, performs better and has good prospects.

Using postural synergies to animate a low-dimensional hand avatar in haptic simulation.

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Mulatto, Sara; Formaglio, Alessandro; Malvezzi, Monica; Prattichizzo, Domenico

2013-01-01

A technique to animate a realistic hand avatar with 20 DoFs based on the biomechanics of the human hand is presented. The animation does not use any sensor glove or advanced tracker with markers. The proposed approach is based on the knowledge of a set of kinematic constraints on the model of the hand, referred to as postural synergies, which allows to represent the hand posture using a number of variables lower than the number of joints of the hand model. This low-dimensional set of parameters is estimated from direct measurement of the motion of thumb and index finger tracked using two haptic devices. A kinematic inversion algorithm has been developed, which takes synergies into account and estimates the kinematic configuration of the whole hand, i.e., also of the fingers whose end tips are not directly tracked by the two haptic devices. The hand skin is deformable and its deformation is computed using a linear vertex blending technique. The proposed synergy-based animation of the hand avatar involves only algebraic computations and is suitable for real-time implementation as required in haptics.

3D hra s technologií Leap Motion

OpenAIRE

Mainuš, Matěj

2014-01-01

Cílem této bakalářské práce bylo navrhnout a implementovat 3D hru labyrint ovládanou pomocí gest rukou. Pro rozpoznávání pohybu a gest hra využívá technologii Leap Motion, aplikace samotná je vytvořena v herním enginu Unity. Výsledkem práce je multiplatformní 3D hra s vlastní knihovnou, která integruje Leap Motion SDK do Unity a eliminuje chyby v detekci rukou. The goal of this bachelor's thesis is to design and create a 3D labyrinth game controlled by hand gestures. This is achieved by us...

An on-line BCI for control of hand grasp sequence and holding using adaptive probabilistic neural network.

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Hazrati, Mehrnaz Kh; Erfanian, Abbas

2008-01-01

This paper presents a new EEG-based Brain-Computer Interface (BCI) for on-line controlling the sequence of hand grasping and holding in a virtual reality environment. The goal of this research is to develop an interaction technique that will allow the BCI to be effective in real-world scenarios for hand grasp control. Moreover, for consistency of man-machine interface, it is desirable the intended movement to be what the subject imagines. For this purpose, we developed an on-line BCI which was based on the classification of EEG associated with imagination of the movement of hand grasping and resting state. A classifier based on probabilistic neural network (PNN) was introduced for classifying the EEG. The PNN is a feedforward neural network that realizes the Bayes decision discriminant function by estimating probability density function using mixtures of Gaussian kernels. Two types of classification schemes were considered here for on-line hand control: adaptive and static. In contrast to static classification, the adaptive classifier was continuously updated on-line during recording. The experimental evaluation on six subjects on different days demonstrated that by using the static scheme, a classification accuracy as high as the rate obtained by the adaptive scheme can be achieved. At the best case, an average classification accuracy of 93.0% and 85.8% was obtained using adaptive and static scheme, respectively. The results obtained from more than 1500 trials on six subjects showed that interactive virtual reality environment can be used as an effective tool for subject training in BCI.

Factors affecting functional recovery after surgery and hand therapy in patients with Dupuytren's disease.

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Engstrand, Christina; Krevers, Barbro; Kvist, Joanna

2015-01-01

Prospective cohort study. The evidence of the relationship between functional recovery and impairment after surgery and hand therapy are inconsistent. To explore factors that were most related to functional recovery as measured by DASH in patients with Dupuytren's disease. Eighty-one patients undergoing surgery and hand therapy were consecutively recruited. Functional recovery was measured by the Disability of the Arm, Shoulder and Hand (DASH) questionnaire. Explanatory variables: range of motion of the finger joints, five questions regarding safety and social issues of hand function, and health-related quality of life (Euroqol). The three variables "need to take special precautions", "avoid using the hand in social context", and health-related quality of life (EQ-5D index) explained 62.1% of the variance in DASH, where the first variable had the greatest relative effect. Safety and social issues of hand function and quality of life had an evident association with functional recovery. IV. Copyright © 2015 Hanley & Belfus. Published by Elsevier Inc. All rights reserved.

Motion Normalized Proportional Control for Improved Pattern Recognition-Based Myoelectric Control.

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Scheme, Erik; Lock, Blair; Hargrove, Levi; Hill, Wendy; Kuruganti, Usha; Englehart, Kevin

2014-01-01

This paper describes two novel proportional control algorithms for use with pattern recognition-based myoelectric control. The systems were designed to provide automatic configuration of motion-specific gains and to normalize the control space to the user's usable dynamic range. Class-specific normalization parameters were calculated using data collected during classifier training and require no additional user action or configuration. The new control schemes were compared to the standard method of deriving proportional control using a one degree of freedom Fitts' law test for each of the wrist flexion/extension, wrist pronation/supination and hand close/open degrees of freedom. Performance was evaluated using the Fitts' law throughput value as well as more descriptive metrics including path efficiency, overshoot, stopping distance and completion rate. The proposed normalization methods significantly outperformed the incumbent method in every performance category for able bodied subjects (p < 0.001) and nearly every category for amputee subjects. Furthermore, one proposed method significantly outperformed both other methods in throughput (p < 0.0001), yielding 21% and 40% improvement over the incumbent method for amputee and able bodied subjects, respectively. The proposed control schemes represent a computationally simple method of fundamentally improving myoelectric control users' ability to elicit robust, and controlled, proportional velocity commands.

Motion control for a walking companion robot with a novel human–robot interface

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Yunqi Lv

2016-09-01

Full Text Available A walking companion robot is presented for rehabilitation from dyskinesia of lower limbs in this article. A new human–robot interface (HRI is designed which adopts one-axis force sensor and potentiometer connector to detect the motion of the user. To accompany in displacement and angle between the user and the robot precisely in real time, the common motions are classified into two elemental motion states. With distinction method of motion states, a classification scheme of motion control is adopted. The mathematical model-based control method is first introduced and the corresponding control systems are built. Due to the unavoidable deviation of the mathematical model-based control method, a force control method is proposed and the corresponding control systems are built. The corresponding simulations demonstrate that the efficiency of the two proposed control methods. The experimental data and paths of robot verify the two control methods and indicate that the force control method can better satisfy the user’s requirements.

Typical use of inverse dynamics in perceiving motion in autistic adults: Exploring computational principles of perception and action.

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Takamuku, Shinya; Forbes, Paul A G; Hamilton, Antonia F de C; Gomi, Hiroaki

2018-05-07

There is increasing evidence for motor difficulties in many people with autism spectrum condition (ASC). These difficulties could be linked to differences in the use of internal models which represent relations between motions and forces/efforts. The use of these internal models may be dependent on the cerebellum which has been shown to be abnormal in autism. Several studies have examined internal computations of forward dynamics (motion from force information) in autism, but few have tested the inverse dynamics computation, that is, the determination of force-related information from motion information. Here, we examined this ability in autistic adults by measuring two perceptual biases which depend on the inverse computation. First, we asked participants whether they experienced a feeling of resistance when moving a delayed cursor, which corresponds to the inertial force of the cursor implied by its motion-both typical and ASC participants reported similar feelings of resistance. Second, participants completed a psychophysical task in which they judged the velocity of a moving hand with or without a visual cue implying inertial force. Both typical and ASC participants perceived the hand moving with the inertial cue to be slower than the hand without it. In both cases, the magnitude of the effects did not differ between the two groups. Our results suggest that the neural systems engaged in the inverse dynamics computation are preserved in ASC, at least in the observed conditions. Autism Res 2018. © 2018 International Society for Autism Research, Wiley Periodicals, Inc. We tested the ability to estimate force information from motion information, which arises from a specific "inverse dynamics" computation. Autistic adults and a matched control group reported feeling a resistive sensation when moving a delayed cursor and also judged a moving hand to be slower when it was pulling a load. These findings both suggest that the ability to estimate force information from

Design-validation of a hand exoskeleton using musculoskeletal modeling.

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Hansen, Clint; Gosselin, Florian; Ben Mansour, Khalil; Devos, Pierre; Marin, Frederic

2018-04-01

Exoskeletons are progressively reaching homes and workplaces, allowing interaction with virtual environments, remote control of robots, or assisting human operators in carrying heavy loads. Their design is however still a challenge as these robots, being mechanically linked to the operators who wear them, have to meet ergonomic constraints besides usual robotic requirements in terms of workspace, speed, or efforts. They have in particular to fit the anthropometry and mobility of their users. This traditionally results in numerous prototypes which are progressively fitted to each individual person. In this paper, we propose instead to validate the design of a hand exoskeleton in a fully digital environment, without the need for a physical prototype. The purpose of this study is thus to examine whether finger kinematics are altered when using a given hand exoskeleton. Therefore, user specific musculoskeletal models were created and driven by a motion capture system to evaluate the fingers' joint kinematics when performing two industrial related tasks. The kinematic chain of the exoskeleton was added to the musculoskeletal models and its compliance with the hand movements was evaluated. Our results show that the proposed exoskeleton design does not influence fingers' joints angles, the coefficient of determination between the model with and without exoskeleton being consistently high (R 2 ¯=0.93) and the nRMSE consistently low (nRMSE¯ = 5.42°). These results are promising and this approach combining musculoskeletal and robotic modeling driven by motion capture data could be a key factor in the ergonomics validation of the design of orthotic devices and exoskeletons prior to manufacturing. Copyright © 2017 Elsevier Ltd. All rights reserved.

SOPHIA: Soft Orthotic Physiotherapy Hand Interactive Aid

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Alistair C. McConnell

2017-06-01

Full Text Available This work describes the design, fabrication, and initial testing of a Soft Orthotic Physiotherapy Hand Interactive Aid (SOPHIA for stroke rehabilitation. SOPHIA consists of (1 a soft robotic exoskeleton, (2 a microcontroller-based control system driven by a brain–machine interface (BMI, and (3 a sensorized glove for passive rehabilitation. In contrast to other rehabilitation devices, SOPHIA is the first modular prototype of a rehabilitation system that is capable of three tasks: aiding extension based assistive rehabilitation, monitoring patient exercises, and guiding passive rehabilitation. Our results show that this prototype of the device is capable of helping healthy subjects to open their hand. Finger extension is triggered by a command from the BMI, while using a variety of sensors to ensure a safe motion. All data gathered from the device will be used to guide further improvements to the prototype, aiming at developing specifications for the next generation device, which could be used in future clinical trials.

[Effects of functional training combined with self-made hand flexing training band in treatment of scar contracture after burn injury of dorsal hand].

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Zhu, C; Yi, N; Shi, M N; Liang, Y Y; Zhou, Y B; Dang, R; Qi, Z S; Zhao, H Y

2017-07-20

Objective: To observe the effects of functional training combined with self-made hand flexing training band in treatment of scar contracture after burn injury of dorsal hand. Methods: Forty-six patients with scar contracture after deep partial-thickness or full-thickness burn injury of dorsal hand hospitalized in our department from March 2013 to February 2015 were divided into routine training group (RT, n =18) and comprehensive training group (CT, n =28) according to their willingness. Two weeks after the wounds were healed, patients in group RT were treated with functional training of hands and self-made pressure gloves, while patients in group CT were treated with self-made hand flexing training band (consisting of nylon strap, flexing band, and velcro) on the basis of those in group RT. All patients were treated for 3 months. Before and after treatment, scar condition of affected hands was assessed with Vancouver Scar Scale (VSS). The range of motion of joints of affected hands was measured by Total Active Movement (TAM) Scale. The function of affected hands was evaluated by Carroll Upper Extremity Function Test. Data were processed with t test, chi-square test, and Mann-Whitney U test. Results: (1) The score of VSS in patients of group RT was (10.0±1.9) points before treatment and (4.4±1.4) points after treatment, with the improved score of (5.6±1.0) points. The score of VSS in patients of group CT was (10.5±1.8) points before treatment and (4.6±1.4) points after treatment, with the improved score of (5.9±1.2) points. There was no statistically significant difference in the improved score of patients between the two groups ( t =0.834, P >0.05). The score of VSS in patients of groups RT and CT after treatment was significantly lower than that before treatment (with t values respectively 14.014 and 10.003, P values below 0.01). (2) Before treatment, the ratios of excellent and good results according to TAM were 2/9 in patients of group RT and 3/14 in

Epidural electrocorticography of phantom hand movement following long-term upper-limb amputation

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Alireza eGharabaghi

2014-05-01

Full Text Available Introduction: Prostheses for upper-limb amputees are currently controlled by either myoelectric or peripheral neural signals. Performance and dexterity of these devices is still limited, particularly when it comes to controlling hand function. Movement-related brain activity might serve as a complementary bio-signal for motor control of hand prosthesis. Methods: We introduced a methodology to implant a cortical interface without direct exposure of the brain surface in an upper-limb amputee. This bi-directional interface enabled us to explore the cortical physiology following long-term transhumeral amputation. In addition, we investigated neurofeedback of electrocorticographic brain activity related to the patient’s motor imagery to open his missing hand, i.e. phantom hand movement, for real-time control of a virtual hand prosthesis.Results: Both event-related brain potentials and cortical stimulation revealed mutually overlapping cortical representations of the phantom hand. Phantom hand movements could be robustly classified and the patient required only three training sessions to gain reliable control of the virtual hand prosthesis in an online closed-loop paradigm that discriminated between hand opening and rest. Conclusion: Epidural implants may constitute a powerful and safe alternative communication pathway between the brain and external devices for upper-limb amputees, thereby facilitating the integrated use of different signal sources for more intuitive and specific control of multi-functional devices in clinical use.

[Hand eczema. The clinical classification of the roles of exogenous and endogenous factors in each type].

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Tamiya, Y

1994-08-01

Hand eczema is one of the most common dermatological disorders. Although it is a general term referring to eczematous dermatitis of the hands, it actually covers a wide range of diseases. The classification of hand eczema is controversial even now, as definitions of individual diseases have not yet been established. It is well-known that exogenous factors, such as chemicals or water, are associated with the occurrence of hand eczema. In this study, we focused on endogenous factors, especially personal or family history of atopy as a causative factor in hand eczema. According to exogenous and endogenous factors, we classified hand eczema into three types: atopic dermatitis, contact dermatitis and dysidrosis. This classification is useful because it makes the definition of each disease clear. Skin-humidity and sebum measurement are simple and rapid methods of determining personal atopy, skin condition and the effect of treatment on hand eczema patients.

A comparative analysis of modal motions for the gyroscopic and non-gyroscopic two degree-of-freedom conservative systems

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Yang, Xiao-Dong; An, Hua-Zhen; Qian, Ying-Jing; Zhang, Wei; Melnik, Roderick V. N.

2016-12-01

The synchronous in-unison motions in vibrational mechanics and the non-synchronous out-of-unison motions are the most frequently found periodic motions in every fields of science and everywhere in the universe. In contrast to the in-unison normal modes, the out-of-unison complex modes feature a π/2 phase difference. By the complex mode analysis we classify the out-of-unison planar motion into two types, gyroscopic motions and elliptic motions. It is found that the gyroscopic and elliptic motions have different characteristics for a two degree-of-freedom (2DOF) system. The gyroscopic motion involves two distinct frequencies with, respectively, two corresponding complex modes. However, the elliptic motion the nonlinear non-gyroscopic 2DOF system with repeated frequencies involves only single frequency with corresponding two complex modes. The study of the differences and similarities of the gyroscopic and elliptic modes sheds new light on the in-depth mechanism of the planar motions in the universe and the man-made engineering systems.

SpectraClassifier 1.0: a user friendly, automated MRS-based classifier-development system

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Julià-Sapé Margarida

2010-02-01

Full Text Available Abstract Background SpectraClassifier (SC is a Java solution for designing and implementing Magnetic Resonance Spectroscopy (MRS-based classifiers. The main goal of SC is to allow users with minimum background knowledge of multivariate statistics to perform a fully automated pattern recognition analysis. SC incorporates feature selection (greedy stepwise approach, either forward or backward, and feature extraction (PCA. Fisher Linear Discriminant Analysis is the method of choice for classification. Classifier evaluation is performed through various methods: display of the confusion matrix of the training and testing datasets; K-fold cross-validation, leave-one-out and bootstrapping as well as Receiver Operating Characteristic (ROC curves. Results SC is composed of the following modules: Classifier design, Data exploration, Data visualisation, Classifier evaluation, Reports, and Classifier history. It is able to read low resolution in-vivo MRS (single-voxel and multi-voxel and high resolution tissue MRS (HRMAS, processed with existing tools (jMRUI, INTERPRET, 3DiCSI or TopSpin. In addition, to facilitate exchanging data between applications, a standard format capable of storing all the information needed for a dataset was developed. Each functionality of SC has been specifically validated with real data with the purpose of bug-testing and methods validation. Data from the INTERPRET project was used. Conclusions SC is a user-friendly software designed to fulfil the needs of potential users in the MRS community. It accepts all kinds of pre-processed MRS data types and classifies them semi-automatically, allowing spectroscopists to concentrate on interpretation of results with the use of its visualisation tools.

