Feasibility Study of Force Measurement for Multi-digit Unconstrained Grasping via Fingernail Imaging and Visual Servoing

2020 ◽  
Vol 1 (2) ◽  
Author(s):  
Navid Fallahinia ◽  
Stephen A. Mascaro
Keyword(s):  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Force Measurement ◽  
Field Of View ◽  
Imaging Method ◽  
Shear Forces ◽  
Maximum Value ◽  
6 Degrees Of Freedom ◽  
Finger Pad ◽  
Rms Errors

Abstract A fingernail imaging has been shown to be effective in estimating the finger pad forces along all three directions simultaneously in previous works. However, this method has never been used for the purpose of force measurement during a grasping task with multiple fingers. The objective of this paper is to demonstrate the grasp force-sensing capabilities of the fingernail imaging method integrated with a visual servoing robotic system. In this study, the fingernail imaging method has been used in both constrained and unconstrained multi-digit grasping studies. Visual servoing has been employed to solve the issue of keeping fingernail images in the field of view of the camera during grasping motions. Two grasping experiments have been designed and conducted to show the performance and accuracy of the fingernail imaging method to be used in grasping studies. The maximum value of root-mean-square (RMS) errors for estimated normal and shear forces during constrained grasping has been found to be 0.58 N (5.7%) and 0.49 N (9.2%), respectively. Moreover, a visual servoing system implemented on a 6-degrees-of-freedom (DOF) robot has been devised to ensure that all of the fingers remain in the camera frame at all times. Comparing unconstrained and constrained forces has shown that force collaboration among fingers could change based on the grasping condition.

scholarly journals Development of a Spherical Positioning Robot and Neuro-Navigation System for Precise and Repetitive Non-Invasive Brain Stimulation

2019 ◽  
Vol 9 (21) ◽  
pp. 4561
Author(s):  
Shin ◽  
Ryu ◽  
Cho ◽  
Yang ◽  
Lee
Keyword(s):  
Brain Stimulation ◽  
Navigation System ◽  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Human Head ◽  
Non Invasive ◽  
Serial Robot ◽  
The Subject ◽  
6 Degrees Of Freedom ◽  
Spherical Mechanism

Although non-invasive brain stimulation techniques do not involve surgical procedures, the challenge remains in correctly locating the stimulator from outside the head. There is a limit to which one can manually and precisely position and orient the stimulator or repeatedly move the stimulator around the same position. Therefore, in this study, we developed a serial robot with 6 degrees-of-freedom to move the stimulator and a neuro-navigation system to determine the stimulus point from looking at the shape of the subject’s brain. The proposed robot applied a spherical mechanism while considering the safety of the subject, and the workspace of the robot was designed considering the shape of the human head. Position-based visual servoing was applied to compensate for unexpected movements during subject stimulation. We also developed a neuro-navigation system that allows us visually to check the focus of the stimulator and the human brain at the same time and command the robot to the desired point. To verify the system performance, we first performed repeatability and motion compensation experiments of the robot and then evaluated the repeated biosignal response experiments through transcranial magnetic stimulation, a representative technique of non-invasive brain stimulation.

scholarly journals Design and Manufacture of 6 Axis Force and Moments Transducers for Seaplane Floaters Test in Towing Tank

2020 ◽  
Vol 3 (1) ◽  
pp. 84-89
Author(s):  
Nurhadi Nurhadi ◽  
Mochammad Nasir ◽  
Chandra Permana ◽  
Endah Suwarni
Keyword(s):  
Measurement Errors ◽  
Degrees Of Freedom ◽  
Force Measurement ◽  
Force Measurements ◽  
Towing Tank ◽  
Simulation Testing ◽  
Transducer Design ◽  
6 Degrees Of Freedom ◽  
Design And Manufacture ◽  
Capture Point

To develop seaplanes as a means of inter-island transportation, it is necessary to have a simulation, testing, and analysis of force measurements that work so that the aircraft can be designed optimally in terms of function and safety. To fulfill one type of test, the seaplane floater model is pulled in the Towing Tank to determine the hydrodynamic forces acting on the floater which include resistance (Fx), side force (Fy), lift force (Fz), and moments in all three axes. A method of measuring the force of 6 axis force and moment or 6 degrees of freedom (6 Degree of Freedom, 6 DOF) was built and designed by combining several single load cells so that these forces can be known optimally. From the results of the 6 DOF transducer design, it is proven that it can be used well in measuring 6 forces and moments with force measurement errors ranging from 1.38%. The distance between the 6 DOF transducer capture point and the floater force capture point will affect the measured moment transformation.

