The Experts below are selected from a list of 306 Experts worldwide ranked by ideXlab platform
Wenzeng Zhang - One of the best experts on this subject based on the ideXlab platform.
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A Novel Coupled and Self-adaptive Anthropomorphic Robot Finger with a Dual-oblique-Belt Mechanism
2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM), 2019Co-Authors: Yinkai Dong, Wenzeng ZhangAbstract:Traditional spring-tendon-driven self-adaptive prosthesis hand, such as the Stark Hand, uses multiple springs to realize self-adaptive grasping, and uses tendon to drive finger extension. Its grasping force is related to joint angle, and its grasping force is not adjustable, which affects its use effect. This paper develops a novel coupled and self-adaptive anthropomorphic robot finger with a dual-oblique-belt mechanism (COSA-DOB finger). The COSA-DOB finger consists of a base, three Phalanges, three joint shafts, a motor, a transmission mechanism, two gears, seven transmission wheels, two transmission belts and two springs. This paper presents the motion process and grasping force analysis of the finger, and discusses the grasping performance of COSA-DOB finger. The experimental results show that the COSA-DOB finger can achieve three-joint coupled and self-adaptive grasping. In the finger, three joints rotate at the same time, suitable for the accurate grasping of the end phalange. When the proximal phalange contacts the object, the proximal joint stops rotating, and the next joint continues to rotate $\dots$ until the end phalange contacts the object, so as to realize the force-type envelope grasping of the object. For objects of different shapes and sizes, the finger self-adapts. According to the different positions of the object, the finger can automatically switch between the two modes of the coupling grasping and the self-adaptive grasping.
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A Parallel and Active Hybrid Grasping Robot Finger with a Single Chain Transmission Mechanism
2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM), 2018Co-Authors: Jingwei Su, Wenzeng ZhangAbstract:This paper presents a novel design of robot finger with a composite grasping mode (parallel and active grasping mode). The distal phalange of the robot finger can press the object from the other side by using parallel mode, and all the Phalanges can adapt to the object by using active mode. The PA finger mainly uses two pulley-belt mechanism and two motors to drive two Phalanges. Combination of two grasping mode in a single chain transmission mechanism can decrease the control cost and internal friction. The control block diagram is also introduced in this paper. Simulation analysis the force applied on the object by the PA finger. The experimental results show that the PA finger can switch the grasping mode automatically. According to the different positions and shapes of the object, PA finger can achieve the stable grasping.
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PISA finger: A novel parallel and self-adaptive underactuated finger with a single chain transmission mechanism
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017Co-Authors: Jingwei Su, Wenzeng ZhangAbstract:The traditional underactuated robot hand has only one grasping mode. Underactuated robot hand with combination grasping mode mostly adopts double chain transmission mechanism, which are corresponding to two kinds of grasping mode respectively. The double chain transmission mechanism has the disadvantages of complex system and large internal friction. This paper presents a novel design of a parallel and self-adaptive underactuated robot finger with a single chain transmission mechanism, called PISA finger. The method uses two link rod, a slider, a limit, a block and a spring to achieve using a single motor to drive a multiple finger Phalanges. The PISA finger can realized the pinching grasp or enveloping grasp. The composition and movement process of the PISA finger are introduced in detail, and its internal structure is theoretically analyzed. The PISA finger has the receiver on the proximal Phalanges, the object pushes the receiver to drive the distal phalange to envelop the object. The PISA finger parameter model is established to analyze the force condition of the receiver. Simulation and experimental results show that the PISA finger can automatically switch the grasping mode according to the different positions and shapes of the object so as to achieve stable grasping. The PISA hand is suitable for both industry and home application.
Renate Schweizer - One of the best experts on this subject based on the ideXlab platform.
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individual left hand and right hand intra digit representations in human primary somatosensory cortex
European Journal of Neuroscience, 2015Co-Authors: Meike A Schweisfurth, Jens Frahm, Renate SchweizerAbstract:: Individual intra-digit somatotopy of all Phalanges of the middle and little finger of the right and left hand was studied by functional magnetic resonance imaging in 12 healthy subjects. Phalanges were tactilely stimulated and activation in BA 3b of the human primary somatosensory cortex could be observed for each individual phalanx. Activation peaks were further analysed using the Direction/Order (DiOr) method, which identifies somatotopy, if a significantly high number of subjects exhibit ordered distal-to-proximal phalanx representions along a similar direction. Based on DiOr, ordered and similar-direction-aligned intra-digit maps across subjects were found at the left hand for the little and middle finger and at the right hand for the little finger. In these digits the proximal Phalanges were represented more medially along the course of the central sulcus than the distal Phalanges. This is contrasted by the intra-digit maps for the middle finger of the right hand, which showed larger inter-subject variations of phalanx alignments without a similar within-digit representation across subjects. As all subjects were right-handed and as the middle finger of the dominant hand probably plays a more individual role in everyday tactile performance than the little finger of the right hand and all left-hand digits, the observed variation might reflect a functional somatotopy based on individual use of that particular digit at the dominant hand.