Multiple Tophaceous Gout of Hand with Extensor Tendon Rupture

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Haruki Tobimatsu

2017-01-01

Full Text Available A 45-year-old man presented with painless subcutaneous masses bilaterally on his hands and loss of motion or contracture of the fingers. Initially, drug therapy to reduce the serum uric acid was administered and was expected to reduce the tophi. However, during observation at the clinic, spontaneous rupture of an extensor tendon occurred, and surgical repair of the tendon and resection of the masses were performed. Surgical exploration of the right hand showed hypertrophic white-colored crystal deposits that both surrounded and invaded the extensor digitorum communis of the index finger, which was ruptured. Histopathologic examination of the specimen demonstrated findings consistent with gouty tophi. Tophaceous gout can induce a rupture of tendons during clinical observation, and surgical resection of the tophi might be needed to prevent ruptures.

Development of Kinematic Graphs of Median Nerve during Active Finger Motion: Implications of Smartphone Use.

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Hoi-Chi Woo

Full Text Available Certain hand activities cause deformation and displacement of the median nerve at the carpal tunnel due to the gliding motion of tendons surrounding it. As smartphone usage escalates, this raises the public's concern whether hand activities while using smartphones can lead to median nerve problems.The aims of this study were to 1 develop kinematic graphs and 2 investigate the associated deformation and rotational information of median nerve in the carpal tunnel during hand activities.Dominant wrists of 30 young adults were examined with ultrasonography by placing a transducer transversely on their wrist crease. Ultrasound video clips were recorded when the subject performing 1 thumb opposition with the wrist in neutral position, 2 thumb opposition with the wrist in ulnar deviation and 3 pinch grip with the wrist in neutral position. Six still images that were separated by 0.2-second intervals were then captured from the ultrasound video for the determination of 1 cross-sectional area (CSA, 2 flattening ratio (FR, 3 rotational displacement (RD and 4 translational displacement (TD of median nerve in the carpal tunnel, and these collected information of deformation, rotational and displacement of median nerve were compared between 1 two successive time points during a single hand activity and 2 different hand motions at the same time point. Finally, kinematic graphs were constructed to demonstrate the mobility of median nerve during different hand activities.Performing different hand activities during this study led to a gradual reduction in CSA of the median nerve, with thumb opposition together with the wrist in ulnar deviation causing the greatest extent of deformation of the median nerve. Thumb opposition with the wrist in ulnar deviation also led to the largest extent of TD when compared to the other two hand activities of this study. Kinematic graphs showed that the motion pathways of median nerve during different hand activities were complex

A Kinetic Study Using Evaporation of Different Types of Hand-Rub Sanitizers

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Pinhas, Allan R.

2010-01-01

Alcohol-based hand-rub sanitizers are the types of products that hospital professionals use very often. These sanitizers can be classified into two major groups: those that contain a large quantity of thickener, and thus are a gel, and those that contain a small quantity of thickener, and thus remain a liquid. In an effort to create a laboratory…

Complex Human Activity Recognition Using Smartphone and Wrist-Worn Motion Sensors

NARCIS (Netherlands)

Shoaib, M.; Bosch, S.; Durmaz, O.; Scholten, Johan; Havinga, Paul J.M.

2016-01-01

The position of on-body motion sensors plays an important role in human activity recognition. Most often, mobile phone sensors at the trouser pocket or an equivalent position are used for this purpose. However, this position is not suitable for recognizing activities that involve hand gestures, such

Factors Affecting Hand Hygiene Adherence at a Private Hospital in Turkey.

Science.gov (United States)

Teker, Bahri; Ogutlu, Aziz; Gozdas, Hasan Tahsin; Ruayercan, Saliha; Hacialioglu, Gulizar; Karabay, Oguz

2015-10-01

Nosocomial infections are the main problems rising morbidity and mortality in health care settings. Hand hygiene is the most effective method for preventing these infections. In this study, we aimed to investigate the factors related with hand hygiene adherence at a private hospital in Turkey. This study was conducted between March and June 2010 at a private hospital in Turkey. During the observation period, employees were informed about training, then posters and images were hanged in specific places of the hospital. After the initial observation, training on nosocomial infections and hand hygiene was provided to the hospital staff in March 2010. Contacts were classified according to occupational groups and whether invasive or not. These observations were evaluated in terms of compatibility with hand hygiene guidelines. Hand hygiene adherence rate of trained doctors was higher than untrained ones before patient contact and after environment contact [48% (35/73) versus 82% (92/113) pHand hygiene adherence rate of trained nurses was higher than untrained ones before patient contact [63% (50/79) versus 76% (37/49) pHand hygiene adherence rate of trained assistant health personnel was higher than untrained ones before asepsis [20% (2/10) versus 73% (16/22) phand antiseptics were used when hand washing was not possible. The increase at the rate of hand washing after training reveals the importance of feedback of the observations, as well as the training. One of the most important ways of preventing nosocomial infections is hand hygiene training that should be continued with feedbacks.

Stacking machine learning classifiers to identify Higgs bosons at the LHC

International Nuclear Information System (INIS)

Alves, A.

2017-01-01

Machine learning (ML) algorithms have been employed in the problem of classifying signal and background events with high accuracy in particle physics. In this paper, we compare the performance of a widespread ML technique, namely, stacked generalization , against the results of two state-of-art algorithms: (1) a deep neural network (DNN) in the task of discovering a new neutral Higgs boson and (2) a scalable machine learning system for tree boosting, in the Standard Model Higgs to tau leptons channel, both at the 8 TeV LHC. In a cut-and-count analysis, stacking three algorithms performed around 16% worse than DNN but demanding far less computation efforts, however, the same stacking outperforms boosted decision trees. Using the stacked classifiers in a multivariate statistical analysis (MVA), on the other hand, significantly enhances the statistical significance compared to cut-and-count in both Higgs processes, suggesting that combining an ensemble of simpler and faster ML algorithms with MVA tools is a better approach than building a complex state-of-art algorithm for cut-and-count.

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

Science.gov (United States)

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

2017-07-01

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

Assessment of left ventricular wall motion and function by cross-sectional echocardiography

International Nuclear Information System (INIS)

Ono, Akifumi; Hirata, Shunkichi; Ishikawa, Kyozo

1982-01-01

The clinical efficacy of cross-sectional echocardiography (CSE) was evaluated with M-mode echocardiography and radionuclide cardioangiography (RCG) in 50 cases including 30 patients with myocardial infarction. Segmental wall motion by CSE was highly correlated with segmental wall motion and left ventricular ejection fraction by RCG (r = 0.89 in the former, r = -0.84 in the latter). On the other hand, the left ventricular ejection fraction by M-mode echocardiography revealed a fairly well correlation with that by RCG ( r = 0.68). These results suggest that, as compared with RCG, CSE is quite useful in an evaluation of left ventricular function and in a detection of segmental wall motion abnormalities. (author)

Classification of hand eczema

DEFF Research Database (Denmark)

Agner, T; Aalto-Korte, K; Andersen, K E

2015-01-01

BACKGROUND: Classification of hand eczema (HE) is mandatory in epidemiological and clinical studies, and also important in clinical work. OBJECTIVES: The aim was to test a recently proposed classification system of HE in clinical practice in a prospective multicentre study. METHODS: Patients were...... recruited from nine different tertiary referral centres. All patients underwent examination by specialists in dermatology and were checked using relevant allergy testing. Patients were classified into one of the six diagnostic subgroups of HE: allergic contact dermatitis, irritant contact dermatitis, atopic...... system investigated in the present study was useful, being able to give an appropriate main diagnosis for 89% of HE patients, and for another 7% when using two main diagnoses. The fact that more than half of the patients had one or more additional diagnoses illustrates that HE is a multifactorial disease....

Hand and goods judgment algorithm based on depth information

Science.gov (United States)

Li, Mingzhu; Zhang, Jinsong; Yan, Dan; Wang, Qin; Zhang, Ruiqi; Han, Jing

2016-03-01

A tablet computer with a depth camera and a color camera is loaded on a traditional shopping cart. The inside information of the shopping cart is obtained by two cameras. In the shopping cart monitoring field, it is very important for us to determine whether the customer with goods in or out of the shopping cart. This paper establishes a basic framework for judging empty hand, it includes the hand extraction process based on the depth information, process of skin color model building based on WPCA (Weighted Principal Component Analysis), an algorithm for judging handheld products based on motion and skin color information, statistical process. Through this framework, the first step can ensure the integrity of the hand information, and effectively avoids the influence of sleeve and other debris, the second step can accurately extract skin color and eliminate the similar color interference, light has little effect on its results, it has the advantages of fast computation speed and high efficiency, and the third step has the advantage of greatly reducing the noise interference and improving the accuracy.

Analysis of relative displacement between the HX wearable robotic exoskeleton and the user's hand.

Science.gov (United States)

Cempini, Marco; Marzegan, Alberto; Rabuffetti, Marco; Cortese, Mario; Vitiello, Nicola; Ferrarin, Maurizio

2014-10-18

Advances in technology are allowing for the production of several viable wearable robotic devices to assist with activities of daily living and with rehabilitation. One of the most pressing limitations to user satisfaction is the lack of consistency in motion between the user and the robotic device. The displacement between the robot and the body segment may not correspond because of differences in skin and tissue compliance, mechanical backlash, and/or incorrect fit. This report presents the results of an analysis of relative displacement between the user's hand and a wearable exoskeleton, the HX. HX has been designed to maximize comfort, wearability and user safety, exploiting chains with multiple degrees-of-freedom with a modular architecture. These appealing features may introduce several uncertainties in the kinematic performances, especially when considering the anthropometry, morphology and degree of mobility of the human hand. The small relative displacements between the hand and the exoskeleton were measured with a video-based motion capture system, while the user executed several different grips in different exoskeleton modes. The analysis furnished quantitative results about the device performance, differentiated among device modules and test conditions. In general, the global relative displacement for the distal part of the device was in the range 0.5-1.5 mm, while within 3 mm (worse but still acceptable) for displacements nearest to the hand dorsum. Conclusions over the HX design principles have been drawn, as well as guidelines for future developments.

Quantum ensembles of quantum classifiers.

Science.gov (United States)

Schuld, Maria; Petruccione, Francesco

2018-02-09

Quantum machine learning witnesses an increasing amount of quantum algorithms for data-driven decision making, a problem with potential applications ranging from automated image recognition to medical diagnosis. Many of those algorithms are implementations of quantum classifiers, or models for the classification of data inputs with a quantum computer. Following the success of collective decision making with ensembles in classical machine learning, this paper introduces the concept of quantum ensembles of quantum classifiers. Creating the ensemble corresponds to a state preparation routine, after which the quantum classifiers are evaluated in parallel and their combined decision is accessed by a single-qubit measurement. This framework naturally allows for exponentially large ensembles in which - similar to Bayesian learning - the individual classifiers do not have to be trained. As an example, we analyse an exponentially large quantum ensemble in which each classifier is weighed according to its performance in classifying the training data, leading to new results for quantum as well as classical machine learning.

Study on fundamental mechanism of nuclear advanced robot. An analysis of fundamental motion with pliability for end-effector of advanced robot

International Nuclear Information System (INIS)

Ohki, Arahiko; Hirano, Sigeo; Yoshida, Tomoya.

1997-01-01

Most of present robots only perform works simulating human action, but hereafter, it is required to do advanced works smoothly with robots in place of men. Among the mechanisms of high performance robots, as one of the important components that do advanced action and adapt to diversified purposes, there is manipulator. The manipulator comprises arm and end effector. In the process of heightening robot performance hereafter, the reproduction of detailed action is the indispensable subject of research. The object of carrying out this research is to elucidate the possibility of giving the functions close to those of delicate human hands to end effector. First, the joints of human hands were measured, and based on these data, the equation for determining the change of angle in relation to the time of motion of respective joints was established. Further, the simulation of simple actions was carried out, and the concept of the mechanism model was built by analyzing the motion similar to human body. The structural difference in the joints of human and manipulator, the measurement of hands and the analysis of the motion of hand joints are reported. (K.I.)

Wearable Sensor Networks for Motion Capture

Directory of Open Access Journals (Sweden)

Dennis Arsenault

2015-08-01

Full Text Available This work presents the development of a full body sensor-based motion tracking system that functions through wearable inertial sensors. The system is comprised of a total of ten wearable sensors and maps the player's motions to an on-screen character in real-time. A hierarchical skeletal model was implemented that allows players to navigate and interact with the virtual world without the need of a hand-held controller. To demonstrate the capabilities of the system, a simple virtual reality game was created. As a wearable system, the ability for the users to engage in activities while not being tied to a camera system, or being forced indoors presents a significant opportunity for mobile entertainment, augmented reality and interactive systems that use the body as a significant form of input. This paper outlines the key developments necessary to implement such a system.

Climate-driven seasonal geocenter motion during the GRACE period

Science.gov (United States)

Zhang, Hongyue; Sun, Yu

2018-03-01

Annual cycles in the geocenter motion time series are primarily driven by mass changes in the Earth's hydrologic system, which includes land hydrology, atmosphere, and oceans. Seasonal variations of the geocenter motion have been reliably determined according to Sun et al. (J Geophys Res Solid Earth 121(11):8352-8370, 2016) by combining the Gravity Recovery And Climate Experiment (GRACE) data with an ocean model output. In this study, we reconstructed the observed seasonal geocenter motion with geophysical model predictions of mass variations in the polar ice sheets, continental glaciers, terrestrial water storage (TWS), and atmosphere and dynamic ocean (AO). The reconstructed geocenter motion time series is shown to be in close agreement with the solution based on GRACE data supporting with an ocean bottom pressure model. Over 85% of the observed geocenter motion time series, variance can be explained by the reconstructed solution, which allows a further investigation of the driving mechanisms. We then demonstrated that AO component accounts for 54, 62, and 25% of the observed geocenter motion variances in the X, Y, and Z directions, respectively. The TWS component alone explains 42, 32, and 39% of the observed variances. The net mass changes over oceans together with self-attraction and loading effects also contribute significantly (about 30%) to the seasonal geocenter motion in the X and Z directions. Other contributing sources, on the other hand, have marginal (less than 10%) impact on the seasonal variations but introduce a linear trend in the time series.

Alcohol-free instant hand sanitizer reduces elementary school illness absenteeism.

Science.gov (United States)

Dyer, D L; Shinder, A; Shinder, F

2000-10-01

BACKGROUND AND HYPOTHESES: A substantial percentage of school absenteeism among children is related to transmissible infection. Rates of transmission can be reduced by hand washing with soap and water, but such washing occurs infrequently. This study tested whether an alcohol-free instant hand sanitizer (CleanHands) could reduce illness absenteeism in school-age children. A 10-week, open-label, crossover study was performed on 420 elementary school-age children (ages 5-12). Students were given a brief orientation immediately prior to the start of the study on the relationship of germs, illness, and hand washing. Each student in the treatment group then received the test product in individual bottles, with instructions to apply one to two sprays to the hands after coming into the classroom, before eating, and after using the restroom, in addition to their normal hand washing with soap and water. The control group was instructed to continue hand washing as normal with non-medicated soap. After 4 weeks of treatment and a 2-week wash-out period, the control and experimental groups were reversed. Data gathered on absenteeism were classified as gastrointestinal or respiratory related and normalized for nonillness-related absenteeism and school holidays. Compared to the hand washing-only control group, students using CleanHands were found to have 41.9% fewer illness-related absence days, representing a 28.9% and a 49.7% drop in gastrointestinal- and respiratory-related illnesses, respectively. Likewise, absence incidence decreased by 31.7%, consisting of a 44.2% and 50.2% decrease in incidence of gastrointestinal- and respiratory-related illnesses, respectively. No adverse events were reported during the study. Daily use of the instant hand sanitizer was associated with significantly lower rates of illness-related absenteeism.

Contrast gain control in first- and second-order motion perception.

