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Visar resultat 1 - 5 av 16 avhandlingar som matchar ovanstående sökkriterier.

  1. 1. To grip and not to slip : sensorimotor mechanisms in reactive control of grasp stability

    Författare :Charlotte Häger Ross; Roland S. Johansson; Umeå universitet; []
    Nyckelord :MEDICIN OCH HÄLSOVETENSKAP; MEDICAL AND HEALTH SCIENCES; human; hand; precision grip; grasp force; friction; cutaneous mechanoreceptors; sensorimotor integration; motor control;

    Sammanfattning : The reactive control of fingertip forces maintaining grasp stability was examined in man during a prehensile task. Blindfolded subjects used the precision grip between the tips of index finger and thumb to restrain an object that was subjected to unpredictable load forces. These were delivered tangential to the parallel grip surfaces of the object. LÄS MER

  3. 2. Learning to Assess Grasp Stability from Vision, Touch and Proprioception

    Författare :Yasemin Bekiroglu; Danica Kragic; Erhan Oztop; KTH; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Robotic grasping; Machine Learning; Tactile Sensing;

    Sammanfattning : Grasping and manipulation of objects is an integral part of a robot’s physical interaction with the environment. In order to cope with real-world situations, sensor based grasping of objects and grasp stability estimation is an important skill. LÄS MER

  4. 3. Dexterous Grasping : Representation and Optimization

    Författare :Kaiyu Hang; Nancy Pollard; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Dexterous Grasping; Hierarchical Fingertip Space; Grasp Planning; Grasp Adaptation; Computer Science; Datalogi;

    Sammanfattning : Many robot object interactions require that an object is firmly held, and that the grasp remains stable during the whole manipulation process. Based on grasp wrench space, this thesis address the problems of measuring the grasp sensitivity against friction changes, planning contacts and hand configurations on mesh and point cloud representations of arbitrary objects, planning adaptable grasps and finger gaiting for keeping a grasp stable under various external disturbances, as well as learning of grasping manifolds for more accurate reachability and inverse kinematics computation for multifingered grasping. LÄS MER

  5. 4. Tactile Sensory Control of Dexterous Manipulation in Humans

    Författare :Ingvars Birznieks; Umeå universitet; []
    Nyckelord :MEDICIN OCH HÄLSOVETENSKAP; MEDICAL AND HEALTH SCIENCES; Physiology; cutaneous sensibility; tactile afferents; fingertip force; grasp stability; human hand; manipulation; object shape; precision grip; sensorimotor control; coding; Fysiologi; Physiology; Fysiologi; fysiologi; Physiology;

    Sammanfattning : During dexterous manipulation with the fingertips, forces are applied to objects' surfaces. To achieve grasp stability, these forces must be appropriate given the properties of the objects and the skin of the fingertips, and the nature of the task. LÄS MER

  7. 5. Holistic Grasping: Affordances, Grasp Semantics, Task Constraints

    Författare :Martin Hjelm; Danica Kragic; Markus Vincze; KTH; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; robotics; robotic grasping; grasping; cognition; embodied cognition; computer vision; machine learning; artificial intelligence; AI; Gaussian process; Gaussian process latent variable model; GPLVM; 3D vision; point cloud features; robotik; manipulation; datorseende; maskininlärning; artificiell intelligens; kognition; Computer Science; Datalogi;

    Sammanfattning : Most of us perform grasping actions over a thousand times per day without giving it much consideration, be it from driving to drinking coffee. Learning robots the same ease when it comes to grasping has been a goal for the robotics research community for decades. LÄS MER