Browse Topic: Hand

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New Capabilities for Grasp-Assisting GlovesTBMG-3852202/01/2021
NASA is developing the next generation of spacesuits for future missions including the optimization of spacesuit gloves that, when coupled to a pressurized suit, tend to limit the range of motion of an astronaut’s hand to as little as 20%. Many of NASA’s future missions will be in challenging environments where hand dexterity of the astronaut will be critical for the success of the missions.
Human-Like Hands with Flexible, Hybrid Pneumatic ActuatorsTBMG-3813812/01/2020
In industrial settings, robots often are used for tasks that require repetitive grasping and manipulation of objects. The end of a robot where a human hand would be found is known as an end effector or gripper. Researchers have developed a humanoid hand design that is a soft-hard hybrid flexible gripper. It can generate larger grasping force than a traditional pure, soft hand and simultaneously be more stable for accurate manipulation of heavier objects.
Ring Detects Finger Location to Track Hand MovementsTBMG-3800211/01/2020
Researchers have created AuraRing, a ring and wristband combination that can detect the precise location of someone’s index finger and continuously track hand movements. The ring emits a signal that can be picked up on the wristband, which can then identify the position and orientation of the ring and the finger it’s attached to. It captures the fine-grain manipulation performed by the fingers — not just a gesture or where the finger is pointed but something that can track the finger completely.
Electronic “Skin” Brings Sense of Touch and Pain to Prosthetic HandsTBMG-3762409/01/2020
Amputees often experience the sensation of a “phantom limb” — a feeling that a missing body part is still there. Pain, while unpleasant, is an essential, protective sense of touch that is lacking in the prostheses that are currently available to amputees. Advances in prosthesis designs and control mechanisms can aid an amputee’s ability to regain lost function, but they often lack meaningful, tactile feedback or perception.
5 Ws of the Sign-to-Speech Translation GloveTBMG-3762709/01/2020
People who use sign language could communicate directly with non-signers without needing someone else to translate for them.
Measurement of the Biodynamic Response of the Hand-Arm System and Study of its Influence on the Vibrational Response of the Steering Wheel2020-01-154806/03/2020
Driver’s hands modify the vibrational response of the steering wheel, so that car manufacturers are used to measure vibrations of the free steering wheel to ensure reproducibility. However, levels measured in this condition do not represent those perceived by the driver. The aim of this study is to predict the vibrational response of the hand-wheel coupled system from measurements of the non-held steering wheel, and of the mechanical impedance of the arm. The mechanical impedance of the hand-arm system is measured at three levels of vibration (0.5 2.5 and 5 m/s²) in two directions of excitation (along the arm and in the normal direction of the palm). The position of the arm and the hand grip are controlled to be as close as possible to a driving situation. For each condition, the mechanical impedance is calculated and compared to models of ISO 10068. The differences introduced between the response of the left and right hand are also investigated according to the preferred hand and
laroche, luc, Parizet, Etienne
Polymer Twists and Bends in the Presence of LightTBMG-3685205/01/2020
The twisting and bending capabilities of the human muscle system enable a dynamic range of motion, from walking and running to reaching and grasping. Replicating in a robot something as seemingly simple as waving a hand, however, requires a complex series of motors, pumps, actuators, and algorithms. Researchers have designed a polymer, known as a liquid crystal elastomer (LCE), that can be “programmed” to twist and bend in the presence of light.
Mechanical Controller for Robot-Assisted SurgeryTBMG-3636304/01/2020
Robot-assisted surgery has advanced dramatically over the past decade in almost every surgical sub-specialty. Robot-assisted surgery is usually performed using surgical robot systems that involve a master-slave configuration in which the “master” is a controller device that the surgeon manipulates to control a robotic arm. Such systems improve the dexterity and precision of surgeons by filtering out hand tremors and scaling their hand motions into smaller movements. They also reduce the risk of common surgical complications such as surgical site infection.