Science.gov (United States)

Lu, Z L; Sperling, G

1996-12-01

A novel pedestal-plus-test paradigm is used to determine the nonlinear gain-control properties of the first-order (luminance) and the second-order (texture-contrast) motion systems, that is, how these systems' responses to motion stimuli are reduced by pedestals and other masking stimuli. Motion-direction thresholds were measured for test stimuli consisting of drifting luminance and texture-contrast-modulation stimuli superimposed on pedestals of various amplitudes. (A pedestal is a static sine-wave grating of the same type and same spatial frequency as the moving test grating.) It was found that first-order motion-direction thresholds are unaffected by small pedestals, but at pedestal contrasts above 1-2% (5-10 x pedestal threshold), motion thresholds increase proportionally to pedestal amplitude (a Weber law). For first-order stimuli, pedestal masking is specific to the spatial frequency of the test. On the other hand, motion-direction thresholds for texture-contrast stimuli are independent of pedestal amplitude (no gain control whatever) throughout the accessible pedestal amplitude range (from 0 to 40%). However, when baseline carrier contrast increases (with constant pedestal modulation amplitude), motion thresholds increase, showing that gain control in second-order motion is determined not by the modulator (as in first-order motion) but by the carrier. Note that baseline contrast of the carrier is inherently independent of spatial frequency of the modulator. The drastically different gain-control properties of the two motion systems and prior observations of motion masking and motion saturation are all encompassed in a functional theory. The stimulus inputs to both first- and second-order motion process are normalized by feedforward, shunting gain control. The different properties arise because the modulator is used to control the first-order gain and the carrier is used to control the second-order gain.

Musculoskeletal model-based control interface mimics physiologic hand dynamics during path tracing task

Science.gov (United States)

Crouch, Dustin L.; (Helen Huang, He

2017-06-01

Objective. We investigated the feasibility of a novel, customizable, simplified EMG-driven musculoskeletal model for estimating coordinated hand and wrist motions during a real-time path tracing task. Approach. A two-degree-of-freedom computational musculoskeletal model was implemented for real-time EMG-driven control of a stick figure hand displayed on a computer screen. After 5-10 minutes of undirected practice, subjects were given three attempts to trace 10 straight paths, one at a time, with the fingertip of the virtual hand. Able-bodied subjects completed the task on two separate test days. Main results. Across subjects and test days, there was a significant linear relationship between log-transformed measures of accuracy and speed (Pearson’s r  =  0.25, p  bodied subjects in 8 of 10 trials. For able-bodied subjects, tracing accuracy was lower at the extremes of the model’s range of motion, though there was no apparent relationship between tracing accuracy and fingertip location for the amputee. Our result suggests that, unlike able-bodied subjects, the amputee’s motor control patterns were not accustomed to the multi-joint dynamics of the wrist and hand, possibly as a result of post-amputation cortical plasticity, disuse, or sensory deficits. Significance. To our knowledge, our study is one of very few that have demonstrated the real-time simultaneous control of multi-joint movements, especially wrist and finger movements, using an EMG-driven musculoskeletal model, which differs from the many data-driven algorithms that dominate the literature on EMG-driven prosthesis control. Real-time control was achieved with very little training and simple, quick (~15 s) calibration. Thus, our model is potentially a practical and effective control platform for multifunctional myoelectric prostheses that could restore more life-like hand function for individuals with upper limb amputation.

Multiple intramedullary nailing of proximal phalangeal fractures of hand

Directory of Open Access Journals (Sweden)

Patankar Hemant

2008-01-01

Full Text Available Background: Proximal phalangeal fractures are commonly encountered fractures in the hand. Majority of them are stable and can be treated by non-operative means. However, unstable fractures i.e. those with shortening, displacement, angulation, rotational deformity or segmental fractures need surgical intervention. This prospective study was undertaken to evaluate the functional outcome after surgical stabilization of these fractures with joint-sparing multiple intramedullary nailing technique. Materials and Methods: Thirty-five patients with 35 isolated unstable proximal phalangeal shaft fractures of hand were managed by surgical stabilization with multiple intramedullary nailing technique. Fractures of the thumb were excluded. All the patients were followed up for a minimum of six months. They were assessed radiologically and clinically. The clinical evaluation was based on two criteria. 1. total active range of motion for digital functional assessment as suggested by the American Society for Surgery of Hand and 2. grip strength. Results: All the patients showed radiological union at six weeks. The overall results were excellent in all the patients. Adventitious bursitis was observed at the point of insertion of nails in one patient. Conclusion: Joint-sparing multiple intramedullary nailing of unstable proximal phalangeal fractures of hand provides satisfactory results with good functional outcome and fewer complications.

Topical analgesic added to paraffin enhances paraffin bath treatment of individuals with hand osteoarthritis.

Science.gov (United States)

Myrer, Joseph William; Johnson, Aaron Wayne; Mitchell, Ulrike H; Measom, Gary J; Fellingham, Gilbert W

2011-01-01

To compare treating patients with symptomatic hand osteoarthritis (OA) with paraffin baths only (PO) (100% wax) or paraffin baths 80% wax with 20% topical analgesic (PTA). Subjects met criteria of the American College of Rheumatology for classifying symptomatic hand OA and had a Dreiser's index score >5 points. Current and average pain at rest and with movement was assessed with visual analogue scales. Hand function was assessed by the functional index for hand OA (FIHOA). Both groups had a significant reduction in their 'current' pain 15 min after the first and twelfth treatments compared to pre-treatment but there was no difference between groups (t = 0.10, p > 0.05). The PTA group had greater improvement over the 12 treatment sessions for their pain at rest (t = 2.92, p paraffin produced significantly greater pain relief at rest and during movement than paraffin baths alone after 12 treatments. Additionally, the PTA group experienced greater improved hand function.

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

Science.gov (United States)

Nagase, Kenji; Shirai, Satoshi; Hayashi, Tsuyoshi

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

Use of Design Patterns According to Hand Dominance in a Mobile User Interface

Science.gov (United States)

Al-Samarraie, Hosam; Ahmad, Yusof

2016-01-01

User interface (UI) design patterns for mobile applications provide a solution to design problems and can improve the usage experience for users. However, there is a lack of research categorizing the uses of design patterns according to users' hand dominance in a learning-based mobile UI. We classified the main design patterns for mobile…

Auditory motion capturing ambiguous visual motion

Directory of Open Access Journals (Sweden)

Arjen eAlink

2012-01-01

Full Text Available In this study, it is demonstrated that moving sounds have an effect on the direction in which one sees visual stimuli move. During the main experiment sounds were presented consecutively at four speaker locations inducing left- or rightwards auditory apparent motion. On the path of auditory apparent motion, visual apparent motion stimuli were presented with a high degree of directional ambiguity. The main outcome of this experiment is that our participants perceived visual apparent motion stimuli that were ambiguous (equally likely to be perceived as moving left- or rightwards more often as moving in the same direction than in the opposite direction of auditory apparent motion. During the control experiment we replicated this finding and found no effect of sound motion direction on eye movements. This indicates that auditory motion can capture our visual motion percept when visual motion direction is insufficiently determinate without affecting eye movements.

An evaluation of data-driven motion estimation in comparison to the usage of external-surrogates in cardiac SPECT imaging

International Nuclear Information System (INIS)

Mukherjee, Joyeeta Mitra; Johnson, Karen L; Pretorius, P Hendrik; King, Michael A; Hutton, Brian F

2013-01-01

Motion estimation methods in single photon emission computed tomography (SPECT) can be classified into methods which depend on just the emission data (data-driven), or those that use some other source of information such as an external surrogate. The surrogate-based methods estimate the motion exhibited externally which may not correlate exactly with the movement of organs inside the body. The accuracy of data-driven strategies on the other hand is affected by the type and timing of motion occurrence during acquisition, the source distribution, and various degrading factors such as attenuation, scatter, and system spatial resolution. The goal of this paper is to investigate the performance of two data-driven motion estimation schemes based on the rigid-body registration of projections of motion-transformed source distributions to the acquired projection data for cardiac SPECT studies. Comparison is also made of six intensity based registration metrics to an external surrogate-based method. In the data-driven schemes, a partially reconstructed heart is used as the initial source distribution. The partially-reconstructed heart has inaccuracies due to limited angle artifacts resulting from using only a part of the SPECT projections acquired while the patient maintained the same pose. The performance of different cost functions in quantifying consistency with the SPECT projection data in the data-driven schemes was compared for clinically realistic patient motion occurring as discrete pose changes, one or two times during acquisition. The six intensity-based metrics studied were mean-squared difference, mutual information, normalized mutual information (NMI), pattern intensity (PI), normalized cross-correlation and entropy of the difference. Quantitative and qualitative analysis of the performance is reported using Monte-Carlo simulations of a realistic heart phantom including degradation factors such as attenuation, scatter and system spatial resolution. Further the

User interface for a tele-operated robotic hand system

Science.gov (United States)

Crawford, Anthony L

2015-03-24

Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.

Human error identification for laparoscopic surgery: Development of a motion economy perspective.

Science.gov (United States)

Al-Hakim, Latif; Sevdalis, Nick; Maiping, Tanaphon; Watanachote, Damrongpan; Sengupta, Shomik; Dissaranan, Charuspong

2015-09-01

This study postulates that traditional human error identification techniques fail to consider motion economy principles and, accordingly, their applicability in operating theatres may be limited. This study addresses this gap in the literature with a dual aim. First, it identifies the principles of motion economy that suit the operative environment and second, it develops a new error mode taxonomy for human error identification techniques which recognises motion economy deficiencies affecting the performance of surgeons and predisposing them to errors. A total of 30 principles of motion economy were developed and categorised into five areas. A hierarchical task analysis was used to break down main tasks of a urological laparoscopic surgery (hand-assisted laparoscopic nephrectomy) to their elements and the new taxonomy was used to identify errors and their root causes resulting from violation of motion economy principles. The approach was prospectively tested in 12 observed laparoscopic surgeries performed by 5 experienced surgeons. A total of 86 errors were identified and linked to the motion economy deficiencies. Results indicate the developed methodology is promising. Our methodology allows error prevention in surgery and the developed set of motion economy principles could be useful for training surgeons on motion economy principles. Copyright © 2015 Elsevier Ltd and The Ergonomics Society. All rights reserved.

Seismic microzoning from synthetic ground motion parameters: Case study, Santiago de Cuba

International Nuclear Information System (INIS)

Alvarez, Leonardo; Vaccari, Franco; Panza, Giuliano F.; Pico, Ramon

2003-08-01

Synthetic seismograms (P - SV and SH waves) have been calculated along 6 profiles in Santiago de Cuba basin, with a cutoff frequency of 5 Hz, by using the hybrid approach (modal summation for a regional (ID) structure plus finite differences for a local (2D) structure embedded in the first). They correspond to a scenario earthquake of M S = 7 that may occur in Oriente fault zone, directly south of the city. As initial data for a seismic microzoning, the characterisation of earthquake effects has been made considering several relative (2D/1D) quantities (PGDR, PGVR, PGAR, DGAR, I A R etc.) and functions representative of the ground motion behaviour in soil (2D) with respect to bedrock (ID). The functions are the response spectra ratio RSR(f), already routinely used in this kind of work, and the elastic energy input ratio E I R(f), defined, for the first time, in this paper. These data, sampled at 105 sites within all the profiles have been classified in two steps, using logical combinatory algorithms: connected sets and compact sets. In the first step, from the original ground motion parameters or functions extracted from the synthetic seismograms, 9 sets have been classified and the partial results show the spatial distribution of the soil behaviour as function of the component of motion. In the second step, the results of the classification of the 9 sets have been used as input for a further classification that shows a spatial distribution of sites with a quasi-homogeneous integral ground motion behaviour. By adding the available geological surface data, a microzoning scheme of Santiago de Cuba basin has been obtained. (author)

Improved Collaborative Representation Classifier Based on l2-Regularized for Human Action Recognition

Directory of Open Access Journals (Sweden)

Shirui Huo

2017-01-01

Full Text Available Human action recognition is an important recent challenging task. Projecting depth images onto three depth motion maps (DMMs and extracting deep convolutional neural network (DCNN features are discriminant descriptor features to characterize the spatiotemporal information of a specific action from a sequence of depth images. In this paper, a unified improved collaborative representation framework is proposed in which the probability that a test sample belongs to the collaborative subspace of all classes can be well defined and calculated. The improved collaborative representation classifier (ICRC based on l2-regularized for human action recognition is presented to maximize the likelihood that a test sample belongs to each class, then theoretical investigation into ICRC shows that it obtains a final classification by computing the likelihood for each class. Coupled with the DMMs and DCNN features, experiments on depth image-based action recognition, including MSRAction3D and MSRGesture3D datasets, demonstrate that the proposed approach successfully using a distance-based representation classifier achieves superior performance over the state-of-the-art methods, including SRC, CRC, and SVM.

"Dentinal microcracks after root canal preparation" a comparative evaluation with hand, rotary and reciprocating instrumentation.

Science.gov (United States)

Priya, N Tulasi; Chandrasekhar, Veeramachaneni; Anita, S; Tummala, Muralidhar; Raj, T B Phanindhar; Badami, Vijetha; Kumar, Pradeep; Soujanya, E

2014-12-01

The purpose of this study was to compare the incidence of dentinal micro cracks after instrumentation with various types of NiTi files in rotary and reciprocating motion. One hundred human extracted mandibular central incisors were taken and divided into 10 groups (n=10 teeth per group). Group 1- No preparation, Group 2 - Hand instrumentation, Groups 3,4 - ProTaper files in rotary and reciprocating motion, Groups 5,6 - ProTaper Next files in rotary and reciprocating motion, Groups 7,8 - Oneshape files in rotary and reciprocating motion, Groups 9,10 - Reciproc files in rotary and reciprocating motion. Specimens were sectioned horizontally at 3,6 and 9 mm from the apex and dentinal micro cracks were observed under a stereomicroscope. There was a statistically significant difference between the groups (pProtaper Next - Rot, Protaper Next - Rec, Reciproc - Rec); (ProTaper - Rot, ProTaper - Rec, Oneshape - Rot), (Oneshape - Rot, Reciproc - Rot), (One shape Reciproc, Reciproc - Rec); (p >.05). Least cracks were seen in canals instrumented with Pro Taper Next files both in rotary and reciprocating motion. Full sequence rotary systems showed less cracks than single file systems and full sequence rotary systems showed less cracks in reciprocating motion than in rotary motion.

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

KAUST Repository

Shaqura, Mohammad; Shamma, Jeff S.

2017-01-01

A robotic multi tool gripper design and implementation is presented in this paper. The proposed design targets applications where an actuation task is performed using a wide selection of standard hand tools. The manipulation motion is assumed

Hand-Eye LRF-Based Iterative Plane Detection Method for Autonomous Robotic Welding

Directory of Open Access Journals (Sweden)

Sungmin Lee

2015-12-01

Full Text Available This paper proposes a hand-eye LRF-based (laser range finder welding plane-detection method for autonomous robotic welding in the field of shipbuilding. The hand-eye LRF system consists of a 6 DOF manipulator and an LRF attached to the wrist of the manipulator. The welding plane is detected by the LRF with only the wrist's rotation to minimize a mechanical error caused by the manipulator's motion. A position on the plane is determined as an average position of the detected points on the plane, and a normal vector to the plane is determined by applying PCA (principal component analysis to the detected points. In this case, the accuracy of the detected plane is analysed by simulations with respect to the wrist's angle interval and the plane angle. As a result of the analysis, an iterative plane-detection method with the manipulator's alignment motion is proposed to improve the performance of plane detection. For verifying the feasibility and effectiveness of the proposed plane-detection method, experiments are carried out with a prototype of the hand-eye LRF-based system, which consists of a 1 DOF wrist's joint, an LRF system and a rotatable plane. In addition, the experimental results of the PCA-based plane detection method are compared with those of the two representative plane-detection methods, based on RANSAC (RANdom SAmple Consensus and the 3D Hough transform in both accuracy and computation time's points of view.

Improved reliability in skeletal age assessment using a pediatric hand MR scanner with a 0.3T permanent magnet.

