Computing Frictionless Force-Closure Grasps of 2D Objects from Contact Point Set

2006 ◽  
Author(s):  
Nattee Niparnan ◽  
Thanathorn Phoka ◽  
Attawith Sudsang
Keyword(s):  
Contact Point ◽  
Force Closure ◽  
Point Set

Algorithmic Fingertip Repositioning for Enhanced In-Hand Manipulation of the Objects

2021 ◽  
pp. 1-17
Author(s):  
Rajesh Kumar ◽  
Sudipto Mukherjee
Keyword(s):  
Contact Point ◽  
Object Motion ◽  
The Other ◽  
Object Surface ◽  
Force Closure ◽  
Finger Gaiting

Abstract This paper focuses on a method to relocate the robotic fingertips on the surface of the object when the fingertips instantaneously hold the object under precision grasp. Precision grasp involves holding the object using fingertips. Finger gaiting involves repositioning the fingertips on the surface of the object and then manipulation of the object. During repositioning, one contact point leaves the object surface and recontacts at the other point. A metric is defined on the set of feasible grasp configurations to limit deviation from force closure during repositioning of the fingertips. Then, a manipulability based metric is described to search for the optimal goal grasp states on the object's surface. The manipulability based metric is used to search the grasp state to relocate the contacts, such that the range of object motion is increased.

Passive and Active Closures by Constraining Mechanisms

1999 ◽  
Vol 121 (3) ◽  
pp. 418-424 ◽  
Author(s):  
Tsuneo Yoshikawa
Keyword(s):  
Degrees Of Freedom ◽  
Contact Point ◽  
Three Dimensional ◽  
Internal Force ◽  
Existence Condition ◽  
Passive Force ◽  
Contact Points ◽  
Force Closure ◽  
Grasping And Manipulation ◽  
Form Closure

This paper provides a unified theoretical framework for analytical characterization of grasping and manipulation capability of robotic grippers and hands as well as fixing capability of fixtures and vises. The concept of passive closure and active closure for general constraining mechanisms consisting of fixed and/or articulated constraining limbs is introduced. These concepts are useful for explicitly distinguishing the two kinds of capabilities of the constraining mechanism: Passive closure represents the ability of fixing devices and active closure represents the ability of manipulating devices. Passive closure is further classified into passive form closure and passive force closure. Passive form closure is essentially the same as Reuleaux’s classical form closure and passive force closure is a substantial generalization of classical force closure to the case where articulated constraining limbs exist. Conditions for these closures to hold are studied. After a brief review of conditions for passive form closure, several conditions for passive force closure are given. One outcome is that, under the assumption that the contact points are frictionless and the active contact points are independent, for the existence of passive force closure there must be at least six (three) fixed contact points and one active contact point in the case of three-dimensional (two-dimensional, respectively) space. Finally, a necessary and sufficient condition for active closure is given for the case of frictional point contacts by constraining limbs with enough degrees-of-freedom. This condition consists of a general positioning condition of contact points and the existence condition of nonzero internal force. This condition has a quite natural physical interpretation.

Computational Micrograph Registration with Sieve Processes

1996 ◽  
Vol 54 ◽  
pp. 440-441
Author(s):  
P.J. Phillips ◽  
J. Huang ◽  
S. M. Dunn
Keyword(s):  
Planar Graph ◽  
Efficient Algorithm ◽  
Spatial Organization ◽  
Spatial Arrangement ◽  
Stereo Image ◽  
Image Model ◽  
Geometric Invariants ◽  
Point Set

In this paper we present an efficient algorithm for automatically finding the correspondence between pairs of stereo micrographs, the key step in forming a stereo image. The computation burden in this problem is solving for the optimal mapping and transformation between the two micrographs. In this paper, we present a sieve algorithm for efficiently estimating the transformation and correspondence.In a sieve algorithm, a sequence of stages gradually reduce the number of transformations and correspondences that need to be examined, i.e., the analogy of sieving through the set of mappings with gradually finer meshes until the answer is found. The set of sieves is derived from an image model, here a planar graph that encodes the spatial organization of the features. In the sieve algorithm, the graph represents the spatial arrangement of objects in the image. The algorithm for finding the correspondence restricts its attention to the graph, with the correspondence being found by a combination of graph matchings, point set matching and geometric invariants.