Dynamic Gripper Mimics Adjustable Grip of the Human HandTBMG-3599502/01/2020
Human hands can alter the firmness of their grip. A new two-fingered robotic hand shares that trait. The design enables it to absorb energy from impacts during collisions, preventing whatever the robot is holding from breaking and making it safer for people to work with and near the machines.
MOMENTUM: NOVEMBER 201919MOMP1111/04/2019
Getting an engineering foundation through Formula SAE Having an underclassman with no leadership experience as team captain proved to be no hindrance to the University of Texas-Arlington Formula SAE team. Experience and innovation walk hand in hand Team from Pontifical Catholic University carries success in native Brazil to U.S. in SAE Aero Design competition. 'Complete, finish, win' University of Stuttgart team rides that motto to victories and podium finishes by the dozen.
Numbering System for TapsJ2123_201910 (Current)10/09/2019
This SAE Recommended Practice provides a systematic method for the identification of ground thread taps for inch sizes up to 9.999 in with a Maximum Thread-per-Inch of 99.9, and Metric sizes up to 99.9 mm with a Maximum pitch of 9.99 mm. It is intended to assist in the cataloging and supplying of these tools. It is not intended for ACME, Buttress, or similar type thread forms. NOTE 1— Caution must be taken when assigning codes to prevent specifying taps that cannot be physically or economically manufactured. NOTE 2— The Code Number coming from the manufacturer MUST reflect the actual tool construction. NOTE 3— In particular without limitation, SAE disclaims all responsibility for the accuracy or completeness of information contained within this report if the standards of this report are retrieved, combined, or used in connection with any software.
Motor Vehicle Council
Numbering Systems for End MillsJ2342_201910 (Current)10/09/2019
This SAE Recommended Practice provides a systematic method for the identification of End Mills. It is intended to assist in the cataloging and supplying of these tools. NOTE 1— Caution must be taken when assigning codes for designation to prevent specifying cutting tools that cannot be physically or economically manufactured. NOTE 2— In particular without limitation, SAE disclaims all responsibility for the accuracy or completeness of information contained within this report if the standards of this report are retrieved, combined, or used in connection with any software.
Motor Vehicle Council
Numbering System for Single Diameter and Taper ReamersJ2124_201910 (Current)10/09/2019
This SAE Recommended Practice provides a systematic method for the identification of single diameter and taper reamers. It is intended to assist in the cataloging and supplying of these tools. NOTE 1— Caution must be taken when assigning codes for designators to prevent specifying reamers that cannot be physically or economically manufactured. NOTE 2— The Code Number coming from the manufacturer MUST reflect the actual tool construction. NOTE 3— In particular without limitation, SAE disclaims all responsibility for the accuracy or completeness of information contained within this report if the standards of this report are retrieved, combined, or used in connection with any software.
Motor Vehicle Council
Preliminary Study of Perceived Vibration Quality for Human Hands2019-01-152206/05/2019
A large body of knowledge exists regarding the effects of vibration on human beings; however, the emphasis is generally on the damaging effects of vibration. Very little information has been published regarding the effect of vibration on perceived consumer product quality. The perceived loudness of a product is quantified using the Fletcher-Munson equal loudness curves, but the equivalent curves for perceived vibration amplitude as a function of amplitude and frequency are not readily available. This “vibration quality” information would be valuable in the design and evaluation of many consumer products, including automobiles. Vibration information is used in the automobile design process where targets for steering wheel, seat track, and pedal vibration are common. For this purpose, the vibration information is considered proprietary and is generally applicable to a narrow frequency range. In this investigation, work paralleling the original Fletcher-Munson study is presented. “Equal
Bastiaan, Jennifer M., Green, Edward, Kaye, Sophie
A Sensor that Fits Like a GloveTBMG-3458906/01/2019
We recently had a discussion with Sri Peruvemba, VP of Strategy at BeBop Sensors (Berkeley, CA), about the technology and applications for their two-dimensional fabric sensor material. I started by asking Sri about the unusual name for the company.