Science.gov (United States)

Terada, Yasuhiko; Kono, Saki; Uchiumi, Tomomi; Kose, Katsumi; Miyagi, Ryo; Yamabe, Eiko; Fujinaga, Yasunari; Yoshioka, Hiroshi

2014-01-01

The purpose of this study was to improve the reliability and validity of skeletal age assessment using an open and compact pediatric hand magnetic resonance (MR) imaging scanner. We used such a scanner with 0.3-tesla permanent magnet to image the left hands of 88 healthy children (aged 3.4 to 15.7 years, mean 8.8 years), and 3 raters (2 orthopedic specialists and a radiologist) assessed skeletal age using those images. We measured the strength of agreement in ratings by values of weighted Cohen's κ and the proportion of cases excluded from rating because of motion artifact and inappropriate positioning. We compared the current results with those of a previous study in which 93 healthy children (aged 4.1 to 16.4 years, mean 9.7 years) were examined with an adult hand scanner. The κ values between raters exceeded 0.80, which indicates almost perfect agreement, and most were higher than those of the previous study. The proportion of cases excluded from rating because of motion artifact or inappropriate positioning was also reduced. The results indicate that use of the compact pediatric hand scanner improved the reliability and validity of skeletal age assessments.

[An Introduction to A Newly-developed "Acupuncture Needle Manipulation Training-evaluation System" Based on Optical Motion Capture Technique].

Science.gov (United States)

Zhang, Ao; Yan, Xing-Ke; Liu, An-Guo

2016-12-25

In the present paper, the authors introduce a newly-developed "Acupuncture Needle Manipulation Training-evaluation System" based on optical motion capture technique. It is composed of two parts, sensor and software, and overcomes some shortages of mechanical motion capture technique. This device is able to analyze the data of operations of the pressing-hand and needle-insertion hand during acupuncture performance and its software contains personal computer (PC) version, Android version, and Internetwork Operating System (IOS) Apple version. It is competent in recording and analyzing information of any ope-rator's needling manipulations, and is quite helpful for teachers in teaching, training and examining students in clinical practice.

Interacting with mobile devices by fusion eye and hand gestures recognition systems based on decision tree approach

Science.gov (United States)

Elleuch, Hanene; Wali, Ali; Samet, Anis; Alimi, Adel M.

2017-03-01

Two systems of eyes and hand gestures recognition are used to control mobile devices. Based on a real-time video streaming captured from the device's camera, the first system recognizes the motion of user's eyes and the second one detects the static hand gestures. To avoid any confusion between natural and intentional movements we developed a system to fuse the decision coming from eyes and hands gesture recognition systems. The phase of fusion was based on decision tree approach. We conducted a study on 5 volunteers and the results that our system is robust and competitive.

Mobile user identity sensing using the motion sensor

Science.gov (United States)

Zhao, Xi; Feng, Tao; Xu, Lei; Shi, Weidong

2014-05-01

Employing mobile sensor data to recognize user behavioral activities has been well studied in recent years. However, to adopt the data as a biometric modality has rarely been explored. Existing methods either used the data to recognize gait, which is considered as a distinguished identity feature; or segmented a specific kind of motion for user recognition, such as phone picking-up motion. Since the identity and the motion gesture jointly affect motion data, to fix the gesture (walking or phone picking-up) definitively simplifies the identity sensing problem. However, it meanwhile introduces the complexity from gesture detection or requirement on a higher sample rate from motion sensor readings, which may draw the battery fast and affect the usability of the phone. In general, it is still under investigation that motion based user authentication in a large scale satisfies the accuracy requirement as a stand-alone biometrics modality. In this paper, we propose a novel approach to use the motion sensor readings for user identity sensing. Instead of decoupling the user identity from a gesture, we reasonably assume users have their own distinguishing phone usage habits and extract the identity from fuzzy activity patterns, represented by a combination of body movements whose signals in chains span in relative low frequency spectrum and hand movements whose signals span in relative high frequency spectrum. Then Bayesian Rules are applied to analyze the dependency of different frequency components in the signals. During testing, a posterior probability of user identity given the observed chains can be computed for authentication. Tested on an accelerometer dataset with 347 users, our approach has demonstrated the promising results.

Using motion capture to assess colonoscopy experience level

DEFF Research Database (Denmark)

Svendsen, Morten Bo Søndergaard; Preisler, Louise; Hillingsø, Jens Georg

2014-01-01

AIM: To study technical skills of colonoscopists using a Microsoft Kinect™ for motion analysis to develop a tool to guide colonoscopy education. RESULTS: Ten experienced endoscopists (gastroenterologists, n = 2; colorectal surgeons, n = 8) and 11 novices participated in the study. A Microsoft......) vs 12% for novice endoscopists (SD 9)], the level of the right hand below the sighting line (z-axis) (25 cm for experienced endoscopists vs 36 cm for novice endoscopists, P level of the left hand below the z-axis (6 cm for experienced endoscopists vs 15 cm for novice endoscopists, P...... experienced and novice endoscopists and to provide non-biased feedback. Whether it is possible to use this tool to train novices in a clinical setting requires further study....

Hand gesture recognition by analysis of codons

Science.gov (United States)

Ramachandra, Poornima; Shrikhande, Neelima

2007-09-01

The problem of recognizing gestures from images using computers can be approached by closely understanding how the human brain tackles it. A full fledged gesture recognition system will substitute mouse and keyboards completely. Humans can recognize most gestures by looking at the characteristic external shape or the silhouette of the fingers. Many previous techniques to recognize gestures dealt with motion and geometric features of hands. In this thesis gestures are recognized by the Codon-list pattern extracted from the object contour. All edges of an image are described in terms of sequence of Codons. The Codons are defined in terms of the relationship between maxima, minima and zeros of curvature encountered as one traverses the boundary of the object. We have concentrated on a catalog of 24 gesture images from the American Sign Language alphabet (Letter J and Z are ignored as they are represented using motion) [2]. The query image given as an input to the system is analyzed and tested against the Codon-lists, which are shape descriptors for external parts of a hand gesture. We have used the Weighted Frequency Indexing Transform (WFIT) approach which is used in DNA sequence matching for matching the Codon-lists. The matching algorithm consists of two steps: 1) the query sequences are converted to short sequences and are assigned weights and, 2) all the sequences of query gestures are pruned into match and mismatch subsequences by the frequency indexing tree based on the weights of the subsequences. The Codon sequences with the most weight are used to determine the most precise match. Once a match is found, the identified gesture and corresponding interpretation are shown as output.

Complex Hand Dexterity: A Review of Biomechanical Methods for Measuring Musical Performance

Directory of Open Access Journals (Sweden)

Cheryl Diane Metcalf

2014-05-01

Full Text Available Complex hand dexterity is fundamental to our interactions with the physical, social and cultural environment. Dexterity can be an expression of creativity and precision in a range of activities, including musical performance. Little is understood about complex hand dexterity or how virtuoso expertise is acquired, due to the versatility of movement combinations available to complete any given task. This has historically limited progress of the field because of difficulties in measuring movements of the hand. Recent developments in methods of motion capture and analysis mean it is now possible to explore the intricate movements of the hand and fingers. These methods allow us insights into the neurophysiological mechanisms underpinning complex hand dexterity and motor learning. They also allow investigation into the key factors that contribute to injury, recovery and functional compensation.The application of such analytical techniques within musical performance provides a multidisciplinary framework for purposeful investigation into the process of learning and skill acquisition in instrumental performance. These highly skilled manual and cognitive tasks present the ultimate achievement in complex hand dexterity. This paper will review methods of assessing instrumental performance in music, focusing specifically on biomechanical measurement and the associated technical challenges faced when measuring highly dexterous activities.

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.

Interactive motion tracing for Rowing Training

DEFF Research Database (Denmark)

Dai, Zheng

2011-01-01

This paper studies motion tracking and team coordination for the training of rowers. The design research is drawn upon the division of contribution between the designers input and the user input in a design process. We built a training system that can record and show the action of a rower’s hand....... Designer proposed solutions for both a fundamental problem and a very advanced problem. Users guided the design direction, and spoke what they expected or what they disliked. As the result, our design provided a real-time recording tool for rowers and coaches to discuss and analyze the motion. The coach...... can correct the path immediately and save the corrected path for the rower to try to imitate and train. The members in a rowing team train with the same path from to coordinate and synchronize their actions for the best performance. The training system was developed through a user-centered design...

A Hands-on Exploration of the Retrograde Motion of Mars as Seen from the Earth

Science.gov (United States)

Pincelli, M. M.; Otranto, S.

2013-01-01

In this paper, we propose a set of activities based on the use of a celestial simulator to gain insights into the retrograde motion of Mars as seen from the Earth. These activities provide a useful link between the heliocentric concepts taught in schools and those tackled in typical introductory physics courses based on classical mechanics for…

Use of a Proximity Sensor Switch for "Hands Free" Operation of Computer-Based Video Prompting by Young Adults with Moderate Intellectual Disability

Science.gov (United States)

Ivey, Alexandria N.; Mechling, Linda C.; Spencer, Galen P.

2015-01-01

In this study, the effectiveness of a "hands free" approach for operating video prompts to complete multi-step tasks was measured. Students advanced the video prompts by using a motion (hand wave) over a proximity sensor switch. Three young adult females with a diagnosis of moderate intellectual disability participated in the study.…

Role of hand dominance in mapping preferences for emotional-valence words to keypress responses.

Science.gov (United States)

Song, Xiaolei; Chen, Jing; Proctor, Robert W

2017-10-01

When a crossed-hands placement (right hand presses left key; left hand presses right key) is used in a two-choice spatial reaction task, the mapping of left stimulus to left key and right stimulus to right key yields faster responses than the opposite mapping. In contrast, de la Vega, Dudschig, De Filippis, Lachmair, and Kaup (2013) reported that when right-handed individuals classified words as having positive or negative affect, there was a benefit for mapping positive affect to the right hand (left key) and negative affect to the left hand (right key). The goal of the present study was to replicate and extend this seemingly distinct finding. Experiment 1 duplicated the design of that study without including nonword "no-go" trials but including a condition in which participants performed with an uncrossed hand placement. Results corroborated the benefit for mapping positive to the right hand and negative to the left hand with the hands crossed, and this benefit was as large as that obtained with the hands uncrossed. Experiment 2 confirmed the importance of the dominant/subordinate hand distinction with left-handed participants, and Experiment 3 showed, with right-handed participants, that it does not depend on which limb is placed over the other. The results verify that the mapping advantage for positive→right/negative→left is indeed due to the distinction between dominant and subordinate hands. Possible reasons for the difference between these results and those obtained with spatial-location stimuli are considered. Copyright © 2017 Elsevier B.V. All rights reserved.

Rapid and coordinated processing of global motion images by local clusters of retinal ganglion cells.

Science.gov (United States)

Matsumoto, Akihiro; Tachibana, Masao

2017-01-01

Even when the body is stationary, the whole retinal image is always in motion by fixational eye movements and saccades that move the eye between fixation points. Accumulating evidence indicates that the brain is equipped with specific mechanisms for compensating for the global motion induced by these eye movements. However, it is not yet fully understood how the retina processes global motion images during eye movements. Here we show that global motion images evoke novel coordinated firing in retinal ganglion cells (GCs). We simultaneously recorded the firing of GCs in the goldfish isolated retina using a multi-electrode array, and classified each GC based on the temporal profile of its receptive field (RF). A moving target that accompanied the global motion (simulating a saccade following a period of fixational eye movements) modulated the RF properties and evoked synchronized and correlated firing among local clusters of the specific GCs. Our findings provide a novel concept for retinal information processing during eye movements.

The 3D Human Motion Control Through Refined Video Gesture Annotation

Science.gov (United States)

Jin, Yohan; Suk, Myunghoon; Prabhakaran, B.

In the beginning of computer and video game industry, simple game controllers consisting of buttons and joysticks were employed, but recently game consoles are replacing joystick buttons with novel interfaces such as the remote controllers with motion sensing technology on the Nintendo Wii [1] Especially video-based human computer interaction (HCI) technique has been applied to games, and the representative game is 'Eyetoy' on the Sony PlayStation 2. Video-based HCI technique has great benefit to release players from the intractable game controller. Moreover, in order to communicate between humans and computers, video-based HCI is very crucial since it is intuitive, easy to get, and inexpensive. On the one hand, extracting semantic low-level features from video human motion data is still a major challenge. The level of accuracy is really dependent on each subject's characteristic and environmental noises. Of late, people have been using 3D motion-capture data for visualizing real human motions in 3D space (e.g, 'Tiger Woods' in EA Sports, 'Angelina Jolie' in Bear-Wolf movie) and analyzing motions for specific performance (e.g, 'golf swing' and 'walking'). 3D motion-capture system ('VICON') generates a matrix for each motion clip. Here, a column is corresponding to a human's sub-body part and row represents time frames of data capture. Thus, we can extract sub-body part's motion only by selecting specific columns. Different from low-level feature values of video human motion, 3D human motion-capture data matrix are not pixel values, but is closer to human level of semantics.

The future of robotics in hand surgery.

Science.gov (United States)

Liverneaux, P; Nectoux, E; Taleb, C

2009-10-01

Robotics has spread over many surgical fields over the last decade: orthopaedic, cardiovascular, urologic, gynaecologic surgery and various other types of surgery. There are five different types of robots: passive, semiactive and active robots, telemanipulators and simulators. Hand surgery is at a crossroad between orthopaedic surgery, plastic surgery and microsurgery; it has to deal with fixing all sorts of tissues from bone to soft tissues. To our knowledge, there is not any paper focusing on potential clinical applications in this realm, even though robotics could be helpful for hand surgery. One must point out the numerous works on bone tissue with regard to passive robots (such as fluoroscopic navigation as an ancillary for percutaneous screwing in the scaphoid bone). Telemanipulators, especially in microsurgery, can improve surgical motion by suppressing physiological tremor thanks to movement demultiplication (experimental vascular and nervous sutures previously published). To date, the robotic technology has not yet become simple-to-use, cheap and flawless but in the future, it will probably be of great technical help, and even allow remote-controlled surgery overseas.

Cambodian students’ prior knowledge of projectile motion

Science.gov (United States)

Piten, S.; Rakkapao, S.; Prasitpong, S.

2017-09-01

Students always bring intuitive ideas about physics into classes, which can impact what they learn and how successful they are. To examine what Cambodian students think about projectile motion, we have developed seven open-ended questions and applied into grade 11 students before (N=124) and after (N=131) conventional classes. Results revealed several consistent misconceptions, for instance, many students believed that the direction of a velocity vector of a projectile follows the curved path at every position. They also thought the direction of an acceleration (or a force) follows the direction of motion. Observed by a pilot sitting on the plane, the falling object, dropped from a plane moving at a constant initial horizontal speed, would travel backward and land after the point of its release. The greater angle of the launched projectile creates the greater horizontal range. The hand force imparted with the ball leads the ball goes straight to hit the target. The acceleration direction points from the higher position to lower position. The misconceptions will be used as primary resources to develop instructional instruments to promote Cambodian students’ understanding of projectile motion in the following work.

Hesitation and error: Does product placement in an emergency department influence hand hygiene performance?

Science.gov (United States)

Stackelroth, Jenny; Sinnott, Michael; Shaban, Ramon Z

2015-09-01

Existing research has consistently demonstrated poor compliance by health care workers with hand hygiene standards. This study examined the extent to which incorrect hand hygiene occurred as a result of the inability to easily distinguish between different hand hygiene solutions placed at washbasins. A direct observational method was used using ceiling-mounted, motion-activated video camera surveillance in a tertiary referral emergency department in Australia. Data from a 24-hour period on day 10 of the recordings were collected into the Hand Hygiene-Technique Observation Tool based on Feldman's criteria as modified by Larson and Lusk. A total of 459 episodes of hand hygiene were recorded by 6 video cameras in the 24-hour period. The observed overall rate of error in this study was 6.2% (27 episodes). In addition an overall rate of hesitation was 5.8% (26 episodes). There was no statistically significant difference in error rates with the 2 hand washbasin configurations. The amelioration of causes of error and hesitation by standardization of the appearance and relative positioning of hand hygiene solutions at washbasins may translate in to improved hand hygiene behaviors. Placement of moisturizer at the washbasin may not be essential. Crown Copyright © 2015. Published by Elsevier Inc. All rights reserved.

Virtual hand: a 3D tactile interface to virtual environments

Science.gov (United States)

Rogowitz, Bernice E.; Borrel, Paul

2008-02-01

We introduce a novel system that allows users to experience the sensation of touch in a computer graphics environment. In this system, the user places his/her hand on an array of pins, which is moved about space on a 6 degree-of-freedom robot arm. The surface of the pins defines a surface in the virtual world. This "virtual hand" can move about the virtual world. When the virtual hand encounters an object in the virtual world, the heights of the pins are adjusted so that they represent the object's shape, surface, and texture. A control system integrates pin and robot arm motions to transmit information about objects in the computer graphics world to the user. It also allows the user to edit, change and move the virtual objects, shapes and textures. This system provides a general framework for touching, manipulating, and modifying objects in a 3-D computer graphics environment, which may be useful in a wide range of applications, including computer games, computer aided design systems, and immersive virtual worlds.