Almost empty polygons

2003 ◽  
Vol 40 (3) ◽  
pp. 269-286 ◽  
Author(s):  
H. Nyklová
Keyword(s):  
Exact Results ◽  
Point Sets ◽  
Planar Point ◽  
Convex Position ◽  
Vertex Set ◽  
Point Set ◽  
Empty Polygons

In this paper we study a problem related to the classical Erdos--Szekeres Theorem on finding points in convex position in planar point sets. We study for which n and k there exists a number h(n,k) such that in every planar point set X of size h(n,k) or larger, no three points on a line, we can find n points forming a vertex set of a convex n-gon with at most k points of X in its interior. Recall that h(n,0) does not exist for n = 7 by a result of Horton. In this paper we prove the following results. First, using Horton's construction with no empty 7-gon we obtain that h(n,k) does not exist for k = 2(n+6)/4-n-3. Then we give some exact results for convex hexagons: every point set containing a convex hexagon contains a convex hexagon with at most seven points inside it, and any such set of at least 19 points contains a convex hexagon with at most five points inside it.

Survival of Short and Ultra-Short Locking-Taper Implants Supporting Single Crowns in the Posterior Mandible: A 3-Year Retrospective Study

2020 ◽  
Vol 46 (4) ◽  
pp. 396-406 ◽  
Author(s):  
Giorgio Lombardo ◽  
Annarita Signoriello ◽  
Miguel Simancas-Pallares ◽  
Mauro Marincola ◽  
Pier Francesco Nocini
Keyword(s):  
Retrospective Study ◽  
Bone Loss ◽  
Contact Point ◽  
Implant Survival ◽  
Point Position ◽  
Crestal Bone Loss ◽  
Short Implants ◽  
Single Crown ◽  
Bone To Implant Contact ◽  
Single Crowns

The purpose of this retrospective study was to determine survival and peri-implant marginal bone loss of short and ultra-short implants placed in the posterior mandible. A total of 98 patients received 201 locking-taper implants between January 2014 and January 2015. Implants were placed with a 2-stage approach and restored with single crowns. Clinical and radiographic examinations were performed at 3-year recall appointments. At that time, the proportion of implant survival by length, and variations of crestal bone levels (mean crestal bone loss and mean apical shift of the “first bone-to-implant contact point” position) were assessed. Significance level was set at 0.05. The total number of implants examined 36 months after loading included: 71 implants, 8.0 mm in length; 82 implants, 6.0 mm in length; and 48 implants, 5.0 mm in length. Five implants failed. The overall proportion of survival was 97.51%, with 98.59% for the 8.0-mm implants, 97.56% for the 6.0-mm implants, and 95.83% for the 5.0-mm implants. No statistically significant differences were found among the groups regarding implant survival (P = .73), mean crestal bone loss (P = .31), or mean apical shift of the “first bone-to-implant contact point” position (P = .36). Single-crown short and ultra-short implants may offer predictable outcomes in the atrophic posterior mandibular regions, though further investigations with longer follow-up evaluations are necessary to validate our results.

Qualitative anatomical restoration of the contact point of teeth – prevention of localized forms of periodontal diseases

2020 ◽  
Vol 25 (1) ◽  
pp. 10-15
Author(s):  
L. Yu. Orekhova ◽  
O. V. Prokhorova ◽  
V. Yu. Shefov
Keyword(s):  
Comparative Analysis ◽  
Computer Simulations ◽  
Periodontal Diseases ◽  
Contact Point ◽  
Clinical Stage ◽  
High Quality ◽  
Cross Sectional ◽  
Clinical Stages ◽  
Anatomical Restoration ◽  
Approximal Surfaces

Relevance. The restoration of a high-quality anatomical and functional contact point of teeth plays an important role in preventing the development of localized forms of periodontal disease.Purpose. Development of recommendations for qualitative anatomical restoration of the contact point of teeth for the prevention of localized forms of periodontal diseases.Materials and methods. In our study, which consisted of pre-clinical and clinical stages, were analyzed 50 CT scan of the chewing group teeth calculated the ratio of approximal surfaces of molars and premolars to the width of their crowns and computer simulations of the results of restoration of contact point. We also conducted a comparative analysis of wedges of different material with different cross-sectional shapes. At the clinical stage, the restoration of the contact point of teeth in patients according to our recommendations was carried out.Results. On the basis of the data obtained during the study, a formula for calculating the height and size of the restored contact point was compiled. Recommendations for anatomical restoration of the contact point are formulated.Conclusion. The application of the recommendations developed by us allows anatomically qualitatively restore the contact point and prevent the development of localized periodontal diseases.

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