The paper presents a sensor fusion model for integrating wearable inertial measures with sensors in the environment. This approach is designed and tested to support body motion tracking of rowing in indoor and outdoor environment. The paper presents the approach based on a complex kinematic model and unscented Kalman filtering. The approach is validated in an in-door setup based on the SPRINT rowing system by comparison against results obtained from a commercial motion capture system, thus providing future directions for the assessment of rowers performance on an instrumented boat
The development of natural interfaces for human-robot interaction\ud
provides the user an intuitive way to control and guide robots. In\ud
this paper, we propose a novel ROS (Robot Operating System)-\ud
integrated interface for remote control that allows the user to teleoperate\ud
the robot using his hands motion. The user can adjust online\ud
the autonomy of the robot between two levels: direct control and\ud
waypoint following. The hand tracking and gestures recognition\ud
capabilities of the Leap Motion device are exploited to generate the\ud
control commands. The user receives a real-time 3D augmented\ud
visual feedback using a Kinect sensor and a HMD. To assess the\ud
practicability of the system experimental results are presented using\ud
as a benchmark the remote control of a Kuka Youbot
The Strength-Dexterity (SD) test measures the ability of the pulps of the thumb and index finger to compress a compliant and slender spring prone to buckling at low forces (<3N). We know that factors such as aging and neurodegenerative conditions bring deteriorating physiological changes (e.g., at the level of motor cortex, cerebellum, and basal ganglia), which lead to an overall loss of dexterous ability. However, little is known about how these changes reflect upon the dynamics of the underlying biological system. The spring-hand system exhibits nonlinear dynamical behavior and here we characterize the dynamical behavior of the phase portraits using attractor reconstruction. Thirty participants performed the SD test: 10 young adults, 10 older adults, and 10 older adults with Parkinson’s disease (PD). We used delayed embedding of the applied force to reconstruct its attractor. We characterized the distribution of points of the phase portraits by their density (number of distant points and interquartile range) and geometric features (trajectory length and size). We find phase portraits from older adults exhibit more distant points (p = 0.028) than young adults and participants with PD have larger interquartile ranges (p = 0.001), trajectory lengths (p = 0.005), and size (p = 0.003) than their healthy counterparts. The increased size of the phase portraits with healthy aging suggests a change in the dynamical properties of the system, which may represent a weakening of the neural control strategy. In contrast, the distortion of the attractor in PD suggests a fundamental change in the underlying biological system, and disruption of the neural control strategy. This ability to detect differences in the biological mechanisms of dexterity in healthy and pathological aging provides a simple means to assess their disruption in neurodegenerative conditions and justifies further studies to understand the link with the physiological changes.
This work investigates the use of a highly immersive telepresence system for industrial robotics. A Robot Operating System integrated framework is presented where a remote robot is controlled through operator's movements and muscle contractions captured with a wearable device. An augmented 3D visual feedback is sent to the user providing the remote environment scenario from the robot's point of view and additional information pertaining to the task execution. The system proposed, using robot mounted RGB-D camera, identifies known objects and relates their pose to robot arm pose and to targets relevant to the task execution. The system is preliminary validated during a pick-and-place task using a Baxter robot. The experiment shows the practicability and the effectiveness of the proposed approach.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.