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

A research on motion design for APP's loading pages based on time perception

Science.gov (United States)

Cao, Huai; Hu, Xiaoyun

2018-04-01

Due to restrictions caused by objective reasons like network bandwidth, hardware performance and etc., waiting is still an inevitable phenomenon that appears in our using mobile-terminal products. Relevant researches show that users' feelings in a waiting scenario can affect their evaluations on the whole product and services the product provides. With the development of user experience and inter-facial design subjects, the role of motion effect in the interface design has attracted more and more scholars' attention. In the current studies, the research theory of motion design in a waiting scenario is imperfect. This article will use the basic theory and experimental research methods of cognitive psychology to explore the motion design's impact on user's time perception when users are waiting for loading APP pages. Firstly, the article analyzes the factors that affect waiting experience of loading APP pages based on the theory of time perception, and then discusses motion design's impact on the level of time-perception when loading pages and its design strategy. Moreover, by the operation analysis of existing loading motion designs, the article classifies the existing loading motions and designs an experiment to verify the impact of different types of motions on the user's time perception. The result shows that the waiting time perception of mobile's terminals' APPs is related to the loading motion types, the combination type of loading motions can effectively shorten the waiting time perception as it scores a higher mean value in the length of time perception.

IAEA safeguards and classified materials

International Nuclear Information System (INIS)

Pilat, J.F.; Eccleston, G.W.; Fearey, B.L.; Nicholas, N.J.; Tape, J.W.; Kratzer, M.

1997-01-01

The international community in the post-Cold War period has suggested that the International Atomic Energy Agency (IAEA) utilize its expertise in support of the arms control and disarmament process in unprecedented ways. The pledges of the US and Russian presidents to place excess defense materials, some of which are classified, under some type of international inspections raises the prospect of using IAEA safeguards approaches for monitoring classified materials. A traditional safeguards approach, based on nuclear material accountancy, would seem unavoidably to reveal classified information. However, further analysis of the IAEA's safeguards approaches is warranted in order to understand fully the scope and nature of any problems. The issues are complex and difficult, and it is expected that common technical understandings will be essential for their resolution. Accordingly, this paper examines and compares traditional safeguards item accounting of fuel at a nuclear power station (especially spent fuel) with the challenges presented by inspections of classified materials. This analysis is intended to delineate more clearly the problems as well as reveal possible approaches, techniques, and technologies that could allow the adaptation of safeguards to the unprecedented task of inspecting classified materials. It is also hoped that a discussion of these issues can advance ongoing political-technical debates on international inspections of excess classified materials

User interface for a tele-operated robotic hand system

Energy Technology Data Exchange (ETDEWEB)

Crawford, Anthony L

2015-03-24

Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.

DESIGN REVIEW OF CAD MODELS USING A NUI LEAP MOTION SENSOR

Directory of Open Access Journals (Sweden)

GÎRBACIA Florin

2015-06-01

Full Text Available Natural User Interfaces (NUI is a relatively new area of research that aims to develop humancomputer interfaces, natural and intuitive, using voice commands, hand movements and gesture recognition, similar to communication between people which also implies body language and gestures. In this paper is presented a natural designed workspace which acquires the user's motion using a Leap Motion sensor and visualizes the CAD models using a CAVE-like 3D visualisation system. The user can modify complex CAD models using bimanual gesture commands in a 3D virtual environment. The developed bimanual gestures for rotate, pan, zoom and explode are presented. From the conducted experiments is established that Leap Motion NUI sensor provides an intuitive tool for design review of CAD models, performed even by users with no experience in CAD systems and virtual environments.

Analysis of the accuracy and robustness of the leap motion controller.

Science.gov (United States)

Weichert, Frank; Bachmann, Daniel; Rudak, Bartholomäus; Fisseler, Denis

2013-05-14

The Leap Motion Controller is a new device for hand gesture controlled user interfaces with declared sub-millimeter accuracy. However, up to this point its capabilities in real environments have not been analyzed. Therefore, this paper presents a first study of a Leap Motion Controller. The main focus of attention is on the evaluation of the accuracy and repeatability. For an appropriate evaluation, a novel experimental setup was developed making use of an industrial robot with a reference pen allowing a position accuracy of 0.2 mm. Thereby, a deviation between a desired 3D position and the average measured positions below 0.2 mm has been obtained for static setups and of 1.2 mm for dynamic setups. Using the conclusion of this analysis can improve the development of applications for the Leap Motion controller in the field of Human-Computer Interaction.

Auditory Motion Elicits a Visual Motion Aftereffect.

Science.gov (United States)

Berger, Christopher C; Ehrsson, H Henrik

2016-01-01

The visual motion aftereffect is a visual illusion in which exposure to continuous motion in one direction leads to a subsequent illusion of visual motion in the opposite direction. Previous findings have been mixed with regard to whether this visual illusion can be induced cross-modally by auditory stimuli. Based on research on multisensory perception demonstrating the profound influence auditory perception can have on the interpretation and perceived motion of visual stimuli, we hypothesized that exposure to auditory stimuli with strong directional motion cues should induce a visual motion aftereffect. Here, we demonstrate that horizontally moving auditory stimuli induced a significant visual motion aftereffect-an effect that was driven primarily by a change in visual motion perception following exposure to leftward moving auditory stimuli. This finding is consistent with the notion that visual and auditory motion perception rely on at least partially overlapping neural substrates.

Auditory Motion Elicits a Visual Motion Aftereffect

Directory of Open Access Journals (Sweden)

Christopher C. Berger

2016-12-01

Full Text Available The visual motion aftereffect is a visual illusion in which exposure to continuous motion in one direction leads to a subsequent illusion of visual motion in the opposite direction. Previous findings have been mixed with regard to whether this visual illusion can be induced cross-modally by auditory stimuli. Based on research on multisensory perception demonstrating the profound influence auditory perception can have on the interpretation and perceived motion of visual stimuli, we hypothesized that exposure to auditory stimuli with strong directional motion cues should induce a visual motion aftereffect. Here, we demonstrate that horizontally moving auditory stimuli induced a significant visual motion aftereffect—an effect that was driven primarily by a change in visual motion perception following exposure to leftward moving auditory stimuli. This finding is consistent with the notion that visual and auditory motion perception rely on at least partially overlapping neural substrates.

A feasibility study of hand kinematics for EVA analysis using magnetic resonance imaging

Science.gov (United States)

Dickenson, Rueben D.; Lorenz, Christine H.; Peterson, Steven W.; Strauss, Alvin M.; Main, John A.

1992-01-01

A new method of analyzing the kinematics of joint motion is developed. Magnetic Resonance Imaging (MRI) offers several distinct advantages. Past methods of studying anatomic joint motion have usually centered on four approaches. These methods are x-ray projection, goniometric linkage analysis, sonic digitization, and landmark measurement of photogrammetry. Of these four, only x-ray is applicable for in vivo studies. The remaining three methods utilize other types of projections of inter-joint measurements, which can cause various types of error. MRI offers accuracy in measurement due to its tomographic nature (as opposed to projection) without the problems associated with x-ray dosage. Once the data acquisition of MR images was complete, the images were processed using a 3D volume rendering workstation. The metacarpalphalangeal (MCP) joint of the left index finger was selected and reconstructed into a three-dimensional graphic display. From the reconstructed volumetric images, measurements of the angles of movement of the applicable bones were obtained and processed by analyzing the screw motion of the MCP joint. Landmark positions were chosen at distinctive locations of the joint at fixed image threshold intensity levels to ensure repeatability. The primarily two dimensional planar motion of this joint was then studied using a method of constructing coordinate systems using three (or more) points. A transformation matrix based on a world coordinate system described the location and orientation of a local target coordinate system. Future research involving volume rendering of MRI data focusing on the internal kinematics of the hand's individual ligaments, cartilage, tendons, etc. will follow. Its findings will show the applicability of MRI to joint kinematics for gaining further knowledge of the hand-glove (power assisted) design for extravehicular activity (EVA).

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...

Design of an eye-in-hand sensing and servo control framework for harvesting robotics in dense vegetation

NARCIS (Netherlands)

Barth, Ruud; Hemming, Jochen; Henten, van E.J.

2016-01-01

A modular software framework design that allows flexible implementation of eye-in-hand sensing and motion control for agricultural robotics in dense vegetation is reported. Harvesting robots in cultivars with dense vegetation require multiple viewpoints and on-line trajectory adjustments in order

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.

Classifying features in CT imagery: accuracy for some single- and multiple-species classifiers

Science.gov (United States)

Daniel L. Schmoldt; Jing He; A. Lynn Abbott

1998-01-01

Our current approach to automatically label features in CT images of hardwood logs classifies each pixel of an image individually. These feature classifiers use a back-propagation artificial neural network (ANN) and feature vectors that include a small, local neighborhood of pixels and the distance of the target pixel to the center of the log. Initially, this type of...

Motion Primitives for Action Recognition

DEFF Research Database (Denmark)

Fihl, Preben; Holte, Michael Boelstoft; Moeslund, Thomas B.

2007-01-01

the actions as a sequence of temporal isolated instances, denoted primitives. These primitives are each defined by four features extracted from motion images. The primitives are recognized in each frame based on a trained classifier resulting in a sequence of primitives. From this sequence we recognize......The number of potential applications has made automatic recognition of human actions a very active research area. Different approaches have been followed based on trajectories through some state space. In this paper we also model an action as a trajectory through a state space, but we represent...... different temporal actions using a probabilistic Edit Distance method. The method is tested on different actions with and without noise and the results show recognition rates of 88.7% and 85.5%, respectively....

Action Recognition using Motion Primitives

DEFF Research Database (Denmark)

Moeslund, Thomas B.; Fihl, Preben; Holte, Michael Boelstoft

the actions as a sequence of temporal isolated instances, denoted primitives. These primitives are each defined by four features extracted from motion images. The primitives are recognized in each frame based on a trained classifier resulting in a sequence of primitives. From this sequence we recognize......The number of potential applications has made automatic recognition of human actions a very active research area. Different approaches have been followed based on trajectories through some state space. In this paper we also model an action as a trajectory through a state space, but we represent...... different temporal actions using a probabilistic Edit Distance method. The method is tested on different actions with and without noise and the results show recognizing rates of 88.7% and 85.5%, respectively....

Long Term Effects of Volar-Dorsal Wrist/ Hand Immobilization Splint on Motor Components and Function of Stroke Patients

Directory of Open Access Journals (Sweden)

Malek Amini

2015-09-01

Full Text Available Objectives: This study was designed to determine the effects of Volar-Dorsal Wrist/Hand Immobilization Splint on upper extremity motor components and function of stroke patients. Methods: fourteen patients were participated in this study. The patients were selected based on the inclusion and exclusion criteria, and were given the splint after a primary evaluation. They were re-evaluated after one, two and three months. In order to assess spasticity, the range of motion, and upper extremity function, the Modified Ashworth Scale (MAS, the goniometry, and fugl-meyer assessment were used respectively. The splints were used 2 hours during the day and the whole night in three months. Results: The amount of the upper extremity function changes (P(v=0.07 was not significant: and the amount of the ranges of the motion changes (P(v=0.02 were statistically significant. The changes in range of  motion of other joints and spasticity were not significant (P(v>.05. Discussion: The results of the present study indicated that, volar-dorsal wrist/hand immobilization splints can improve the AROM of metha-carpophalengeal joints. Although spasticity, the range of motion of other joints, and the upper extremity function went through some changes due to  splinting (3month, these changes were not significant, which requires further research.

Pendular motion in the brachiation of captive Lagothrix and Ateles.

Science.gov (United States)

Turnquist, J E; Schmitt, D; Rose, M D; Cant, J G

1999-01-01

Pendular motion during brachiation of captive Lagothrix lagothricha lugens and Ateles fusciceps robustus was analyzed to demonstrate similarities, and differences, between these two closely related large bodied atelines. This is the first captive study of the kinematics of brachiation in Lagothrix. Videorecordings of one adult male of each species were made in a specially designed cage constructed at the DuMond Conservancy/Monkey Jungle, Miami, FL. Java software (Jandel Scientific Inc., San Rafael, CA) was used for frame-by-frame kinematic analysis of individual strides/steps. Results demonstrate that the sequence of hand and tail contacts differ significantly between the two species with Lagothrix using a new tail hold with every hand hold, while Ateles generally utilizes a new tail hold with only every other hand hold. Stride length and stride frequency, even after adjusting for limb length, also differ significantly between the two species. Lagothrix brachiation utilizes short, choppy strides with quick hand holds, while Ateles uses long, fluid strides with longer hand holds. During brachiation not only is Lagothrix's body significantly less horizontal than that of Ateles but also, within Ateles, there are significant differences between steps depending on tail use. Because of the unique nature of tail use in Ateles, many aspects of body positioning in Lagothrix more closely resemble Ateles steps without a simultaneous tail hold rather than those with one. Overall pendulum length in Lagothrix is shorter than in Ateles. Tail use in Ateles has a significant effect on maximum pendulum length during a step. Although neither species achieves the extreme pendulum effect and long period of free-flight of hylobatids in fast ricochetal brachiation, in captivity both consistently demonstrate effective brachiation with brief periods of free-flight and pendular motion. Morphological similarities between ateline brachiators and hylobatids are fewer and less pronounced in

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 ...

Companion classroom activities for "stop faking it!" force and motion

CERN Document Server

Robertson, William C

2011-01-01

Never has it been so easy for educators to learn to teach physical science with confidence. Award-winning author Bill Robertson launched his bestselling Stop Faking It! series in 2002 with Force and Motion--offering elementary and middle school teachers a jargon-free way to learn the background for teaching physical science with confidence. Combining easy-to-understand if irreverent explanations and quirky diagrams, Stop Faking It! Force and Motion helped thousands of teachers, parents, and homeschoolers conquer topics from Newton s laws to the physics of space travel. Now Companion Classroom Activities for Stop Faking It! Force and Motion proves an ideal supplement to the original book or a valuable resource of its own. The hands-on activities and highly readable explanations allow students to first investigate concepts, then discuss learned concepts, and finally apply the concepts to everyday situations. Robertson's wit and humor are sure to keep students and teachers entertained while they tackle topics ...

LCC: Light Curves Classifier

Science.gov (United States)

Vo, Martin

2017-08-01

Light Curves Classifier uses data mining and machine learning to obtain and classify desired objects. This task can be accomplished by attributes of light curves or any time series, including shapes, histograms, or variograms, or by other available information about the inspected objects, such as color indices, temperatures, and abundances. After specifying features which describe the objects to be searched, the software trains on a given training sample, and can then be used for unsupervised clustering for visualizing the natural separation of the sample. The package can be also used for automatic tuning parameters of used methods (for example, number of hidden neurons or binning ratio). Trained classifiers can be used for filtering outputs from astronomical databases or data stored locally. The Light Curve Classifier can also be used for simple downloading of light curves and all available information of queried stars. It natively can connect to OgleII, OgleIII, ASAS, CoRoT, Kepler, Catalina and MACHO, and new connectors or descriptors can be implemented. In addition to direct usage of the package and command line UI, the program can be used through a web interface. Users can create jobs for ”training” methods on given objects, querying databases and filtering outputs by trained filters. Preimplemented descriptors, classifier and connectors can be picked by simple clicks and their parameters can be tuned by giving ranges of these values. All combinations are then calculated and the best one is used for creating the filter. Natural separation of the data can be visualized by unsupervised clustering.

Volumetric analysis of hand, reciprocating and rotary instrumentation techniques in primary molars using spiral computed tomography: An in vitro comparative study.

Science.gov (United States)

Jeevanandan, Ganesh; Thomas, Eapen

2018-01-01

This present study was conducted to analyze the volumetric change in the root canal space and instrumentation time between hand files, hand files in reciprocating motion, and three rotary files in primary molars. One hundred primary mandibular molars were randomly allotted to one of the five groups. Instrumentation was done using Group I; nickel-titanium (Ni-Ti) hand file, Group II; Ni-Ti hand files in reciprocating motion, Group III; Race rotary files, Group IV; prodesign pediatric rotary files, and Group V; ProTaper rotary files. The mean volumetric changes were assessed using pre- and post-operative spiral computed tomography scans. Instrumentation time was recorded. Statistical analysis to access intergroup comparison for mean canal volume and instrumentation time was done using Bonferroni-adjusted Mann-Whitney test and Mann-Whitney test, respectively. Intergroup comparison of mean canal volume showed statistically significant difference between Groups II versus IV, Groups III versus V, and Groups IV versus V. Intergroup comparison of mean instrumentation time showed statistically significant difference among all the groups except Groups IV versus V. Among the various instrumentation techniques available, rotary instrumentation is the considered to be the better instrumentation technique for canal preparation in primary teeth.