4D in in vivo 2-photon laser scanning fluorescence microscopy with sample motion in 6 degrees of freedom

2011 ◽  
Vol 200 (1) ◽  
pp. 47-53 ◽  
Author(s):  
Sabine Scheibe ◽  
Mario M. Dorostkar ◽  
Christian Seebacher ◽  
Rainer Uhl ◽  
Frank Lison ◽  
...  
Keyword(s):  
Fluorescence Microscopy ◽  
Laser Scanning ◽  
Degrees Of Freedom ◽  
Sample Motion ◽  
6 Degrees Of Freedom

scholarly journals Model forB1Imaging in MRI Using the Rotating RF Field

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Adnan Trakic ◽  
Jin Jin ◽  
Ewald Weber ◽  
Stuart Crozier
Keyword(s):  
Degrees Of Freedom ◽  
Acoustic Noise ◽  
Bloch Equation ◽  
Gradient Coil ◽  
Imaging Method ◽  
Nonuniform Field ◽  
Rf Coil ◽  
Image Encoding ◽  
Magnetic Resonance Imaging Mri ◽  
Space Requirements

Conventionally, magnetic resonance imaging (MRI) is performed by pulsing gradient coils, which invariably leads to strong acoustic noise, patient safety concerns due to induced currents, and costly power/space requirements. This modeling study investigates a new silent, gradient coil-free MR imaging method, in which a radiofrequency (RF) coil and its nonuniform field (B1+) are mechanically rotated about the patient. The advantage of the rotatingB1+field is that, for the first time, it provides a large number of degrees of freedom to aid a successfulB1+image encoding process. The mathematical modeling was performed using flip angle modulation as part of a finite-difference-based Bloch equation solver. Preliminary results suggest that representative MR images with intensity deviations of <5% from the original image can be obtained using rotating RF field approach. This method may open up new avenues towards anatomical and functional imaging in medicine.

Workspace, dexterity and dimensional optimization of microhexapod

2015 ◽  
Vol 35 (4) ◽  
pp. 341-347 ◽  
Author(s):  
E. Rouhani ◽  
M. J. Nategh
Keyword(s):  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Screw Theory ◽  
Design Parameters ◽  
Dimensional Synthesis ◽  
Content Type ◽  
Workspace Analysis ◽  
The Difference ◽  
Flexure Joints ◽  
6 Degrees Of Freedom

Purpose – The purpose of this paper is to study the workspace and dexterity of a microhexapod which is a 6-degrees of freedom (DOF) parallel compliant manipulator, and also to investigate its dimensional synthesis to maximize the workspace and the global dexterity index at the same time. Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Design/methodology/approach – Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Findings – It has been shown that the proposed procedure for the workspace calculation can considerably speed the required calculations. The optimization results show that a converged-diverged configuration of pods and an increase in the difference between the moving and the stationary platforms’ radii cause the global dexterity index to increase and the workspace to decrease. Originality/value – The proposed algorithm for the workspace analysis is very important, especially when it is an objective function of an optimization problem based on the search method. In addition, using screw theory can simply construct the homogeneous Jacobian matrix. The proposed methodology can be used for any other micromanipulator.

A video imaging method for time-dependent measurements of molecular mass transfer and biofilm dynamics in microchannels

MRS Advances ◽  
2016 ◽  
Vol 1 (29) ◽  
pp. 2099-2106 ◽  
Author(s):  
M. Parvinzadeh Gashti ◽  
M. Zarabadi ◽  
J. Greener
Keyword(s):  
Biomass Accumulation ◽  
Structural Heterogeneity ◽  
Displacement Velocity ◽  
Imaging Method ◽  
Shear Forces ◽  
Growth Environment ◽  
Biofilm Thickness ◽  
Loading Rates ◽  
Local Shear ◽  
Growth Approach

ABSTRACTThe biomass accumulation and movement of biofilms in a microchannel is monitored by optical microscopy. First, the average optical density of the biofilm is monitored in time as a measure of biofilm thickness and structural heterogeneity. These results are used as inputs to calculate changing flow velocities due to resulting excluded volume. Next the displacement velocity of moving biofilm segments was recorded in different places in the microchannel. Quantitative analysis by a particle tracking routine showed differences in displacement velocity near and far from the microchannel corner, which is believed to be related to the local shear forces which vary depending on the height of the biofilm segment and its position in the microchannel. The effect of changing biofilm thickness and different hydrodynamic environments in the microchannel are then discussed in terms of their effects on molecular loading rates. Finally, a demonstration of a flow-templated growth approach as a means to homogenize the growth environment.

An improved calibration curve between soil pH measured in waterand CaCl2

Soil Research ◽  
2002 ◽  
Vol 40 (8) ◽  
pp. 1399 ◽  
Author(s):  
B. L. Henderson ◽  
E. N. Bui
Keyword(s):  
Statistical Analysis ◽  
Water Resources ◽  
Soil Ph ◽  
Calibration Curve ◽  
Smooth Function ◽  
Degrees Of Freedom ◽  
Additive Model ◽  
Smoothing Spline ◽  
Look Up Table ◽  
6 Degrees Of Freedom

A new pH water to pH CaCl2 calibration curve was derived from data pooled from 2 National Land and Water Resources Audit projects. A total of 70465 observations with both pH in water and pH in CaCl2 were available for statistical analysis. An additive model for pH in CaCl2 was fitted from a smooth function of pH in water created by a smoothing spline with 6 degrees of freedom. This model appeared stable outside the range of the data and performed well (R2 = 96.2, s = 0.24). The additive model for conversion of pHw to pHCa is sigmoidal over the range of pH 2.5 to 10.5 and is similar in shape to earlier models. Using this new model, a look-up table for converting pHw to pHCa was created.

Sign in / Sign up

Export Citation Format

Share Document