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individual fmri maps of all Phalanges and digit bases of all fingers in human primary somatosensory cortex
Frontiers in Human Neuroscience, 2014Co-Authors: Meike A Schweisfurth, Jens Frahm, Renate SchweizerAbstract:This study determined the individual maps of all fingers in BA 3b of the human primary somatosensory cortex in a single fMRI session by tactile stimulation at 19 sites across all Phalanges and digit bases of the 5 right-hand digits. To quantify basic features of the digit maps within and across subjects, we applied standard descriptive measures, but also implemented a novel quantitative analysis. This so-called Direction/Order (DiOr) method tested whether subjects exhibited an ordering of peak fMRI representations along their individual direction of alignment through the set of analyzed Phalanges and whether these individual directions were similar across subjects. Across-digit analysis demonstrated that for each set of homologous Phalanges, the D5-to-D1 representations were successively represented along a common direction of alignment. Hence, the well-known mediolateral D5-to-D1 somatotopy was not only confirmed for the distal Phalanges (p1), but could also be shown for the medial (p2) and proximal Phalanges (p3). In contrast, the peak activation for the digit bases (p4) only partly elicited that digit succession. Complementary, intra-digit analysis revealed a divergent picture of map topography for the different digits. Within D5 (and in a trend: D4), an ordered p1-to-p3 succession was found across subjects, pointing to a consistent intra-digit somatotopy for D5, with p3 generally found medial-posterior to p1. In contrast, for D1, D2, and D3, most subjects did not present with ordered p1-to-p3 maps nor were directions of alignment similarly oriented between subjects. These digits therefore exhibited highly diverse representation patterns across subjects.
Daniel R Cooperman - One of the best experts on this subject based on the ideXlab platform.
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ossification of the Phalanges of the foot and its relationship to peak height velocity and the calcaneal system
Journal of Children's Orthopaedics, 2018Co-Authors: M R Garcia, Allen D Nicholson, A M Nduaguba, James O Sanders, Daniel R CoopermanAbstract:Abstract Purpose There are multiple skeletal maturity grading systems, but none of them utilizes the Phalanges of the foot. To minimize radiation, it would be ideal if one could assess the skeletal maturity of a foot based on bones seen on routine foot radiographs, if guided growth is being considered as a treatment option. We developed a system that correlates changes of the appearance of the foot Phalanges to peak height velocity (PHV) and the recently described calcaneal apophyseal ossification grading system. Methods We selected 94 children from the Bolton-Brush study, each with consecutive radiographs from age ten to 15 years old. Using the anteroposterior view, we analyzed the ossification patterns of the Phalanges and developed a six-stage system. We then determined the PHV for each subject and defined its relationship with our system. Our system was then compared with the previously established calcaneal system. Results We calculated an Intraclass correlation coefficient (ICC) range of 0.957 to 0....
Sandeep Bhargava - One of the best experts on this subject based on the ideXlab platform.
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fusion of palm Phalanges print with palmprint and dorsal hand vein
Applied Soft Computing, 2016Co-Authors: Smriti Srivastava, Saurabh Bhardwaj, Sandeep BhargavaAbstract:Graphical abstractDisplay Omitted HighlightsCollection of a new anterior hand database.Proposed a novel biometric modality "palm-Phalanges print".Proposed fusion of palmprint (PP), palm-Phalanges print (PPP) and dorsal hand vein (DHV).Hamacher, Frank, Schweizer-Sklar and Dubois-Prade T-norms are performed. To ensure the high performance of a biometric system, various unimodal systems are combined to evade their constraints to form a multimodal biometric system. Here, a multimodal personal authentication system using palmprint, dorsal hand vein pattern and a novel biometric modality "palm-Phalanges print" is presented. Firstly, we have collected a new anterior hand database of 50 individuals with 500 images at the institute referred to as NSIT Palmprint Database 1.0 by using NSIT palmprint device. Then from these anterior hand images, database for palmprint and palm-Phalanges is created. In this biometric system, the individuals do not have to undergo the distress of using two different sensors since the palmprint and palm-Phalanges print features can be captured from the same image, using NSIT palmprint device, at the same time. For dorsal hand vein, Bosphorus Hand Vein Database is used because of the stability and uniqueness of hand vein patterns. We propose fusion of three different biometric modalities which includes palmprint (PP), palm-Phalanges print (PPP) and dorsal hand vein (DHV) and perform score level fusion of PP-PPP, PP-DHV, PPP-DHV and PP-PPP-DHV strategies. Lastly, we use K-nearest neighbor, support vector machine and random forest to validate the matching stage. The results proved the validity of our proposed modality and show that multimodal fusion has an edge over unimodal fusion.