The effect of patient anxiety and depression on motion during myocardial perfusion SPECT imaging.

Science.gov (United States)

Lyra, Vassiliki; Kallergi, Maria; Rizos, Emmanouil; Lamprakopoulos, Georgios; Chatziioannou, Sofia N

2016-08-22

Patient motion during myocardial perfusion SPECT imaging (MPI) may be triggered by a patient's physical and/or psychological discomfort. The aim of this study was to investigate the impact of state anxiety (patient's reaction to exam-related stress), trait anxiety (patient's personality characteristic) and depression on patient motion during MPI. All patients that underwent MPI in our department in a six-month period were prospectively enrolled. One hundred eighty-three patients (45 females; 138 males) filled in the State-Trait Anxiety Inventory (STAI) and the Beck Depression Inventory (BDI), along with a short questionnaire regarding their age, height and weight, level of education in years, occupation, and marital status. Cardiovascular and other co-morbidity factors were also evaluated. Through inspection of raw data on cinematic display, the presence or absence of patient motion was registered and classified into mild, moderate and severe, for both phases involved in image acquisition. The correlation of patient motion in the stress and delay phases of MPI and each of the other variables was investigated and the corresponding Pearson's coefficients of association were calculated. The anxiety-motion (r = 0.43, P depression-motion (r = 0.32, P patients. All the other variables did not demonstrate any association with motion in MPI, except a weak correlation between age and motion in females (r = 0.23, P anxiety-motion and depression-motion identified in female patients represents the first supporting evidence of psychological discomfort as predisposing factor for patient motion during MPI.

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.

15 CFR 4.8 - Classified Information.

Science.gov (United States)

2010-01-01

... 15 Commerce and Foreign Trade 1 2010-01-01 2010-01-01 false Classified Information. 4.8 Section 4... INFORMATION Freedom of Information Act § 4.8 Classified Information. In processing a request for information..., the information shall be reviewed to determine whether it should remain classified. Ordinarily the...

Suppurative peritonitis by Klebsiella pneumoniae in captive gold-handed tamarin (Saguinus midas midas).

Science.gov (United States)

Guerra, Maria F L; Teixeira, Rodrigo H F; Ribeiro, Vanessa L; Cunha, Marcos P V; Oliveira, Maria G X; Davies, Yamê M; Silva, Ketrin C; Silva, Ana P S; Lincopan, Nilton; Moreno, Andrea M; Knöbl, Terezinha

2016-02-01

This report describes an outbreak of suppurative peritonitis caused by Klebsiella pneumoniae in an adult female of captive golden-handed tamarin (Saguinus midas midas). Two virulent and multidrug-resistant strains were isolated and classified through MLST as ST60 and ST1263. The microbiological diagnosis works as a support tool for preventive measures. © 2015 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Binocular Vision-Based Position and Pose of Hand Detection and Tracking in Space

Science.gov (United States)

Jun, Chen; Wenjun, Hou; Qing, Sheng

After the study of image segmentation, CamShift target tracking algorithm and stereo vision model of space, an improved algorithm based of Frames Difference and a new space point positioning model were proposed, a binocular visual motion tracking system was constructed to verify the improved algorithm and the new model. The problem of the spatial location and pose of the hand detection and tracking have been solved.

The development of human factors experimental evaluation technology - 3-dimensional measurement system for motion analysis

Energy Technology Data Exchange (ETDEWEB)

Park, Kyung Soo; Pan, Young Hwan; Lee, Ahn Jae; Lee, Kyung Tae; Lim, Chi Hwan; Chang, Pil Sik; Lee, Seok Woo; Han, Sung Wook; Park, Chul Wook [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)

1996-07-01

Measurement of human motion is important in the application of ergonomics. We developed a system which can measure body movement, especially= hand movement using advanced direct video measurement technology. This system has as dynamic accuracy with 1% error and the sampling rate to 6 - 10 Hz, and can analyse the trajectory and speed of the marker. The use of passive marker obviates the need for a marker telemetry system and minimize motion disruption. 18 refs., 4 tabs., 6 figs. (author)

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.

Micro-motion Recognition of Spatial Cone Target Based on ISAR Image Sequences

Directory of Open Access Journals (Sweden)

Changyong Shu

2016-04-01

Full Text Available The accurate micro-motions recognition of spatial cone target is the foundation of the characteristic parameter acquisition. For this reason, a micro-motion recognition method based on the distinguishing characteristics extracted from the Inverse Synthetic Aperture Radar (ISAR sequences is proposed in this paper. The projection trajectory formula of cone node strong scattering source and cone bottom slip-type strong scattering sources, which are located on the spatial cone target, are deduced under three micro-motion types including nutation, precession, and spinning, and the correctness is verified by the electromagnetic simulation. By comparison, differences are found among the projection of the scattering sources with different micro-motions, the coordinate information of the scattering sources in the Inverse Synthetic Aperture Radar sequences is extracted by the CLEAN algorithm, and the spinning is recognized by setting the threshold value of Doppler. The double observation points Interacting Multiple Model Kalman Filter is used to separate the scattering sources projection of the nutation target or precession target, and the cross point number of each scattering source’s projection track is used to classify the nutation or precession. Finally, the electromagnetic simulation data are used to verify the effectiveness of the micro-motion recognition method.

Analysis of the Accuracy and Robustness of the Leap Motion Controller

Directory of Open Access Journals (Sweden)

Denis Fisseler

2013-05-01

Full Text Available The Leap Motion Controller is a new device for hand gesture controlled user interfaces with declared sub-millimeter accuracy. However, up to this point its capabilities in real environments have not been analyzed. Therefore, this paper presents a first study of a Leap Motion Controller. The main focus of attention is on the evaluation of the accuracy and repeatability. For an appropriate evaluation, a novel experimental setup was developed making use of an industrial robot with a reference pen allowing a position accuracy of 0.2 mm. Thereby, a deviation between a desired 3D position and the average measured positions below 0.2mmhas been obtained for static setups and of 1.2mmfor dynamic setups. Using the conclusion of this analysis can improve the development of applications for the Leap Motion controller in the field of Human-Computer Interaction.

Fingerprint prediction using classifier ensembles

CSIR Research Space (South Africa)

Molale, P

2011-11-01

Full Text Available ); logistic discrimination (LgD), k-nearest neighbour (k-NN), artificial neural network (ANN), association rules (AR) decision tree (DT), naive Bayes classifier (NBC) and the support vector machine (SVM). The performance of several multiple classifier systems...

A first analysis of the mean motion of CHAMP

Directory of Open Access Journals (Sweden)

F. Deleflie

2003-01-01

Full Text Available The present study consists in studying the mean orbital motion of the CHAMP satellite, through a single long arc on a period of time of 200 days in 2001. We actually investigate the sensibility of its mean motion to its accelerometric data, as measures of the surface forces, over that period. In order to accurately determine the mean motion of CHAMP, we use “observed" mean orbital elements computed, by filtering, from 1-day GPS orbits. On the other hand, we use a semi-analytical model to compute the arc. It consists in numerically integrating the effects of the mean potentials (due to the Earth and the Moon and Sun, and the effects of mean surfaces forces acting on the satellite. These later are, in case of CHAMP, provided by an averaging of the Gauss system of equations. Results of the fit of the long arc give a relative sensibility of about 10-3, although our gravitational mean model is not well suited to describe very low altitude orbits. This technique, which is purely dynamical, enables us to control the decreasing of the trajectory altitude, as a possibility to validate accelerometric data on a long term basis.Key words. Mean orbital motion, accelerometric data

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.

Motion Correction of Single-Voxel Spectroscopy by Independent Component Analysis Applied to Spectra From Nonanesthetized Pediatric Subjects

DEFF Research Database (Denmark)

de Nijs, Robin; Miranda, Maria J.; Hansen, Lars Kai

2009-01-01

For single-voxel spectroscopy, the acquisition of the spectrum is typically repeated n times and then combined with a factor in order to improve the signal-to-noise ratio. In practice, the acquisitions are not only affected by random noise but also by physiologic motion and subject movements. Since...... the influence of physiologic motion such as cardiac and respiratory motion on the data is limited, it can be compensated for without data loss. Individual acquisitions hampered by subject movements, on the other hand, need to be rejected if no correction or compensation is possible. If the individual...

Leap motion controlled videogame-based therapy for rehabilitation of elderly patients with subacute stroke: a feasibility pilot study.

Science.gov (United States)

Iosa, Marco; Morone, Giovanni; Fusco, Augusto; Castagnoli, Marcello; Fusco, Francesca Romana; Pratesi, Luca; Paolucci, Stefano

2015-08-01

The leap motion controller (LMC) is a new optoelectronic system for capturing motion of both hands and controlling a virtual environment. Differently from previous devices, it optoelectronically tracks the fine movements of fingers neither using glows nor markers. This pilot study explored the feasibility of adapting the LMC, developed for videogames, to neurorehabilitation of elderly with subacute stroke. Four elderly patients (71.50 ± 4.51 years old) affected by stroke in subacute phase were enrolled and tested in a cross-over pilot trial in which six sessions of 30 minutes of LMC videogame-based therapy were added on conventional therapy. Measurements involved participation to the sessions, evaluated by means of the Pittsburgh Rehabilitation Participation Scale, hand ability and grasp force evaluated respectively by means of the Abilhand Scale and by means of the dynamometer. Neither adverse effects nor spasticity increments were observed during LMC training. Participation to the sessions was excellent in three patients and very good in one patient during the LMC trial. In this period, patients showed a significantly higher improvement in hand abilities (P = 0.028) and grasp force (P = 0.006). This feasibility pilot study was the first one using leap motion controller for conducting a videogame-based therapy. This study provided a proof of concept that LMC can be a suitable tool even for elderly patients with subacute stroke. LMC training was in fact performed with a high level of active participation, without adverse effects, and contributed to increase the recovery of hand abilities.

Decoding Individual Finger Movements from One Hand Using Human EEG Signals

Science.gov (United States)

Gonzalez, Jania; Ding, Lei

2014-01-01

Brain computer interface (BCI) is an assistive technology, which decodes neurophysiological signals generated by the human brain and translates them into control signals to control external devices, e.g., wheelchairs. One problem challenging noninvasive BCI technologies is the limited control dimensions from decoding movements of, mainly, large body parts, e.g., upper and lower limbs. It has been reported that complicated dexterous functions, i.e., finger movements, can be decoded in electrocorticography (ECoG) signals, while it remains unclear whether noninvasive electroencephalography (EEG) signals also have sufficient information to decode the same type of movements. Phenomena of broadband power increase and low-frequency-band power decrease were observed in EEG in the present study, when EEG power spectra were decomposed by a principal component analysis (PCA). These movement-related spectral structures and their changes caused by finger movements in EEG are consistent with observations in previous ECoG study, as well as the results from ECoG data in the present study. The average decoding accuracy of 77.11% over all subjects was obtained in classifying each pair of fingers from one hand using movement-related spectral changes as features to be decoded using a support vector machine (SVM) classifier. The average decoding accuracy in three epilepsy patients using ECoG data was 91.28% with the similarly obtained features and same classifier. Both decoding accuracies of EEG and ECoG are significantly higher than the empirical guessing level (51.26%) in all subjects (pEEG as in ECoG, and demonstrates the feasibility of discriminating finger movements from one hand using EEG. These findings are promising to facilitate the development of BCIs with rich control signals using noninvasive technologies. PMID:24416360

It's, Like, Relative Motion at the Mall

Science.gov (United States)

Robinett, R. W.

2003-03-01

Almost all introductory textbooks, both algebra- and calculus-based, include sections on relative motion and relative velocity, in both one and two dimensions. The most popular examples in discussions of 2-D relative velocity in such texts seem to be the motion of airplanes/blimps flying in the presence of wind or the conceptually identical cases of boats/rafts piloted across rivers/streams, including the effects of currents. These and similar cases are rather removed from the everyday experience of some students, and the use of simple lecture demonstrations to illustrate these concepts can be quite useful. For example, the motion of a simple toy "wind-up" car moving at constant speed across a horizontal tabletop, with a plastic sheet underneath providing the "moving frame of reference," can illustrate many aspects of such problems, including the need to "point" the plane/boat in an appropriate direction, just as illustrated in many textbook figures. On the other hand, it is also useful if students can directly experience concepts for themselves, especially in a kinesthetic manner, but there are seemingly far fewer human-sized lecture demonstrations on this topic. In this paper, we will point out one such example which might well be just a short drive away.

The fusion of large scale classified side-scan sonar image mosaics.

Science.gov (United States)

Reed, Scott; Tena, Ruiz Ioseba; Capus, Chris; Petillot, Yvan

2006-07-01

This paper presents a unified framework for the creation of classified maps of the seafloor from sonar imagery. Significant challenges in photometric correction, classification, navigation and registration, and image fusion are addressed. The techniques described are directly applicable to a range of remote sensing problems. Recent advances in side-scan data correction are incorporated to compensate for the sonar beam pattern and motion of the acquisition platform. The corrected images are segmented using pixel-based textural features and standard classifiers. In parallel, the navigation of the sonar device is processed using Kalman filtering techniques. A simultaneous localization and mapping framework is adopted to improve the navigation accuracy and produce georeferenced mosaics of the segmented side-scan data. These are fused within a Markovian framework and two fusion models are presented. The first uses a voting scheme regularized by an isotropic Markov random field and is applicable when the reliability of each information source is unknown. The Markov model is also used to inpaint regions where no final classification decision can be reached using pixel level fusion. The second model formally introduces the reliability of each information source into a probabilistic model. Evaluation of the two models using both synthetic images and real data from a large scale survey shows significant quantitative and qualitative improvement using the fusion approach.

Neural extrapolation of motion for a ball rolling down an inclined plane.

Science.gov (United States)

La Scaleia, Barbara; Lacquaniti, Francesco; Zago, Myrka

2014-01-01

It is known that humans tend to misjudge the kinematics of a target rolling down an inclined plane. Because visuomotor responses are often more accurate and less prone to perceptual illusions than cognitive judgments, we asked the question of how rolling motion is extrapolated for manual interception or drawing tasks. In three experiments a ball rolled down an incline with kinematics that differed as a function of the starting position (4 different positions) and slope (30°, 45° or 60°). In Experiment 1, participants had to punch the ball as it fell off the incline. In Experiment 2, the ball rolled down the incline but was stopped at the end; participants were asked to imagine that the ball kept moving and to punch it. In Experiment 3, the ball rolled down the incline and was stopped at the end; participants were asked to draw with the hand in air the trajectory that would be described by the ball if it kept moving. We found that performance was most accurate when motion of the ball was visible until interception and haptic feedback of hand-ball contact was available (Experiment 1). However, even when participants punched an imaginary moving ball (Experiment 2) or drew in air the imaginary trajectory (Experiment 3), they were able to extrapolate to some extent global aspects of the target motion, including its path, speed and arrival time. We argue that the path and kinematics of a ball rolling down an incline can be extrapolated surprisingly well by the brain using both visual information and internal models of target motion.

Neural extrapolation of motion for a ball rolling down an inclined plane.

Directory of Open Access Journals (Sweden)

Barbara La Scaleia

Full Text Available It is known that humans tend to misjudge the kinematics of a target rolling down an inclined plane. Because visuomotor responses are often more accurate and less prone to perceptual illusions than cognitive judgments, we asked the question of how rolling motion is extrapolated for manual interception or drawing tasks. In three experiments a ball rolled down an incline with kinematics that differed as a function of the starting position (4 different positions and slope (30°, 45° or 60°. In Experiment 1, participants had to punch the ball as it fell off the incline. In Experiment 2, the ball rolled down the incline but was stopped at the end; participants were asked to imagine that the ball kept moving and to punch it. In Experiment 3, the ball rolled down the incline and was stopped at the end; participants were asked to draw with the hand in air the trajectory that would be described by the ball if it kept moving. We found that performance was most accurate when motion of the ball was visible until interception and haptic feedback of hand-ball contact was available (Experiment 1. However, even when participants punched an imaginary moving ball (Experiment 2 or drew in air the imaginary trajectory (Experiment 3, they were able to extrapolate to some extent global aspects of the target motion, including its path, speed and arrival time. We argue that the path and kinematics of a ball rolling down an incline can be extrapolated surprisingly well by the brain using both visual information and internal models of target motion.