Collaborative Robotic Fastening Using Stereo Machine Vision2019-01-137403/19/2019
With typically over 2.3 million parts, attached with over 3 million fasteners, it may be surprising to learn that approximately two out of every three fasteners on a twin aisle aircraft are fastened by hand. In addition the fasteners are often installed in locations designed for strength and not necessarily ergonomics. These facts lead to vast opportunities to automate this tedious and repetitive task. The solution outlined in this paper utilizes the latest machine vision and robotics techniques to solve these unique challenges. Stereo machine vision techniques find the fastener on the interior of an aerospace structure and calculate the 6DOF (Degrees of Freedom) location in less than 500ms. Once the fastener is located, sealed, and inspected for bead width and gaps, a nut or collar is then installed. Force feedback capabilities of a collaborative robot are used to prevent part damage and ensure the nut or collar are properly located on the fastener. This type robot also opens up the
Haldimann, Ryan
The Auto-Generation of Calibration Guides from MATLAB® Simulink®2019-01-133203/19/2019
With the inception of model-based design and automatic code generation, many organizations are developing controls and diagnostics algorithms in model-based development tools to meet customer and regulatory requirements. Advances in model-based design have made it easier to generate C code from models and help software engineers streamline their workflow. Typically, after the software has been developed, the models are handed over to a calibration team responsible for calibrating the features to meet specified customer and regulatory requirements. However, once the models are handed over to the calibration team, the calibration engineers are unaware of how to calibrate the features because documentation is not available. Typically, model documentation trails behind the software process because it is created manually, most of this time is spent on formatting. As a result, lack of model documentation or up-to date documentation causes a lot of pain for OEM’s and Tier 1 suppliers. This
Sundar, Bharath, Allen, William
Restricted Access ‘C’ Clamping Smart Drilling Unit2019-01-133403/19/2019
One way assembly of aero structures has the potential to significantly reduce build times. One of the solutions, which goes towards achieving this philosophy, is the use of a ‘C’ clamping automated drilling system. The Manufacturing Technology Centre has developed and manufactured a ‘C’ clamping automated drilling unit to overcome many of the limitations of current designs, which prevent their use on a broader range of structures. The drilling unit addresses issues with access, size and weight restrictions as well as economic factors. This technical paper will present the outcomes from the design and manufacture of the drilling unit that is to be used within restricted access areas, as either a hand held device or as a robotic end effector free from any cables or hoses, allowing full and unhindered articulation of any robot motion. The device’s services: power, tool lubrication, swarf extraction and control systems have been designed to be embedded, rendering it a standalone unit. With
Suwala, Agata, Land, Patrick, Janik, Karol, Kasler, Richard
Finger Support Could Help Regain Motor FunctionTBMG-3399003/01/2019
A Kennesaw State University engineering professor and her team of students have developed a new finger support that could ultimately help those suffering from finger deformities regain motor function.
Electronic Glove Gives Robotic Hand Sense of TouchTBMG-3372302/01/2019
Stanford engineers have developed an electronic glove containing sensors that could one day give robotic hands the sort of dexterity that humans take for granted.
Artificial Joint Restores Wrist-Like MovementsTBMG-3371702/01/2019
For patients missing a hand, one of the biggest challenges to regaining a high level of function is the inability to rotate one's wrist (pronate and supinate). These are essential movements involved in everyday tasks such as using a door handle, a screwdriver, a knob, or simply turning over a piece of paper. For those missing their hand, these are much more awkward and uncomfortable tasks, and current prosthetic technologies offer only limited relief to this problem.
