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面向精细抓取的刚软耦合仿人手作用力优化
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作者 李泳耀 江磊 +1 位作者 杜宇 丛明 《华中科技大学学报(自然科学版)》 EI CAS CSCD 北大核心 2024年第5期144-149,共6页
针对精细抓取模式下刚软耦合仿人手柔顺接触的特点,为使其具备类人手的抓取作用力施加能力,首先建立仿人手的抓取力平衡方程和约束优化函数,进而提出基于外罚函数的手指最小作用力优化方法.仿人手可通过施加合适的力实现对不同物体的稳... 针对精细抓取模式下刚软耦合仿人手柔顺接触的特点,为使其具备类人手的抓取作用力施加能力,首先建立仿人手的抓取力平衡方程和约束优化函数,进而提出基于外罚函数的手指最小作用力优化方法.仿人手可通过施加合适的力实现对不同物体的稳定抓取,有效避免手指在抓取过程中使物体产生大变形或抓取失败.实验结果表明:每个手指作用力的测量平均值与理论计算值的绝对误差基本处于0~0.14 N范围,相对误差为0~18.57%范围,所提方法满足了刚软耦合仿人手在精细抓取模式下稳定可靠地抓取不同物体的需求. 展开更多
关键词 仿人手 刚软耦合 精细抓取 柔顺接触 手指作用力优化
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浅议钢琴重量弹奏法
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作者 刘莺 《黄河之声》 2015年第1期69-69,共1页
本文对钢琴的重量弹奏法进行讨论,分析"重量"二字的物理定义及论述重量弹奏法的释义,通过阐释与理解重量弹奏法,以期达到指导演奏实践的作用。
关键词 重量 重力 手臂 手指作用力
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Development of a Finger-Shaped Muscle Hardness Tester and Its Measurement Cases
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作者 Mitsuo Nagao Kotaro Yatabe +2 位作者 Shin-ichi Konno Tokuo Endo Osamu Yokota 《Journal of Mechanics Engineering and Automation》 2013年第7期405-413,共9页
As the background of our study, we requested that practitioners use muscle hardness testers to conduct a digital assessment of muscle hardness layers that they can feel by palpation. We developed muscle hardness teste... As the background of our study, we requested that practitioners use muscle hardness testers to conduct a digital assessment of muscle hardness layers that they can feel by palpation. We developed muscle hardness testers to assess muscle hardness digitally from the reaction force and the depth in pushing a finger-shaped indenter, thereby simulating palpation. To assess muscle hardness digitally, we proposed this means using the reaction force and depth that are measured when the indenter is pushed, along with the elastic constant, and the differential elastic modulus. The tester is designed to be useful to ascertain effects of, or follow the course of, muscle layer treatment applied for shoulder stiffness and other conditions. As described herein, we confirmed the effectiveness of digital assessment using foam rubber consisting of an upper layer and a lower layer, respectively simulating the cortical and muscle layers of a human body. Additionally, monitoring six subjects, we digitally assessed the change of hardness of the trapezius muscle by changing the position of the upper extremity. Next, we were able to measure the change of hardness before and after treatment for 21 subjects with shoulder stiffness. 展开更多
关键词 Muscle hardness tester finger-shaped trapezius muscle shoulder stiffness palpation.
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