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Fusion of palm-Phalanges print with palmprint and dorsal hand vein
Applied Soft Computing Journal, 2016Co-Authors: Gopal, Saurabh Bhardwaj, Smriti Srivastava, Sandeep BhargavaAbstract:To ensure the high performance of a biometric system, various unimodal systems are combined to evade their constraints to form a multimodal biometric system. Here, a multimodal personal authentication system using palmprint, dorsal hand vein pattern and a novel biometric modality "palm-Phalanges print" is presented. Firstly, we have collected a new anterior hand database of 50 individuals with 500 images at the institute referred to as NSIT Palmprint Database 1.0 by using NSIT palmprint device. Then from these anterior hand images, database for palmprint and palm-Phalanges is created. In this biometric system, the individuals do not have to undergo the distress of using two different sensors since the palmprint and palm-Phalanges print features can be captured from the same image, using NSIT palmprint device, at the same time. For dorsal hand vein, Bosphorus Hand Vein Database is used because of the stability and uniqueness of hand vein patterns. We propose fusion of three different biometric modalities which includes palmprint (PP), palm-Phalanges print (PPP) and dorsal hand vein (DHV) and perform score level fusion of PP-PPP, PP-DHV, PPP-DHV and PP-PPP-DHV strategies. Lastly, we use K-nearest neighbor, support vector machine and random forest to validate the matching stage. The results proved the validity of our proposed modality and show that multimodal fusion has an edge over unimodal fusion.
Meike A Schweisfurth - One of the best experts on this subject based on the ideXlab platform.
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individual left hand and right hand intra digit representations in human primary somatosensory cortex
European Journal of Neuroscience, 2015Co-Authors: Meike A Schweisfurth, Jens Frahm, Renate SchweizerAbstract:: Individual intra-digit somatotopy of all Phalanges of the middle and little finger of the right and left hand was studied by functional magnetic resonance imaging in 12 healthy subjects. Phalanges were tactilely stimulated and activation in BA 3b of the human primary somatosensory cortex could be observed for each individual phalanx. Activation peaks were further analysed using the Direction/Order (DiOr) method, which identifies somatotopy, if a significantly high number of subjects exhibit ordered distal-to-proximal phalanx representions along a similar direction. Based on DiOr, ordered and similar-direction-aligned intra-digit maps across subjects were found at the left hand for the little and middle finger and at the right hand for the little finger. In these digits the proximal Phalanges were represented more medially along the course of the central sulcus than the distal Phalanges. This is contrasted by the intra-digit maps for the middle finger of the right hand, which showed larger inter-subject variations of phalanx alignments without a similar within-digit representation across subjects. As all subjects were right-handed and as the middle finger of the dominant hand probably plays a more individual role in everyday tactile performance than the little finger of the right hand and all left-hand digits, the observed variation might reflect a functional somatotopy based on individual use of that particular digit at the dominant hand.
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individual fmri maps of all Phalanges and digit bases of all fingers in human primary somatosensory cortex
Frontiers in Human Neuroscience, 2014Co-Authors: Meike A Schweisfurth, Jens Frahm, Renate SchweizerAbstract:This study determined the individual maps of all fingers in BA 3b of the human primary somatosensory cortex in a single fMRI session by tactile stimulation at 19 sites across all Phalanges and digit bases of the 5 right-hand digits. To quantify basic features of the digit maps within and across subjects, we applied standard descriptive measures, but also implemented a novel quantitative analysis. This so-called Direction/Order (DiOr) method tested whether subjects exhibited an ordering of peak fMRI representations along their individual direction of alignment through the set of analyzed Phalanges and whether these individual directions were similar across subjects. Across-digit analysis demonstrated that for each set of homologous Phalanges, the D5-to-D1 representations were successively represented along a common direction of alignment. Hence, the well-known mediolateral D5-to-D1 somatotopy was not only confirmed for the distal Phalanges (p1), but could also be shown for the medial (p2) and proximal Phalanges (p3). In contrast, the peak activation for the digit bases (p4) only partly elicited that digit succession. Complementary, intra-digit analysis revealed a divergent picture of map topography for the different digits. Within D5 (and in a trend: D4), an ordered p1-to-p3 succession was found across subjects, pointing to a consistent intra-digit somatotopy for D5, with p3 generally found medial-posterior to p1. In contrast, for D1, D2, and D3, most subjects did not present with ordered p1-to-p3 maps nor were directions of alignment similarly oriented between subjects. These digits therefore exhibited highly diverse representation patterns across subjects.