Safety and Comfort for All: An affordable Hill-Hold and Automated Parking Brake System2019-26-000501/09/2019
With an ever-increasing number of vehicles on Indian roads, the safety and ease of driving has become a very important criterion for the customers. In passenger and commercial vehicles, while launching a vehicle on gradient or stop and go traffic in hilly region, the vehicle tends to roll back/forward in the opposite direction of the intended movement. This undesirable movement is also a safety issue, as this may cause collision with the vehicle on the rear or in front. It requires a skilled driver to coordinate between the clutch pedal, brake (also handbrake in some situations) and accelerator pedal to prevent the vehicle from rolling back while handling such situations. It also leads to clutch disc wear and heating as the driver may tend to slip the clutch to prevent the vehicle from rolling back. Hill hold is a driver assist feature which prevents the vehicle roll back/roll forward during launch operation on uphill/downhill conditions. Hill-hold is offered as an add-on feature on
Iyer, Ramkumar, Awade, Yogesh, Doshi, Pritesh, Dabhade, Abhishek, Jadhav, Vinod
Computer Detects and Understands Body LanguageTBMG-3360901/01/2019
Detecting the nuances of nonverbal communication between individuals will allow robots to serve in social spaces, enabling them to perceive what people around them are doing, what moods they are in, and whether they can be interrupted. A self-driving car could get an early warning that a pedestrian is about to step into the street by monitoring body language. Enabling machines to understand human behavior also could enable new approaches to behavioral diagnosis and rehabilitation for conditions such as autism, dyslexia, and depression.
Bringing a Human Touch to Modern ProstheticsTBMG-3245808/01/2018
Amputees often experience the sensation of a “phantom limb”—a feeling that a missing body part is still there. That sensory illusion is closer to becoming a reality thanks to a team of engineers at Johns Hopkins University that have created an electronic skin. When layered on top of prosthetic hands, this e-dermis brings back a real sense of touch through the fingertips.
Ergonomics and Handheld Medical Devices: Five Vital Elements for Design SuccessTBMG-2910806/01/2018
Dexterity, precision, control and comfort — without them, no handheld or hand intensive medical device is a success, for either the medical professional using it or for the patient relying on the outcomes. Ergonomically driven design guides a successful device development process from concept through prototype to market. There are always five fundamentals required for world-class handheld instruments or hand-intensive devices.
Driver Response Time to Left-Turning Vehiclesat Traffic Signal Controlled Intersections2018-01-052104/03/2018
Left-turn crashes account for almost one quarter of all collisions. Although research has quantified the response time of drivers to left-turning vehicles with high acceleration profiles, research is lacking for driver responses to realistic left-turning vehicle acceleration. The purpose of this research was to determine the Driver Response Time (DRT) to a left-turning vehicle from the first lateral movement of the left-turning vehicle. The DRT was measured from first lateral movement of the left turning vehicle, until the through driver reacts, whether by touching the brake pedal, swerving, releasing/applying the accelerator, or a combination of these inputs. Ninety-eight (NFemale = 48; NMale = 50) licensed volunteer drivers took part in a study at the University of Guelph Driving Research in Virtual Environments (DRiVE) lab using an Oktal complete vehicle driving simulator. After a brief practice drive to acclimatize to the virtual environment, participants completed the eight
Attalla, Shady, Toxopeus, Ryan, Kodsi, Sam, Oliver, Michele
Towards Fail-Operational Systems on Controller Level Using Heterogeneous Multicore SoC Architectures and Hardware Support2018-01-107204/03/2018
In recent automotive systems, more and more applications are classified as safety related and hence are assigned an automotive safety integrity level (ASIL) according to ISO26262. Especially in the context of advanced driver assistance systems (ADAS) and automated driving, safety, reliability and availability requirements are ever increasing. In upcoming systems, a classical fail-safe design will not be sufficient in order to fulfill these requirements, and hence fail-operational systems will be essential. This holds especially true when it comes to automated driving levels 4 and 5. On the other hand, well-known approaches from the avionics industry are ill-suited for the use in automotive systems due to space, weight and power (SWAP) restrictions. This motivates the research on new, lightweight approaches for embedded fail-operational systems. In this contribution, an approach that allows for dynamic migration of safety functions at runtime from an application system to a stand-by
Bapp, Falco K., Dörr, Tobias, Sandmann, Timo, Schade, Florian, Becker, Juergen
Self-Learning Robot Hands Adapt to Grasp ObjectsTBMG-2871704/01/2018
Anew grasp system with robotic hands works without previously knowing the characteristics of objects, learning by trial and error. The robot features two hands based on human hands in terms of both shape and mobility. The robot brain for the hands has to learn how everyday objects like pieces of fruit or tools can be distinguished on the basis of their color or shape, as well as what matters when attempting to grasp the object; for example, a banana can be held, and a button can be pressed. The system learns to recognize such possibilities as characteristics, and constructs a model for interacting with and re-identifying the object.