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

Multiclassifier system with hybrid learning applied to the control of bioprosthetic hand.

Science.gov (United States)

Kurzynski, Marek; Krysmann, Maciej; Trajdos, Pawel; Wolczowski, Andrzej

2016-02-01

In this paper the problem of recognition of the intended hand movements for the control of bio-prosthetic hand is addressed. The proposed method is based on recognition of electromiographic (EMG) and mechanomiographic (MMG) biosignals using a multiclassifier system (MCS) working in a two-level structure with a dynamic ensemble selection (DES) scheme and original concepts of competence function. Additionally, feedback information coming from bioprosthesis sensors on the correct/incorrect classification is applied to the adjustment of the combining mechanism during MCS operation through adaptive tuning competences of base classifiers depending on their decisions. Three MCS systems operating in decision tree structure and with different tuning algorithms are developed. In the MCS1 system, competence is uniformly allocated to each class belonging to the group indicated by the feedback signal. In the MCS2 system, the modification of competence depends on the node of decision tree at which a correct/incorrect classification is made. In the MCS3 system, the randomized model of classifier and the concept of cross-competence are used in the tuning procedure. Experimental investigations on the real data and computer-simulated procedure of generating feedback signals are performed. In these investigations classification accuracy of the MCS systems developed is compared and furthermore, the MCS systems are evaluated with respect to the effectiveness of the procedure of tuning competence. The results obtained indicate that modification of competence of base classifiers during the working phase essentially improves performance of the MCS system and that this improvement depends on the MCS system and tuning method used. Copyright © 2015 Elsevier Ltd. All rights reserved.

Feasibility study of a hand guided robotic drill for cochleostomy.

Science.gov (United States)

Brett, Peter; Du, Xinli; Zoka-Assadi, Masoud; Coulson, Chris; Reid, Andrew; Proops, David

2014-01-01

The concept of a hand guided robotic drill has been inspired by an automated, arm supported robotic drill recently applied in clinical practice to produce cochleostomies without penetrating the endosteum ready for inserting cochlear electrodes. The smart tactile sensing scheme within the drill enables precise control of the state of interaction between tissues and tools in real-time. This paper reports development studies of the hand guided robotic drill where the same consistent outcomes, augmentation of surgeon control and skill, and similar reduction of induced disturbances on the hearing organ are achieved. The device operates with differing presentation of tissues resulting from variation in anatomy and demonstrates the ability to control or avoid penetration of tissue layers as required and to respond to intended rather than involuntary motion of the surgeon operator. The advantage of hand guided over an arm supported system is that it offers flexibility in adjusting the drilling trajectory. This can be important to initiate cutting on a hard convex tissue surface without slipping and then to proceed on the desired trajectory after cutting has commenced. The results for trials on phantoms show that drill unit compliance is an important factor in the design.

Motion of the esophagus due to cardiac motion.

Directory of Open Access Journals (Sweden)

Jacob Palmer

Full Text Available When imaging studies (e.g. CT are used to quantify morphological changes in an anatomical structure, it is necessary to understand the extent and source of motion which can give imaging artifacts (e.g. blurring or local distortion. The objective of this study was to assess the magnitude of esophageal motion due to cardiac motion. We used retrospective electrocardiogram-gated contrast-enhanced computed tomography angiography images for this study. The anatomic region from the carina to the bottom of the heart was taken at deep-inspiration breath hold with the patients' arms raised above their shoulders, in a position similar to that used for radiation therapy. The esophagus was delineated on the diastolic phase of cardiac motion, and deformable registration was used to sequentially deform the images in nearest-neighbor phases among the 10 cardiac phases, starting from the diastolic phase. Using the 10 deformation fields generated from the deformable registration, the magnitude of the extreme displacements was then calculated for each voxel, and the mean and maximum displacement was calculated for each computed tomography slice for each patient. The average maximum esophageal displacement due to cardiac motion for all patients was 5.8 mm (standard deviation: 1.6 mm, maximum: 10.0 mm in the transverse direction. For 21 of 26 patients, the largest esophageal motion was found in the inferior region of the heart; for the other patients, esophageal motion was approximately independent of superior-inferior position. The esophagus motion was larger at cardiac phases where the electrocardiogram R-wave occurs. In conclusion, the magnitude of esophageal motion near the heart due to cardiac motion is similar to that due to other sources of motion, including respiratory motion and intra-fraction motion. A larger cardiac motion will result into larger esophagus motion in a cardiac cycle.

Classifying Sluice Occurrences in Dialogue

DEFF Research Database (Denmark)

Baird, Austin; Hamza, Anissa; Hardt, Daniel

2018-01-01

perform manual annotation with acceptable inter-coder agreement. We build classifier models with Decision Trees and Naive Bayes, with accuracy of 67%. We deploy a classifier to automatically classify sluice occurrences in OpenSubtitles, resulting in a corpus with 1.7 million occurrences. This will support....... Despite this, the corpus can be of great use in research on sluicing and development of systems, and we are making the corpus freely available on request. Furthermore, we are in the process of improving the accuracy of sluice identification and annotation for the purpose of created a subsequent version...

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...

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...

Double nerve intraneural interface implant on a human amputee for robotic hand control.

Science.gov (United States)

Rossini, Paolo M; Micera, Silvestro; Benvenuto, Antonella; Carpaneto, Jacopo; Cavallo, Giuseppe; Citi, Luca; Cipriani, Christian; Denaro, Luca; Denaro, Vincenzo; Di Pino, Giovanni; Ferreri, Florinda; Guglielmelli, Eugenio; Hoffmann, Klaus-Peter; Raspopovic, Stanisa; Rigosa, Jacopo; Rossini, Luca; Tombini, Mario; Dario, Paolo

2010-05-01

The principle underlying this project is that, despite nervous reorganization following upper limb amputation, original pathways and CNS relays partially maintain their function and can be exploited for interfacing prostheses. Aim of this study is to evaluate a novel peripheral intraneural multielectrode for multi-movement prosthesis control and for sensory feed-back, while assessing cortical reorganization following the re-acquired stream of data. Four intrafascicular longitudinal flexible multielectrodes (tf-LIFE4) were implanted in the median and ulnar nerves of an amputee; they reliably recorded output signals for 4 weeks. Artificial intelligence classifiers were used off-line to analyse LIFE signals recorded during three distinct hand movements under voluntary order. Real-time control of motor output was achieved for the three actions. When applied off-line artificial intelligence reached >85% real-time correct classification of trials. Moreover, different types of current stimulation were determined to allow reproducible and localized hand/fingers sensations. Cortical organization was observed via TMS in parallel with partial resolution of symptoms due to the phantom-limb syndrome (PLS). tf-LIFE4s recorded output signals in human nerves for 4 weeks, though the efficacy of sensory stimulation decayed after 10 days. Recording from a number of fibres permitted a high percentage of distinct actions to be classified correctly. Reversal of plastic changes and alleviation of PLS represent corollary findings of potential therapeutic benefit. This study represents a breakthrough in robotic hand use in amputees. Copyright 2010 International Federation of Clinical Neurophysiology. Published by Elsevier Ireland Ltd. All rights reserved.

Influence of Visual Motion, Suggestion, and Illusory Motion on Self-Motion Perception in the Horizontal Plane.

Science.gov (United States)

Rosenblatt, Steven David; Crane, Benjamin Thomas

2015-01-01

A moving visual field can induce the feeling of self-motion or vection. Illusory motion from static repeated asymmetric patterns creates a compelling visual motion stimulus, but it is unclear if such illusory motion can induce a feeling of self-motion or alter self-motion perception. In these experiments, human subjects reported the perceived direction of self-motion for sway translation and yaw rotation at the end of a period of viewing set visual stimuli coordinated with varying inertial stimuli. This tested the hypothesis that illusory visual motion would influence self-motion perception in the horizontal plane. Trials were arranged into 5 blocks based on stimulus type: moving star field with yaw rotation, moving star field with sway translation, illusory motion with yaw, illusory motion with sway, and static arrows with sway. Static arrows were used to evaluate the effect of cognitive suggestion on self-motion perception. Each trial had a control condition; the illusory motion controls were altered versions of the experimental image, which removed the illusory motion effect. For the moving visual stimulus, controls were carried out in a dark room. With the arrow visual stimulus, controls were a gray screen. In blocks containing a visual stimulus there was an 8s viewing interval with the inertial stimulus occurring over the final 1s. This allowed measurement of the visual illusion perception using objective methods. When no visual stimulus was present, only the 1s motion stimulus was presented. Eight women and five men (mean age 37) participated. To assess for a shift in self-motion perception, the effect of each visual stimulus on the self-motion stimulus (cm/s) at which subjects were equally likely to report motion in either direction was measured. Significant effects were seen for moving star fields for both translation (p = 0.001) and rotation (pperception was shifted in the direction consistent with the visual stimulus. Arrows had a small effect on self-motion

Hand hygiene after touching a patient's surroundings: the opportunities most commonly missed.

Science.gov (United States)

FitzGerald, G; Moore, G; Wilson, A P R

2013-05-01

Healthcare workers generally underestimate the role of environmental surfaces in the transmission of infection, and compliance with hand hygiene following contact with the environment is generally lower than following direct patient contact. To reduce the risk of onward transmission, healthcare workers must identify the need to wash hands with specific tasks or events. To observe the movement of staff in critical care and general wards and determine the routes most commonly travelled and the surfaces most frequently touched with and without appropriate hand hygiene. Fifty-eight 90 min sessions of unobtrusive observation were made in open bays and isolation rooms. Link analysis was used to record staff movement from one location to another as well as the frequency of motion. Hand-hygiene audits were conducted using the World Health Organization 'five moments for hand hygiene' observational tool. In critical care, the majority of movement occurred within the bed space. The bedside computer and equipment trolley were the surfaces most commonly touched, often immediately after patient contact. In the general ward, movement between bed spaces was more common and observed hand hygiene ranged from 25% to 33%. Regardless of ward type, observed hand-hygiene compliance when touching the patient immediately on entering an isolation room was less than 30%. Healthcare workers must be made aware that bacterial spread can occur even during activities of perceived low risk. Education and intervention programmes should focus on the potential contamination of ward computers, case notes and door handles. Copyright © 2013 The Healthcare Infection Society. Published by Elsevier Ltd. All rights reserved.

Comparison of defects in ProTaper hand-operated and engine-driven instruments after clinical use.

Science.gov (United States)

Cheung, G S P; Bian, Z; Shen, Y; Peng, B; Darvell, B W

2007-03-01

To compare the type of defects and mode of material failure of engine-driven and hand-operated ProTaper instruments after clinical use. A total of 401 hand-operated and 325 engine-driven ProTaper instruments were discarded from an endodontic clinic over 17 months. Those that had fractured were examined for plastic deformation in lateral view and remounted for fractographical examination in scanning electron microscope. The mode of fracture was classified as 'fatigue' or 'shear' failure. The lengths of fractured segments in both instruments were recorded. Any distortion in hand instrument was noted. Data were analysed using chi-square, Fisher's exact or Student's t-test, where appropriate. Approximately 14% of all discarded hand-operated instruments and 14% of engine-driven instruments were fractured. About 62% of hand instruments failed because of shear fracture, compared with approximately 66% of engine-driven instruments as a result of fatigue (P hand instruments were affected by shear, and either remained intact or was fractured, compared with 5% of engine-driven instruments (P hand versus engine-driven group (P hand instruments were discarded intact but distorted (rarely for engine-driven instruments); all were in the form of unscrewing of the flutes. The location of defects in hand Finishing instruments was significantly closer to the tip than that for Shaping instruments (P ProTaper engine-driven and hand-operated instruments appeared to be different, with shear failure being more prevalent in the latter.

The effect of patient anxiety and depression on motion during myocardial perfusion SPECT imaging

International Nuclear Information System (INIS)

Lyra, Vassiliki; Kallergi, Maria; Rizos, Emmanouil; Lamprakopoulos, Georgios; Chatziioannou, Sofia N.

2016-01-01

Patient motion during myocardial perfusion SPECT imaging (MPI) may be triggered by a patient’s physical and/or psychological discomfort. The aim of this study was to investigate the impact of state anxiety (patient’s reaction to exam-related stress), trait anxiety (patient’s personality characteristic) and depression on patient motion during MPI. All patients that underwent MPI in our department in a six-month period were prospectively enrolled. One hundred eighty-three patients (45 females; 138 males) filled in the State-Trait Anxiety Inventory (STAI) and the Beck Depression Inventory (BDI), along with a short questionnaire regarding their age, height and weight, level of education in years, occupation, and marital status. Cardiovascular and other co-morbidity factors were also evaluated. Through inspection of raw data on cinematic display, the presence or absence of patient motion was registered and classified into mild, moderate and severe, for both phases involved in image acquisition. The correlation of patient motion in the stress and delay phases of MPI and each of the other variables was investigated and the corresponding Pearson’s coefficients of association were calculated. The anxiety-motion (r = 0.43, P < 0.0001) and depression-motion (r = 0.32, P < 0.0001) correlation results were moderately strong and statistically significant for the female but not the male patients. All the other variables did not demonstrate any association with motion in MPI, except a weak correlation between age and motion in females (r = 0.23, P < 0.001). The relationship between anxiety-motion and depression-motion identified in female patients represents the first supporting evidence of psychological discomfort as predisposing factor for patient motion during MPI

Classifi c ati on of the Properties According To Turkish Accounti ng Standarts and Accounti ng of Investment Properti es in Scope of Tms - 40

OpenAIRE

Erdal Yılmaz

2013-01-01

With regard to intended use, property in the hands of business is subject to different standarts. Hand-held properties to get rental income and to acquire capital gain are different from other properties with respect to cash generation and capital gain. The objective of this study is to classify the property according to TMS and demonstrated of accounting of investment properties under the scope of the TMS-40. With this study, we explain TMS-40 and give examples for accounting of inves...

Online manual movement adjustments in response to target position changes and apparent target motion

NARCIS (Netherlands)

Oostwoud Wijdenes, L.; Brenner, E.; Smeets, J.B.J.

2014-01-01

This study set out to determine whether the fastest online hand movement corrections are only responses to changing judgments of the targets' position or whether they are also influenced by the apparent target motion. Introducing a gap between when a target disappears and when it reappears at a new

Neurons Responsive to Global Visual Motion Have Unique Tuning Properties in Hummingbirds.

Science.gov (United States)

Gaede, Andrea H; Goller, Benjamin; Lam, Jessica P M; Wylie, Douglas R; Altshuler, Douglas L

2017-01-23

Neurons in animal visual systems that respond to global optic flow exhibit selectivity for motion direction and/or velocity. The avian lentiformis mesencephali (LM), known in mammals as the nucleus of the optic tract (NOT), is a key nucleus for global motion processing [1-4]. In all animals tested, it has been found that the majority of LM and NOT neurons are tuned to temporo-nasal (back-to-front) motion [4-11]. Moreover, the monocular gain of the optokinetic response is higher in this direction, compared to naso-temporal (front-to-back) motion [12, 13]. Hummingbirds are sensitive to small visual perturbations while hovering, and they drift to compensate for optic flow in all directions [14]. Interestingly, the LM, but not other visual nuclei, is hypertrophied in hummingbirds relative to other birds [15], which suggests enhanced perception of global visual motion. Using extracellular recording techniques, we found that there is a uniform distribution of preferred directions in the LM in Anna's hummingbirds, whereas zebra finch and pigeon LM populations, as in other tetrapods, show a strong bias toward temporo-nasal motion. Furthermore, LM and NOT neurons are generally classified as tuned to "fast" or "slow" motion [10, 16, 17], and we predicted that most neurons would be tuned to slow visual motion as an adaptation for slow hovering. However, we found the opposite result: most hummingbird LM neurons are tuned to fast pattern velocities, compared to zebra finches and pigeons. Collectively, these results suggest a role in rapid responses during hovering, as well as in velocity control and collision avoidance during forward flight of hummingbirds. Copyright © 2017 Elsevier Ltd. All rights reserved.

