An underactuated finger structure actuated by tendon-driven system is presented.Kinematics and static analysis of the finger is done,and the results indicate that the prosthetic finger structure is effective and feasi...An underactuated finger structure actuated by tendon-driven system is presented.Kinematics and static analysis of the finger is done,and the results indicate that the prosthetic finger structure is effective and feasible.Based on the design of finger,a prosthetic hand is designed.The hand is composed of 5 independent fingers and it looks more like humanoid.Its size is about 85% of an adult's hand and weights about 350 g.Except the thumb finger,each finger is actuated by one DC motor,gear head and a tendon,and has three curling/extension joints.The thumb finger which is different from other existing prostheses is a novel design scheme.The thumb finger has four joints including three curling/extension joints and a joint which is used to realize the motion of the thumb related to the palm,and these joints are also driven by one DC motor,harmonic drive and a tendon.The underactuation and adaptive curling/extension motion of the finger are realized by joint torsion springs.A high-powered chip of digital signal processing(DSP)is the main part of the electrical system which is used for the motors control,data collection,communication with external controlling source,and so on.To improve the reliability of the hand,structures and sensors are designed and made as simply as possible.The hand has strong manipulation capabilities that have been verified by finger motion and grasping tests and it can satisfy the daily operational needs and psychological needs of deformities.展开更多
Background:Interpersonal coordination is an essential aspect of daily life,and crucial to performance in cooperative and competitive team sports.While empirical research has investigated interpersonal coordination usi...Background:Interpersonal coordination is an essential aspect of daily life,and crucial to performance in cooperative and competitive team sports.While empirical research has investigated interpersonal coordination using a wide variety of analytical tools and frameworks,to date very few studies have employed multifractal techniques to study the nature of interpersonal coordination across multiple spatiotemporal scales.In the present study we address this gap.Methods:We investigated the dynamics of a simple dyadic interpersonal coordination task where each participant manually controlled a virtual object in relation to that of his or her partner.We tested whether the resulting hand-movement time series exhibits multi-scale properties and whether those properties are associated with successful performance.Results:Using the formalism of multifractals,we show that the performance on the coordination task is strongly multi-scale,and that the multi-scale properties appear to arise from interaction-dominant dynamics.Further,we find that the measure of across-scale interactions,multifractal spectrum width,predicts successful performance at the level of the dyad.Conclusion:The results are discussed with respect to the implications of multifractals and interaction-dominance for understanding control in an interpersonal context.展开更多
Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleopera...Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleoperation time delay is a rigorous problem,especially when the chaser is teleoperated on the ground.To eliminate the effect of time delay,a new approach for teleoperation RVD is studied.The characteristics of teleoperation RVD are analyzed by comparisons with the teleoperation robot and with manually controlled RVD;the relative motion of the chaser is predicted based on the C-W equation;and the processed measure information with time delay through the Kalman filter is utilized to correct the current prediction.Experimental results verify that the approach produces an 18% enhanced success rate of teleoperation RVD compared with direct visual feedback,and consumes less time and fuel.The developed approach also solves the time delay problem effectively.Teleoperation RVD using this method can be applied as a useful backup for autonomous RVD.展开更多
Performing angiography in the prone position is a difficult technique; however it is useful in some emergency situation. We experienced a 60 years old male who was performed lipema excision on his back in his family d...Performing angiography in the prone position is a difficult technique; however it is useful in some emergency situation. We experienced a 60 years old male who was performed lipema excision on his back in his family doctor＇s clinic. Since massive arterial bleeding could not be controlled with manual astriction, he transferred to our hospital in prone position with hemodynamic instability. Operating field was not kept because of massive bleeding; therefore surgical treatment was impossible. We planed emergency arterial embolization （AE） in prone position. Hence we chose the left radial artery for vascular access. The left subclavicle arteriography showed many major and minor feeding arteries from left subclavicular and axillary arteries and a massive extravasation of the contrast medium. Three major feeding arteries were performed AE with gelatin sponge and steel coils, After AE, massive bleeding was controlled. He could discharge from our hospital on the 5th hospital day without any complication. Arterial embolization for lifethreatening bleeding from subcutaneous hypervascular tumor in the prone position is first report to our knowledge, and it is extremely rare. However we thought that this technique is useful for patients who could not turn in the supine position, e.g. massive bleeding during renal biopsy and penetrating trauma from back.展开更多
Future worksites will be occupied by different level of automation work machines. How these machines are working individually and how a fleet of these machines cooperates will be in focus of research and development w...Future worksites will be occupied by different level of automation work machines. How these machines are working individually and how a fleet of these machines cooperates will be in focus of research and development work in the future. In this paper the studied off-road vehicle is a wheel loader. It can be controlled manually, remotely or autonomously. The control strategy of autonomous wheel loader is consisting of, e.g., static and dynamic mapping, path planning, obstacle observation and avoidance. In the autonomous machines and also in machines where operator assistance system is active the situational awareness is the key research field. Power management in hydraulic work machines are still active fields of research. Multiple architectures and configurations have been suggested concerning this area. In addition, implemented solutions that consider an entire machine are rarely presented. This paper introduces the research work of the control systems which are minimising the fuel consumption.展开更多