Robotic Gripper for Satellite Capture and ServicingTBMG-2872604/01/2018
The robotic gripper was developed at NASA Goddard Space Flight Center as part of a robotic satellite servicing mission. The gripping device can be used to autonomously or remotely grasp and control an out-of-fuel or otherwise disabled satellite. Specifically, the gripper interfaces to the separation ring (marman ring) of the client spacecraft and when closed, is sufficient to constrain all six degrees of freedom of motion between the servicing spacecraft and the client. The jaws are designed with a conformable geometry that allows the same gripper to interface to all spacecraft separation rings commonly used with Atlas V and Delta IV launch vehicles.
Brainwave-Controlled Exoskeleton Restores Functional GraspTBMG-2852403/01/2018
École Polytechnique Fédéral de LausanneLausanne, Switzerland
Wireless Handheld Spectrometer Transmits Data to SmartphoneTBMG-2812001/01/2018
Spectral images, which contain more color information than is obtainable with a typical camera, reveal characteristics of tissue and other biological samples that can't be seen by the naked eye. A new smartphone-compatible device that is held like a pencil could make it practical to acquire spectral images of everyday objects and may eventually be used for point-of-care medical diagnosis in remote locations.
Beating Heart Patch is Large Enough to Repair the Human HeartTBMG-2813701/01/2018
Biomedical engineers at Duke University have created a fully functioning artificial human heart muscle large enough to patch over damage typically seen in patients who have suffered a heart attack. The advance takes a major step toward the end goal of repairing dead heart muscle in human patients. The study appears online in Nature Communications. 1
Transparent, Hydrogel-Based Robots Move When Inflated with WaterTBMG-2816701/01/2018
Engineers have fabricated transparent, gel-based robots that move when water is pumped in and out of them. They are made entirely of hydrogel — a tough, rubbery, nearly transparent material that’s composed mostly of water. Each robot consists of hollow, precisely designed hydrogel structures connected to rubbery tubes. When water is pumped into them, the structures inflate in orientations that enable the robots to curl up or stretch out.
Low-Density Polymer Lightens the Load of Prosthetic HandTBMG-2784111/01/2017
Researchers at the University of Southampton, UK, have chosen low-density thermopolymer to create various parts of the next generation of its innovative Southampton-Remedi prosthetic hand, which has been developed over several decades. Continued development and improvements on the hand have been the subject of several PhD programs over the years. The newest version is a low-mass, sensor-rich artificial hand designed to be a highly functional, adaptive prosthesis.
Optimal Design of EPB Caliper Using DOE2017-01-251909/17/2017
An Electrical Parking Brake (EPB) system is a device that operates to park the vehicle automatically with the push of a button instead of using conventional hand or foot levers which in some ways makes it the first by wire type of brake system. As such, it is being considered in some vehicle architectures as an automatic redundant backup for vacuum-less brake systems or autonomous cars. The EPB system is generally divided into cable puller and motor on caliper (MOC) types. Recently, the MOC type EPB is being more widely applied in the global market due to product competitiveness and cost effectiveness. The MOC type EPB is composed of the caliper body, torque member, pad assembly, nut assembly and actuator. Among them, the caliper body and torque member play a main role in the robustness of the EPB system and occupy more than 80% of the total weight. Therefore, optimal design of the caliper body and torque member to maximize stiffness while minimizing weight is systematically important
Kim, Sangbum, Cheon, Jae Seung, Park, Inuk, kwon, Yongsik
Gesture-Based Controls for Robots: Overview and Implications for Use by Soldiers17AERP05_0605/01/2017
Developing a more effective means to communicate with robotic devices. Army Research Laboratory, Aberdeen Proving Ground, Maryland A future vision of the use of autonomous and intelligent robots in dismounted military operations is for soldiers to interact with robots as teammates, much like soldiers interact with other soldiers. Soldiers will no longer be operators in full control of every movement, as the autonomous intelligent systems will have the capability to act without continual human input. However, soldiers will need to use the information available from, or provided by, the robot. One of the critical needs to achieve this vision is the ability of soldiers and robots to communicate with each other. One way to do that is to use human gestures to instruct and command robots. The use of gestures as a natural means of interacting with devices is a very broad concept that encompasses a range of body movements, including movements of the hands, arms, and legs, facial expressions
