Classification and Kinematic Equivalents of Contact Types for Fingertip-Based Robot Hand Manipulation

2016 ◽  
Vol 8 (4) ◽  
Author(s):  
Nicolas Rojas ◽  
Aaron M. Dollar
Keyword(s):  
Frictional Contact ◽  
Kinematic Chain ◽  
Robotic Manipulation ◽  
Robot Hand ◽  
Kinematic Chains ◽  
Special Cases ◽  
Contact Models ◽  
The Common ◽  
Standard Contact

In the context of robot manipulation, Salisbury's taxonomy is the common standard used to define the types of contact interactions that can occur between the robot and a contacted object; the basic concept behind such classification is the modeling of contacts as kinematic pairs. In this paper, we extend this notion by modeling the effects of a robot contacting a body as kinematic chains. The introduced kinematic-chain-based contact model is based on an extension of the Bruyninckx–Hunt approach of surface–surface contact. A general classification of nonfrictional and frictional contact types suitable for both manipulation analyses and robot hand design is then proposed, showing that all standard contact categories used in robotic manipulation are special cases of the suggested generalization. New contact models, such as ball, tubular, planar translation, and frictional adaptive finger contacts, are defined and characterized. An example of manipulation analysis that lays out the relevance and practicality of the proposed classification is detailed.

scholarly journals A modified agile-eye mechanism for robotic manipulation of wristed laparoscopic instruments

2021 ◽  
Author(s):  
Alireza Alamdar ◽  
Sharzad Hanifeh ◽  
Alireza Mirbagheri ◽  
Farzam Farahmand
Keyword(s):  
Robotic Surgery ◽  
Cost Reduction ◽  
Experimental Studies ◽  
Kinematic Chain ◽  
Robotic Manipulation ◽  
Kinematic Calibration ◽  
Tracking Accuracy ◽  
Kinematic Chains ◽  
Functional Prototype ◽  
Isotropy Condition

<div>Replacement of the exclusively designed instruments of the robotic surgery systems with the commercial hand-held wristed instruments provides advantages such as single-usability and cost reduction. A 4-DOF robotic system, based on a modified non-symmetric 2-DOF agile-eye mechanism, was developed to manipulate the hand-held wristed instruments. The kinematics of the mechanism was analyzed, its dimensions were optimized, and a functional prototype was tested experimentally. The optimized mechanism had a great kinematic isotropy (condition number <1.31) in the target workspace. Experimental studies revealed a high tracking accuracy ($0.27 +- 0.01 deg rms for the worse case) and a reasonably acceptable compliance (0.19 deg/N.m and 0.45 deg/N.m for the first and second kinematic chains respectively). By satisfying the design requirement, the robotic manipulator provides an attractive choice for robotic surgery systems. The performance of the manipulator can be improved further by increasing the stiffness of the second kinematic chain and performing kinematic calibration.</div>

Link-Centre and Indexes of a Kinematic Chain

1992 ◽  
Author(s):  
V. P. Agrawal ◽  
J. N. Yadav ◽  
C. R. Pratap
Keyword(s):  
Kinematic Chain ◽  
Degree Of Freedom ◽  
Input Output ◽  
Function Generator ◽  
Kinematic Chains ◽  
Graph Theoretic ◽  
Optimum Selection ◽  
Theoretic Concept ◽  
Selection Of

Abstract A new graph theoretic concept of link-centre of a kinematic chain is introduced. The link-centre of a kinematic chain is defined as a subset of set of links of the kinematic chain using a hierarchy of criteria based on distance concept. A number of structural invariants are defined for a kinematic chain which may be used for identification and classification of kinematic chains and mechanisms. An algorithm is developed on the basis of the concept of distance and the link-centre for optimum selection of input, output and fixed links in a multi-degree-of-freedom function generator.

Classification of schemes of volumetric hydraulic machines according to the types of plain kinematic chains limiting their working chambers

2021 ◽  
pp. 20-27
Author(s):  
G.Y. Volkov ◽  
V.V. Smirnov
Keyword(s):  
Kinematic Chain ◽  
Modern Technology ◽  
Chain Mechanism ◽  
Working Chamber ◽  
Kinematic Chains ◽  
Hydraulic Machine ◽  
Hydraulic Machines

A classification of volumetric hydraulic machines is proposed, which is based on the structure of a plain kinematic chain that closes the working chamber. The class of the hydraulic machine determines the number of bodies included in this chain; the series determines composition of the kinematic pairs of this chain. The classification covers all volumetric hydraulic machines used in modern technology. Keywords: volumetric hydraulic machine, classification, working chamber, kinematic chain, mechanism structure. [email protected]

scholarly journals A modified agile-eye mechanism for robotic manipulation of wristed laparoscopic instruments

2021 ◽  
Author(s):  
Alireza Alamdar ◽  
Sharzad Hanifeh ◽  
Alireza Mirbagheri ◽  
Farzam Farahmand
Keyword(s):  
Robotic Surgery ◽  
Cost Reduction ◽  
Experimental Studies ◽  
Kinematic Chain ◽  
Robotic Manipulation ◽  
Kinematic Calibration ◽  
Tracking Accuracy ◽  
Kinematic Chains ◽  
Functional Prototype ◽  
Isotropy Condition

