Archive for Август 15th, 2008

Multi-fingered telemanipulation — mapping of a human hand to a three finger gripper

Дата: Август 15th, 2008 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 1333
  • Название документа: Multi-fingered telemanipulation - mapping of a human hand to a three finger gripper
  • Номер (DOI, IBSN, Патент): 10.1109/ROMAN.2008.4600710
  • Изобретатель/автор: Peer, A., Einenkel, S., Buss, M.
  • Правопреемник/учебное заведение: Inst. of Autom. Control Eng., Tech. Univ. Munchen, Munich
  • Дата публикации документа: 2008-08-15
  • Страна опубликовавшая документ: Германия
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Да
  • Аналитик: Дмитрий Соловьев

If a teleoperation scenario foresees complex and fine manipulation tasks a multi-fingered telemanipulation system is required. In this paper a multi-fingered telemanipulation system is presented, whereby the human hand controls a three-finger robotic gripper and force feedback is provided by using an exoskeleton. Since the human hand and robotic grippers have different kinematic structures, appropriate mappings for forces and positions are applied. A point-to-point position mapping algorithm as well as a simple force mapping algorithm are presented and evaluated in a real experimental setup.

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Independent effects of weight and mass on plantar flexor activity during walking: implications for their contributions to body support and forward propulsion

Дата: Август 15th, 2008 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 7222
  • Название документа: Independent effects of weight and mass on plantar flexor activity during walking: implications for their contributions to body support and forward propulsion
  • Номер (DOI, IBSN, Патент): doi:10.1152/japplphysiol.90448.2008.
  • Изобретатель/автор: C. P. McGowan, R. R. Neptune, R. Kram
  • Правопреемник/учебное заведение: University of Texas at Austin, University of Colorado at Boulder
  • Дата публикации документа: 2008-08-15
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: J Appl Physiol 105: 486–494, 2008.
  • Вложения: Да
  • Аналитик: Глаголева Елена

The ankle plantar flexor muscles, gastrocnemius (Gas) and soleus (Sol), have been shown to play important roles in providing body support and forward propulsion during human walking. However, there has been disagreement about the relative contributions of Gas and Sol to these functional tasks. In this study, using independent manipulations of body weight and body mass, we examined the relative contribution of the individual plantar flexors to support and propulsion. We hypo-thesized that Gas and Sol contribute to body support, whereas Sol is the primary contributor to forward trunk propulsion. We tested this hypothesis by measuring muscle activity while experimentally manipulating body weight and mass by 1) decreasing body weight using a weight support system, 2) increasing body mass alone using a combination of equal added trunk load and weight support, and 3) increasing trunk loads (increasing body weight and mass). The rationale for this study was that muscles that provide body support would be sensitive to changes in body weight, whereas muscles that provide forward propulsion would be sensitive to changes in body mass. Gas activity increased with added loads and decreased with weight support but showed only a small increase relative to control trials when mass alone was increased. Sol activity showed a similar increase with added loads and with added mass alone and decreased in early stance with weight support. Therefore, we accepted the hypothesis that Sol and Gas contribute to body support, whereas Sol is the primary contributor to forward trunk propulsion.

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