Characterizing Vehicle Occupant Body Dimensions and Postures Using a Statistical Body Shape Model2017-01-049703/28/2017
Reliable, accurate data on vehicle occupant characteristics could be used to personalize the occupant experience, potentially improving both satisfaction and safety. Recent improvements in 3D camera technology and increased use of cameras in vehicles offer the capability to effectively capture data on vehicle occupant characteristics, including size, shape, posture, and position. In previous work, the body dimensions of standing individuals were reliably estimated by fitting a statistical body shape model (SBSM) to data from a consumer-grade depth camera (Microsoft Kinect). In the current study, the methodology was extended to consider seated vehicle occupants. The SBSM used in this work was developed using laser scan data gathered from 147 children with stature ranging from 100 to 160 cm and BMI from 12 to 27 kg/m2 in various sitting postures. A principal component (PC) analysis was conducted based on these scans along with the manually-measured body landmarks, and 100 PC scores were
Park, Byoung-Keon Daniel, Reed, Matthew P.
Automotive Engineering: February 201717AUTP0202/02/2017
WCX17 Preview The annual SAE World Congress is rebranded WCX17 to express its expanded experience of new-technology discussion and established thought leadership. Achates powers toward production Achates Power's internal-combustion solution is a new play on an old technology. Inside the Bolt EV While the new battery deserves credit for the car's +200-mile range, systems optimization, careful motor design and proprietary CAE tools were equally important. CES 2017: Lush luxury EVs, sophisticated connectivity Suppliers challenge OEMs in advanced tech. Editorial: Question mark or exclamation point Supplier Eye Are you prepared for greater electrification? SAE Standards News VS committees fully engaged on cybersecurity. Honda's new 10-speed is a slick shifter SAE Level 3 'hand off' challenging AI researchers Lightweight door module aims to trim vehicle weight Exclusive first drive: Torotrak's V-Charge technology New 10-speed auto delights in 2017 Ford F-150 Power and more underscore 2018
Spinal Stimulator Improves Finger ControlTBMG-2629601/30/2017
Scientists from UCLA (Los Angeles, CA) have tested a spinal stimulator that boosts finger control. The electrical stimulation increased a patient's grip strength up to 300 percent, according to the researchers.
DARPA Helps Paralyzed Man Feel Again Using a Brain-Controlled Robotic ArmTBMG-2608012/01/2016
A DARPA-funded research team has demonstrated for the first time in a human a technology that allows an individual to experience the sensation of touch directly in the brain through a neural interface system connected to a robotic arm. By enabling two-way communication between brain and machine — outgoing signals for movement and inbound signals for sensation — the technology could ultimately support new ways for people to engage with each other and with the world.
STAXX 50K - Standards for Carbon Composites Production Technology2016-01-211409/27/2016
Carbon composites have been on an odyssey within the past 15 years. Starting on the highest expectations regarding the performance, reality was hitting a lot of programs hard. Carbon composites were introduced on a very high technical level and industry has shown of being capable to handle those processes in general. In particular, production never sleeps and processes undergo a continuous change. Within these changes costs remain the most critical driver. As products are improving during their lifetime, they usually increase the degree of complexity, too. According to the normal cost improvement, this has drastic consequences for production. When setting up the first generation of composite production, the part being produced has been in the centre of attention. At a first glance this was the correct approach, but at a second one, it initiated up a huge number of variations in production processes, as in composite production the material and the part have to be built at the same time
Meyer, Matthias
Human Grasp Assist Device with ExoskeletonTBMG-2532209/01/2016
Researchers at the NASA Johnson Space Center (JSC), in collaboration with General Motors (GM), have designed and developed Robo-Glove, a wearable human grasp assist device, to help reduce the grasping force needed by an individual to operate tools for an extended time or when performing tasks having repetitive mo tion. Robo-Glove has the potential to help workers, such as construction workers, hazardous material workers, or assembly line operators, whose job requires continuous grasping and ungrasping motion. The Robo-Glove also has potential applications in prosthetic devices, rehabilitation aids, and helping people with impaired or limited arm and hand muscle strength.