<div>Replacement of the exclusively designed instruments of the robotic surgery systems with the commercial hand-held wristed instruments provides advantages such as single-usability and cost reduction. A 4-DOF robotic system, based on a modified non-symmetric 2-DOF agile-eye mechanism, was developed to manipulate the hand-held wristed instruments. The kinematics of the mechanism was analyzed, its dimensions were optimized, and a functional prototype was tested experimentally. The optimized mechanism had a great kinematic isotropy (condition number <1.31) in the target workspace. Experimental studies revealed a high tracking accuracy ($0.27 +- 0.01 deg rms for the worse case) and a reasonably acceptable compliance (0.19 deg/N.m and 0.45 deg/N.m for the first and second kinematic chains respectively). By satisfying the design requirement, the robotic manipulator provides an attractive choice for robotic surgery systems. The performance of the manipulator can be improved further by increasing the stiffness of the second kinematic chain and performing kinematic calibration.</div>

The Study of ESD Destructive Mechanism for PN-Junction

1996 ◽  
Author(s):  
N. Wakai ◽  
M. TsuTsumi ◽  
T. Setoya
Keyword(s):  
Energy Density ◽  
Thermal Diffusion ◽  
Electric Discharge ◽  
Intermediate Region ◽  
Human Body Model ◽  
Machine Model ◽  
Pn Junction ◽  
Special Cases ◽  
Equilibrium Region

Abstract Mechanism of destruction caused by electrostatic discharge of PN junction was examined from two viewpoints; classification of destruction mode with consideration to destructive energy density, and comparison of destruction shape. Destructive energy density of PN junction was calculated based on Speakman model, and destruction mode was classified by Wunsch-Bell plot. As a result of Wunsch-Bell plot, electric discharge which occur at low resistance, for example machine model (MM: C∙R = 200pF ∙ 0Ω), resulted in adiabatic destruction that does not involve thermal diffusion. With electric discharge at high resistance, for example human body model (HBM: C∙R = 100pF ∙ 1500Ω), excessive destruction in intermediate region that involves thermal diffusion, and depending on the device, destruction at equilibrium region were proven to be reproducible. In case of MM, (adiabatic region destruction) destruction was confirmed in a wide extent of the joint part, but in case of HBM (intermediate region destruction) destruction was confirmed near the center of the joint part. From this fact, it was found that by verifying the places of destruction and their shapes, although in special cases, it is possible to know the destruction mode when destruction occurs.

Philosophcal review of h. white̕s tropological theory in the context of the new philosophy of history

2020 ◽  
Vol 3 (152) ◽  
pp. 92-99
Author(s):  
S. M. Geiko ◽  
◽  
O. D. Lauta
Keyword(s):  
Modern Science ◽  
Historical Knowledge ◽  
Text Organization ◽  
The Social ◽  
History Of ◽  
Actual Material ◽  
The Common ◽  
Historical Nature ◽  
Selection Of

The article provides a philosophical analysis of the tropological theory of the history of H. White. The researcher claims that history is a specific kind of literature, and the historical works is the connection of a certain set of research and narrative operations. The first type of operation answers the question of why the event happened this way and not the other. The second operation is the social description, the narrative of events, the intellectual act of organizing the actual material. According to H. White, this is where the set of ideas and preferences of the researcher begin to work, mainly of a literary and historical nature. Explanations are the main mechanism that becomes the common thread of the narrative. The are implemented through using plot (romantic, satire, comic and tragic) and trope systems – the main stylistic forms of text organization (metaphor, metonymy, synecdoche, irony). The latter decisively influenced for result of the work historians. Historiographical style follows the tropological model, the selection of which is determined by the historian’s individual language practice. When the choice is made, the imagination is ready to create a narrative. Therefore, the historical understanding, according to H. White, can only be tropological. H. White proposes a new methodology for historical research. During the discourse, adequate speech is created to analyze historical phenomena, which the philosopher defines as prefigurative tropological movement. This is how history is revealed through the art of anthropology. Thus, H. White’s tropical history theory offers modern science f meaningful and metatheoretically significant. The structure of concepts on which the classification of historiographical styles can be based and the predictive function of philosophy regarding historical knowledge can be refined.

scholarly journals Exercise Addiction and Perfectionism: A Systematic Review of the Literature

2021 ◽  
Vol 8 (1) ◽  
pp. 144-155 ◽  
Author(s):  
Gizem Çakın ◽  
Ignatius Darma Juwono ◽  
Marc N. Potenza ◽  
Attila Szabo
Keyword(s):  
International Classification Of Diseases ◽  
Situational Factors ◽  
Future Research ◽  
Statistical Manual ◽  
Exercise Addiction ◽  
Diagnostic And Statistical Manual ◽  
Classification Of Diseases ◽  
The Common ◽  
The Relationship