The efficacy of peloid therapy in management of hand osteoarthritis: a pilot study

Science.gov (United States)

Kasapoğlu Aksoy, Meliha; Altan, Lale; Eröksüz, Rıza; Metin Ökmen, Burcu

2017-12-01

Hand osteoarthritis (OA) is associated with pain, reduced grip strength, loss of range of motion (ROM), and joint stiffness, leading to impaired hand function and difficulty in performance of daily living activities. Mud bath therapy has been reported to play a primary role in the prevention and management of OA. Thus, we planned to conduct a study aimed at investigating the effects of peloid therapy on pain, functional state, grip strength, and the quality of life and performing a comparative analysis of the outcomes of peloid therapy. In this randomized, controlled, single-blind, pilot study, patients ( n = 33) underwent peloid therapy over 2 weeks, 5 sessions a week, for a total of 10 sessions and home exercise program in group 1. Patients in group 2 (control, n = 30) received only the same home exercise program as in group 1. Patients were evaluated just before, and 2 and 6 weeks after the start of the study with Visual Analogue Scale (VAS), Australian/Canadian Hand Osteoarthritis Index (AUSCAN), Health Assessment Questionnaire (HAQ), hand grip strength (HGS), and pinch strength (PS). Statistically significant improvements were observed in all parameters assessed at week 2 and week 6 in the group 1 ( p management of symptomatic osteoarthritis of the hand and may provide effective pain control and improvements in the hand functions, quality of life, and grip strength.

Classifiers based on optimal decision rules

KAUST Repository

Amin, Talha

2013-11-25

Based on dynamic programming approach we design algorithms for sequential optimization of exact and approximate decision rules relative to the length and coverage [3, 4]. In this paper, we use optimal rules to construct classifiers, and study two questions: (i) which rules are better from the point of view of classification-exact or approximate; and (ii) which order of optimization gives better results of classifier work: length, length+coverage, coverage, or coverage+length. Experimental results show that, on average, classifiers based on exact rules are better than classifiers based on approximate rules, and sequential optimization (length+coverage or coverage+length) is better than the ordinary optimization (length or coverage).

Classifiers based on optimal decision rules

KAUST Repository

Amin, Talha M.; Chikalov, Igor; Moshkov, Mikhail; Zielosko, Beata

2013-01-01

Based on dynamic programming approach we design algorithms for sequential optimization of exact and approximate decision rules relative to the length and coverage [3, 4]. In this paper, we use optimal rules to construct classifiers, and study two questions: (i) which rules are better from the point of view of classification-exact or approximate; and (ii) which order of optimization gives better results of classifier work: length, length+coverage, coverage, or coverage+length. Experimental results show that, on average, classifiers based on exact rules are better than classifiers based on approximate rules, and sequential optimization (length+coverage or coverage+length) is better than the ordinary optimization (length or coverage).

Influence of Visual Motion, Suggestion, and Illusory Motion on Self-Motion Perception in the Horizontal Plane.

Directory of Open Access Journals (Sweden)

Steven David Rosenblatt

Full Text Available A moving visual field can induce the feeling of self-motion or vection. Illusory motion from static repeated asymmetric patterns creates a compelling visual motion stimulus, but it is unclear if such illusory motion can induce a feeling of self-motion or alter self-motion perception. In these experiments, human subjects reported the perceived direction of self-motion for sway translation and yaw rotation at the end of a period of viewing set visual stimuli coordinated with varying inertial stimuli. This tested the hypothesis that illusory visual motion would influence self-motion perception in the horizontal plane. Trials were arranged into 5 blocks based on stimulus type: moving star field with yaw rotation, moving star field with sway translation, illusory motion with yaw, illusory motion with sway, and static arrows with sway. Static arrows were used to evaluate the effect of cognitive suggestion on self-motion perception. Each trial had a control condition; the illusory motion controls were altered versions of the experimental image, which removed the illusory motion effect. For the moving visual stimulus, controls were carried out in a dark room. With the arrow visual stimulus, controls were a gray screen. In blocks containing a visual stimulus there was an 8s viewing interval with the inertial stimulus occurring over the final 1s. This allowed measurement of the visual illusion perception using objective methods. When no visual stimulus was present, only the 1s motion stimulus was presented. Eight women and five men (mean age 37 participated. To assess for a shift in self-motion perception, the effect of each visual stimulus on the self-motion stimulus (cm/s at which subjects were equally likely to report motion in either direction was measured. Significant effects were seen for moving star fields for both translation (p = 0.001 and rotation (p0.1 for both. Thus, although a true moving visual field can induce self-motion, results of this

A Morphing Technique Applied to Lung Motions in Radiotherapy: Preliminary Results

Directory of Open Access Journals (Sweden)

R. Laurent

2010-01-01

Full Text Available Organ motion leads to dosimetric uncertainties during a patient’s treatment. Much work has been done to quantify the dosimetric effects of lung movement during radiation treatment. There is a particular need for a good description and prediction of organ motion. To describe lung motion more precisely, we have examined the possibility of using a computer technique: a morphing algorithm. Morphing is an iterative method which consists of blending one image into another image. To evaluate the use of morphing, Four Dimensions Computed Tomography (4DCT acquisition of a patient was performed. The lungs were automatically segmented for different phases, and morphing was performed using the end-inspiration and the end-expiration phase scans only. Intermediate morphing files were compared with 4DCT intermediate images. The results showed good agreement between morphing images and 4DCT images: fewer than 2 % of the 512 by 256 voxels were wrongly classified as belonging/not belonging to a lung section. This paper presents preliminary results, and our morphing algorithm needs improvement. We can infer that morphing offers considerable advantages in terms of radiation protection of the patient during the diagnosis phase, handling of artifacts, definition of organ contours and description of organ motion.

Ranking of several ground-motion models for seismic hazard analysis in Iran

International Nuclear Information System (INIS)

Ghasemi, H; Zare, M; Fukushima, Y

2008-01-01

In this study, six attenuation relationships are classified with respect to the ranking scheme proposed by Scherbaum et al (2004 Bull. Seismol. Soc. Am. 94 1–22). First, the strong motions recorded during the 2002 Avaj, 2003 Bam, 2004 Kojour and 2006 Silakhor earthquakes are consistently processed. Then the normalized residual sets are determined for each selected ground-motion model, considering the strong-motion records chosen. The main advantage of these records is that corresponding information about the causative fault plane has been well studied for the selected events. Such information is used to estimate several control parameters which are essential inputs for attenuation relations. The selected relations (Zare et al (1999 Soil Dyn. Earthq. Eng. 18 101–23); Fukushima et al (2003 J. Earthq. Eng. 7 573–98); Sinaeian (2006 PhD Thesis International Institute of Earthquake Engineering and Seismology, Tehran, Iran); Boore and Atkinson (2007 PEER, Report 2007/01); Campbell and Bozorgnia (2007 PEER, Report 2007/02); and Chiou and Youngs (2006 PEER Interim Report for USGS Review)) have been deemed suitable for predicting peak ground-motion amplitudes in the Iranian plateau. Several graphical techniques and goodness-of-fit measures are also applied for statistical distribution analysis of the normalized residual sets. Such analysis reveals ground-motion models, developed using Iranian strong-motion records as the most appropriate ones in the Iranian context. The results of the present study are applicable in seismic hazard assessment projects in Iran

Forearm Range of Motion in Australovenator wintonensis (Theropoda, Megaraptoridae.

Directory of Open Access Journals (Sweden)

Matt A White

Full Text Available The hypertrophied manual claws and modified manus of megaraptoran theropods represent an unusual morphological adaptation among carnivorous dinosaurs. The skeleton of Australovenator wintonensis from the Cenomanian of Australia is among the most complete of any megaraptorid. It presents the opportunity to examine the range of motion of its forearm and the function of its highly modified manus. This provides the basis for behavioural inferences, and comparison with other Gondwanan theropod groups. Digital models created from computed tomography scans of the holotype reveal a humerus range of motion that is much greater than Allosaurus, Acrocanthosaurus, Tyrannosaurus but similar to that of the dromaeosaurid Bambiraptor. During flexion, the radius was forced distally by the radial condyle of the humerus. This movement is here suggested as a mechanism that forced a medial movement of the wrist. The antebrachium possessed a range of motion that was close to dromaeosaurids; however, the unguals were capable of hyper-extension, in particular manual phalanx I-2, which is a primitive range of motion characteristic seen in allosaurids and Dilophosaurus. During flexion, digits I and II slightly converge and diverge when extended which is accentuated by hyperextension of the digits in particular the unguals. We envision that prey was dispatched by its hands and feet with manual phalanx I-2 playing a dominant role. The range of motion analysis neither confirms nor refutes current phylogenetic hypotheses with regards to the placement of Megaraptoridae; however, we note Australovenator possessed, not only a similar forearm range of motion to some maniraptorans and basal coelurosaurs, but also similarities with Tetanurans (Allosauroids and Dilophosaurus.

Interaction devices for hands-on desktop design

Science.gov (United States)

Ju, Wendy; Madsen, Sally; Fiene, Jonathan; Bolas, Mark T.; McDowall, Ian E.; Faste, Rolf

2003-05-01

Starting with a list of typical hand actions - such as touching or twisting - a collection of physical input device prototypes was created to study better ways of engaging the body and mind in the computer aided design process. These devices were interchangeably coupled with a graphics system to allow for rapid exploration of the interplay between the designer's intent, body motions, and the resulting on-screen design. User testing showed that a number of key considerations should influence the future development of such devices: coupling between the physical and virtual worlds, tactile feedback, and scale. It is hoped that these explorations contribute to the greater goal of creating user interface devices that increase the fluency, productivity and joy of computer-augmented design.

Robust Framework to Combine Diverse Classifiers Assigning Distributed Confidence to Individual Classifiers at Class Level

Directory of Open Access Journals (Sweden)

Shehzad Khalid

2014-01-01

Full Text Available We have presented a classification framework that combines multiple heterogeneous classifiers in the presence of class label noise. An extension of m-Mediods based modeling is presented that generates model of various classes whilst identifying and filtering noisy training data. This noise free data is further used to learn model for other classifiers such as GMM and SVM. A weight learning method is then introduced to learn weights on each class for different classifiers to construct an ensemble. For this purpose, we applied genetic algorithm to search for an optimal weight vector on which classifier ensemble is expected to give the best accuracy. The proposed approach is evaluated on variety of real life datasets. It is also compared with existing standard ensemble techniques such as Adaboost, Bagging, and Random Subspace Methods. Experimental results show the superiority of proposed ensemble method as compared to its competitors, especially in the presence of class label noise and imbalance classes.

Whole-brain functional magnetic resonance imaging of human brain during voluntary movements of dominant and subdominant hands

International Nuclear Information System (INIS)

Yu Wei; Yan Zixu; Ma Xiaohai; Zhang Zhaoqi; Lin Chongyu; Zang Yufeng; Weng Xuchu

2003-01-01

Objective: To identify the neural substrates of voluntary movements of dominant and subdominant hands by using the whole-brain functional magnetic resonance imaging. Methods: Seven right-handed healthy volunteers were scanned at a Sonata 1.5 Tesla magnetic resonance imaging scanner (Siemens) while they were performing the visually instructive movement tasks with their right and left index fingers. Image data were co-registered to correct head motion, spatially normalized according to the standard coordinates, and spatially smoothed with isotopic Guassian Kernel. Statistical parametric maps (activation maps) for right and left hands were generated respectively by cross-correlation analysis. Results: Voluntary movements of the right/dominant hand mainly activated contralateral primary motor cortex (MI), bilateral supplementary motor area (SMA), bilateral second motor area (MII), and ipsilateral cerebellum, whereas movements of the left/subdominant hand additionally elicited activation in contralateral premotor area (PMC). Moreover, activation volumes in SMA and MII during movements of the subdominant hand were significantly larger than those during movements of the dominant hand. Conclusion: A large set of structures in the cerebral cortex and cerebellum is involved in voluntary movements, as revealed by whole brain-based fMRI. Movements of the subdominant hand are more dependent on higher control areas, such as SMA and PMC, comparing to movements of the dominant hand

Wall motion abnormality of myocardial infarction

International Nuclear Information System (INIS)

Hayashi, Senji; Tsuda, Takashi; Ojima, Kenji

1984-01-01

By use of the gated blood pool scan, we divided the left ventricular LAO 45 image into 8 sections with the center of the volume as the basal point, and devised a method of quantitative evaluation of the regional wall motion from 2 aspects: 1) wall movement and 2) phase abnormality. To evaluate the wall movement, we obtained the following indeces from count curves of each section: 1) EF1=(end-diastolic count-end-systolic count)/ end-diastolic count, 2) EF2=(maximum count-minimum count)/maximum count, and 3) the difference of the two (EF2-EF1). As indeces of the phase abnormality, the mean value of phases of the pixels (phase characteristics) and the standard deviation (variation) of each section were calculated. Furthermore, the phase delay of each section was calculated as the difference from the earliest phase value of the 8 sections. Control values and standard deviation were obtained from 8 healthy controls. By this method, we analyzed 20 patients with old myocardial infarction. And following results were obtained: 1. Applying this method, we could evaluate the regional wall motion of the left ventricle more precisely, and we considered it would be useful clinically. 2. The abnormal regional wall motion of old myocardial infarction were classified into 4 typical forms as follows: 1) the wall movement decreased extremely. 2) the wall movement decreased, but no phase delay recognized. 3) the wall movement did not decrease, but phase delay was recognized. 4) the wall movement decreased, and phase delay was recognized. (author)

Cinematic Motion by Hand

DEFF Research Database (Denmark)

Graca, Marina Estela

2006-01-01

Within Cinema, animation always had an unclear relation with live-action recording since its very beginning. We learned – helped by ASIFA (International Animated Film Association) – that we should separate one from the other and we also realized that we (still) don’t have a general theory of cinema...... that embraces both. Yet, over the last years, animation and live-action footage became completely tangled in cinematic productions. Obviously, this means that each of them is just a technical strategy supported by its own specialists and as one became dominant, the other turned out to be marginal. But what...

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 ...

Comparison of sEMG-Based Feature Extraction and Motion Classification Methods for Upper-Limb Movement

Directory of Open Access Journals (Sweden)

Shuxiang Guo

2015-04-01

Full Text Available The surface electromyography (sEMG technique is proposed for muscle activation detection and intuitive control of prostheses or robot arms. Motion recognition is widely used to map sEMG signals to the target motions. One of the main factors preventing the implementation of this kind of method for real-time applications is the unsatisfactory motion recognition rate and time consumption. The purpose of this paper is to compare eight combinations of four feature extraction methods (Root Mean Square (RMS, Detrended Fluctuation Analysis (DFA, Weight Peaks (WP, and Muscular Model (MM and two classifiers (Neural Networks (NN and Support Vector Machine (SVM, for the task of mapping sEMG signals to eight upper-limb motions, to find out the relation between these methods and propose a proper combination to solve this issue. Seven subjects participated in the experiment and six muscles of the upper-limb were selected to record sEMG signals. The experimental results showed that NN classifier obtained the highest recognition accuracy rate (88.7% during the training process while SVM performed better in real-time experiments (85.9%. For time consumption, SVM took less time than NN during the training process but needed more time for real-time computation. Among the four feature extraction methods, WP had the highest recognition rate for the training process (97.7% while MM performed the best during real-time tests (94.3%. The combination of MM and NN is recommended for strict real-time applications while a combination of MM and SVM will be more suitable when time consumption is not a key requirement.

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

OpenAIRE

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

2017-01-01

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

A Magnetic Resonance Compatible Soft Wearable Robotic Glove for Hand Rehabilitation and Brain Imaging.

Science.gov (United States)

Hong Kai Yap; Kamaldin, Nazir; Jeong Hoon Lim; Nasrallah, Fatima A; Goh, James Cho Hong; Chen-Hua Yeow

2017-06-01

In this paper, we present the design, fabrication and evaluation of a soft wearable robotic glove, which can be used with functional Magnetic Resonance imaging (fMRI) during the hand rehabilitation and task specific training. The soft wearable robotic glove, called MR-Glove, consists of two major components: a) a set of soft pneumatic actuators and b) a glove. The soft pneumatic actuators, which are made of silicone elastomers, generate bending motion and actuate finger joints upon pressurization. The device is MR-compatible as it contains no ferromagnetic materials and operates pneumatically. Our results show that the device did not cause artifacts to fMRI images during hand rehabilitation and task-specific exercises. This study demonstrated the possibility of using fMRI and MR-compatible soft wearable robotic device to study brain activities and motor performances during hand rehabilitation, and to unravel the functional effects of rehabilitation robotics on brain stimulation.