Vibration Sensors Add New Touch to ProstheticsTBMG-2490806/01/2016
The sense of touch is complex, and an instructor at the University of California – Santa Barbara (UCSB) has the technology to prove it. Yon Visell, assistant professor in the Department of Electrical and Computer Engineering, and his students designed an apparatus that captures the unique vibration patterns associated with touch-specific actions, from gripping a coffee mug to tapping on a flat surface. The findings could support new applications in prosthetics, robotics, and virtual reality.
Robotic Glove Can Help Restore Hand MovementsTBMG-2468105/01/2016
Design Environment for Nonlinear Model Predictive Control2016-01-062704/05/2016
Model Predictive Control (MPC) design methods are becoming popular among automotive control researchers because they explicitly address an important challenge faced by today’s control designers: How does one realize the full performance potential of complex multi-input, multi-output automotive systems while satisfying critical output, state and actuator constraints? Nonlinear MPC (NMPC) offers the potential to further improve performance and streamline the development for those systems in which the dynamics are strongly nonlinear. These benefits are achieved in the MPC framework by using an on-line model of the controlled system to generate the control sequence that is the solution of a constrained optimization problem over a receding horizon. Motivated by the application of NMPC to the Diesel engine air path control problem, we present a control design environment that leverages Maple’s symbolic computation engine to facilitate NMPC problem formulation, solution, and C code-generation
Walker, Kevin, Samadi, Behzad, Huang, Mike, Gerhard, Jürgen, Butts, Kenneth, Kolmanovsky, Ilya
Contact State Estimation for Multi-Finger Robot Hands Using Particle FiltersTBMG-2366501/01/2016
A method, using a particle filter, has been created for identifying the location, orientation, and shape of an object that a robot hand touches. An appropriate motion model has been defined that characterizes the motion of the robot hand as it moves relative to an object. The measurement model also estimates the likelihood of an observation of contact position, velocity, and tactile sensor information given handobject states, and is approximated analytically based on a geometric model, or on a corpus of training data. In either case, the measurement model distribution is encoded as a Gaussian, or using radial basis functions.
Tendon-Driven Finger, Wrist, and Thumb Actuation SystemTBMG-2366601/01/2016
The Robonaut 2 (R2) Dexterous Robot is the result of an effort to build a two-armed, ten-fingered humanoid robot torso capable of assembly work. This invention concerns a multi-fingered hand, and is composed of several parts. One is a tendon-driven, four-link, four-degree-of-freedom robotic thumb. Another is an extrinsic actuation system for tendon-driven fingers. The final part is a wrist mechanism with a large range of motion capable of high strength and speed while maintaining human wrist range of motion. The wrist provides pass-through capability for extrinsic hand actuation.
AS2542 Main Body. Left HandAS2542-5 (Current)12/04/2015
No scope available.
Engine and Airframe Technical Standards Committee (TSC)
AS2543 Main Body. Right HandAS2543-5 (Current)12/04/2015
No scope available.
Engine and Airframe Technical Standards Committee (TSC)
Flexible Rehealing Glove Treats Traumatic Hand InjuriesTBMG-2320112/01/2015
Engineers at the University of Texas at Arlington Research Institute (Fort Worth, TX) and The University of Washington (Seattle, WA) have developed a healing glove that delivers needed medicine to an injured hand. The device, known as the Bioengineered Smart-Glove for Regenerative Healing of Extremity Trauma, speeds up recovery and rehabilitation time.
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