Abstract Background and aims Exercise addiction may be conceptualized as a behavioral addiction in which a person develops an unhealthy obsession with exercise and physical activity. While exercise addiction is not a formally recognized disorder in the Diagnostic and Statistical Manual or the International Classification of Diseases, it has been studied and connected to both personal and situational factors. Perfectionism is a feature that has been strongly linked to exercise addiction. The objective of this systematic literature review, performed by following the PRISMA protocol, was to examine relationships between exercise addiction and perfectionism while also considering the subdimensions of perfectionism in different groups. Methods Three databases (PsycINFO, PubMed/Medline, and SPORTDiscus) were examined. Sixty relevant articles were identified, of which 22 met inclusion criteria. Results The findings substantiate that perfectionism and its dimensions are weakly or moderately related to exercise addiction. This relationship has been observed in adults, adolescents, athletes, and patients with eating disorders. Of the 22 studies examined, only one did not identify an association between perfectionism or its subdomain(s) and exercise addiction. However, in most studies, the common variance between perfectionism and exercise addiction is relatively small, raising questions regarding the clinical relevance of the relationship. Conclusion Perfectionism is related to exercise addiction, but the strength of the relationship varies in different circumstances, which should be examined in future research.

Classifying precontractual liability: a comparative analysis

Legal Studies ◽  
2001 ◽  
Vol 21 (2) ◽  
pp. 153-191 ◽  
Author(s):  
Joachim Dietrich
Keyword(s):  
Common Law ◽  
Civil Law ◽  
Tort Law ◽  
Contract Law ◽  
Common Elements ◽  
Ongoing Debate ◽  
Unjust Enrichment ◽  
The Common ◽  
Initial Focus

The common law has solved questions of liability arising in the context of precontractual negotiations by resort to a range of different doctrines and approaches, adopting in effect ‘piecemeal’ solutions to questions of precontractual liability. Consequently, debate has arisen as to how best to classify or categorise claims for precontractual work and as to which doctrines are best suited to solving problems arising from anticipated contracts. The purpose of this article is to consider this question of how best to classify (cases of) precontractual liability. The initial focus will be on the ongoing debate as to whether principles of contract law or principles of unjust enrichment can better solve problems of precontractual liability. I will be suggesting that unjust enrichment theory offers little by way of explanation of cases of precontractual liability and, indeed, draws on principles of contract law in determining questions of liability for precontractual services rendered, though it does so by formulating those principles under different guises. Irrespective, however, of the doctrines utilised by the common law to impose liability, it is possible to identify a number of common elements unifying all cases of precontractual liability. In identifying such common elements of liability, it is necessary to draw on principles of both contract and tort law. How, then, should cases of precontractual liability best be classified? A consideration of the issue of classification of precontractual liability from a perspective of German civil law will demonstrate that a better understanding of cases of precontractual liability will be gained by classifying such cases as lying between the existing categories of contract and tort.

The OMT Classification of Congenital Anomalies of the Hand and Upper Limb

Hand Surgery ◽  
2015 ◽  
Vol 20 (03) ◽  
pp. 336-342 ◽  
Author(s):  
Michael A. Tonkin ◽  
Kerby C. Oberg
Keyword(s):  
Upper Limb ◽  
Congenital Anomalies ◽  
Limb Development ◽  
Main Group ◽  
International Federation ◽  
Scientific Committee ◽  
Current Status ◽  
Thumb Duplication ◽  
The Common

The Oberg, Manske and Tonkin (OMT) Classification of congenital anomalies of the hand and upper limb uses dysmorphological terminology, placing conditions in one of three groups: Malformations, Deformations and Dysplasias. The main group, Malformations, is further subdivided according to whether the whole of the limb is affected or the hand plate alone, and whether the primary insult involves one of the three axes of limb development and patterning or is non-axial. The common surgical diagnoses, such as thumb duplication and thumb hypoplasia, are then placed within this framework. Recently the International Federation of Societies for Surgery of the Hand Scientific Committee for Congenital Conditions approved the OMT Classification as a timely and appropriate replacement of the previously accepted Swanson Classification. This review charts the development of and modifications to the OMT Classification and its current status.

On the Theory of Thermally Weighted Electron-Phonon Transition Probabilities

1980 ◽  
Vol 35 (9) ◽  
pp. 902-914
Author(s):  
J. Schupfner
Keyword(s):  
Transition Probabilities ◽  
Algebraic Method ◽  
Calculation Technique ◽  
Radiative Transitions ◽  
Special Cases ◽  
Explicit Formulae ◽  
The Common ◽  
Common Transition ◽  
Franck Condon ◽  
Refined Calculation

Abstract We present a refined calculation method for the phonon part (Franck-Condon Overlaps) of the transition probabilities of electron-phonon radiative and non-radiative transitions in crystals. The evaluation of the thermal averaged Franck-Condon integrals is a purely algebraic method and the transition probabilities we use are derived from first principles and completely atomistic. For the electronic transitions we take into account the frequency shift of the lattice and the change of the phonon normal coordinates. Explicit formulae of the phonon parts are derived and it is shown that the common transition probabilities used in literature are special cases of our functional calculation technique.

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