基金Project(2008AA04Z203)supported by National High Technology Research and Development Program of China
文摘An underactuated finger structure actuated by tendon-driven system is presented.Kinematics and static analysis of the finger is done,and the results indicate that the prosthetic finger structure is effective and feasible.Based on the design of finger,a prosthetic hand is designed.The hand is composed of 5 independent fingers and it looks more like humanoid.Its size is about 85% of an adult's hand and weights about 350 g.Except the thumb finger,each finger is actuated by one DC motor,gear head and a tendon,and has three curling/extension joints.The thumb finger which is different from other existing prostheses is a novel design scheme.The thumb finger has four joints including three curling/extension joints and a joint which is used to realize the motion of the thumb related to the palm,and these joints are also driven by one DC motor,harmonic drive and a tendon.The underactuation and adaptive curling/extension motion of the finger are realized by joint torsion springs.A high-powered chip of digital signal processing(DSP)is the main part of the electrical system which is used for the motors control,data collection,communication with external controlling source,and so on.To improve the reliability of the hand,structures and sensors are designed and made as simply as possible.The hand has strong manipulation capabilities that have been verified by finger motion and grasping tests and it can satisfy the daily operational needs and psychological needs of deformities.
文摘Background:Interpersonal coordination is an essential aspect of daily life,and crucial to performance in cooperative and competitive team sports.While empirical research has investigated interpersonal coordination using a wide variety of analytical tools and frameworks,to date very few studies have employed multifractal techniques to study the nature of interpersonal coordination across multiple spatiotemporal scales.In the present study we address this gap.Methods:We investigated the dynamics of a simple dyadic interpersonal coordination task where each participant manually controlled a virtual object in relation to that of his or her partner.We tested whether the resulting hand-movement time series exhibits multi-scale properties and whether those properties are associated with successful performance.Results:Using the formalism of multifractals,we show that the performance on the coordination task is strongly multi-scale,and that the multi-scale properties appear to arise from interaction-dominant dynamics.Further,we find that the measure of across-scale interactions,multifractal spectrum width,predicts successful performance at the level of the dyad.Conclusion:The results are discussed with respect to the implications of multifractals and interaction-dominance for understanding control in an interpersonal context.
文摘Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleoperation time delay is a rigorous problem,especially when the chaser is teleoperated on the ground.To eliminate the effect of time delay,a new approach for teleoperation RVD is studied.The characteristics of teleoperation RVD are analyzed by comparisons with the teleoperation robot and with manually controlled RVD;the relative motion of the chaser is predicted based on the C-W equation;and the processed measure information with time delay through the Kalman filter is utilized to correct the current prediction.Experimental results verify that the approach produces an 18% enhanced success rate of teleoperation RVD compared with direct visual feedback,and consumes less time and fuel.The developed approach also solves the time delay problem effectively.Teleoperation RVD using this method can be applied as a useful backup for autonomous RVD.
文摘Performing angiography in the prone position is a difficult technique; however it is useful in some emergency situation. We experienced a 60 years old male who was performed lipema excision on his back in his family doctor＇s clinic. Since massive arterial bleeding could not be controlled with manual astriction, he transferred to our hospital in prone position with hemodynamic instability. Operating field was not kept because of massive bleeding; therefore surgical treatment was impossible. We planed emergency arterial embolization （AE） in prone position. Hence we chose the left radial artery for vascular access. The left subclavicle arteriography showed many major and minor feeding arteries from left subclavicular and axillary arteries and a massive extravasation of the contrast medium. Three major feeding arteries were performed AE with gelatin sponge and steel coils, After AE, massive bleeding was controlled. He could discharge from our hospital on the 5th hospital day without any complication. Arterial embolization for lifethreatening bleeding from subcutaneous hypervascular tumor in the prone position is first report to our knowledge, and it is extremely rare. However we thought that this technique is useful for patients who could not turn in the supine position, e.g. massive bleeding during renal biopsy and penetrating trauma from back.
文摘Future worksites will be occupied by different level of automation work machines. How these machines are working individually and how a fleet of these machines cooperates will be in focus of research and development work in the future. In this paper the studied off-road vehicle is a wheel loader. It can be controlled manually, remotely or autonomously. The control strategy of autonomous wheel loader is consisting of, e.g., static and dynamic mapping, path planning, obstacle observation and avoidance. In the autonomous machines and also in machines where operator assistance system is active the situational awareness is the key research field. Power management in hydraulic work machines are still active fields of research. Multiple architectures and configurations have been suggested concerning this area. In addition, implemented solutions that consider an entire machine are rarely presented. This paper introduces the research work of the control systems which are minimising the fuel consumption.
