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Dissertations / Theses on the topic 'Manipulation tactics'

Author: Grafiati

Published: 4 June 2021

Last updated: 27 July 2025

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1

Montaño, Sarria Andrés Felipe. "Object manipulation based on tactile information." Doctoral thesis, Universitat Politècnica de Catalunya, 2021. http://hdl.handle.net/10803/672089.

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In-hand dexterous manipulation of an object is the ability to change the configuration (position and/or orientation) of an object held in the hand. This is an ability that has allowed humans to use tools and interact with the environment effectively. For the past decades, robotics researchers have worked to provide dexterous manipulation skills to the robots by designing robotic hands that mimic the human hand and by developing applications that allow performing autonomous manipulation or teleoperation in harsh environments. Despite the progress made, managing the uncertainties that exist in

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2

Kappassov, Zhanat. "Touch driven dexterous robot arm control." Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066085/document.

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Les robots ont amélioré les industries, en particulier les systèmes d'assemblage basé sur des conveyors et ils ont le potentiel pour apporter plus de bénéfices: transports; exploration de zones dangereuses, mer profonde et même d'autres planètes; santé et dans la vie courante.Une barrière majeure pour leur évasion des environnements industriels avec des enceintes vers des environnements partagés avec les humains, c'est leur capacité réduite dans les tâches d’interaction physique, inclue la manipulation d'objets.Tandis que la dextérité de la manipulation n'est pas affectée par la cécité dans le

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3

Birznieks, Ingvars. "Tactile Sensory Control of Dexterous Manipulation in Humans." Doctoral thesis, Umeå universitet, Fysiologi, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-23.

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During dexterous manipulation with the fingertips, forces are applied to objects' surfaces. To achieve grasp stability, these forces must be appropriate given the properties of the objects and the skin of the fingertips, and the nature of the task. It has been demonstrated that tactile sensors in the fingertips provide crucial information about both object properties and mechanical events critical for the control of fingertip forces, while in certain tasks vision may also contribute to predictions of required fingertip actions. This thesis focuses on two specific aspects of the sensory control

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Ospina, Triviño Andrés Felipe. "Intrinsic tactile sensing system for robotic dexterous manipulation." Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066369/document.

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La détection tactile et la détection de glissement jouent un rôle important en permettant la manipulation robotique dextre des objets. Ainsi, le développement d'un système de capteur tactile entièrement intégré à haute résolution présente un intérêt certain. Ces travaux traitent de la conception et de la mise en place d'un système tactile intrinsèque basé sur un ensemble de capteurs MEMs de force à 3 axes et la détection du glissement avec ce système. Afin de créer un système tactile, les capteurs de force à 3 axes sont protégés par un revêtement, une étude sur le revêtement est réalisée. Deux

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Cohé, Aurélie. "Manipulation de contenu 3D sur des surfaces tactiles." Phd thesis, Université Sciences et Technologies - Bordeaux I, 2012. http://tel.archives-ouvertes.fr/tel-00789111.

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Les surfaces tactiles ayant connu un grand essor ces dernières années, le grand public les utilise quotidiennement pour de multiples tâches, telles que la consultation d'e-mail, la manipulation de photos, etc. En revanche, très peu d'applications 3D existent sur ces dispositifs, alors que de telles applications pourraient avoir un grand potentiel dans des domaines variés, telles que la culture, l'architecture, ou encore l'archéologie. La difficulté majeure pour ce type d'applications est d'interagir avec un espace défini en trois dimensions à partir d'une modalité d'interaction définie en deux

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Zapata-Impata, Brayan S. "Robotic manipulation based on visual and tactile perception." Doctoral thesis, Universidad de Alicante, 2020. http://hdl.handle.net/10045/118217.

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We still struggle to deliver autonomous robots that perform manipulation tasks as simple for a human as picking up items. A portion of the difficulty of this task lays on the fact that such operation requires a robot that can deal with uncertainty in an unstructured environment. We propose in this thesis the use of visual and tactile perception for providing solutions that can improve the robustness of a robotic manipulator in such environment. In this thesis, we approach robotic grasping using a single 3D point cloud with a partial view of the objects present in the scene. Moreover, the objec

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7

Ward-Cherrier, Benjamin Paul Jerome. "A biomimetic approach to tactile sensing and robotic manipulation." Thesis, University of Bristol, 2018. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.761236.

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8

Kucherhan, Daniel. "Tactile Feedback for Dexterous Manipulation Operations using Assistive Prosthetic Fingers." Thesis, Université d'Ottawa / University of Ottawa, 2017. http://hdl.handle.net/10393/36855.

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Dexterous manipulation operations using robotic or prosthetic fingers is seemingly facilitated with enhanced tactile feedback. Using a combination of artificial sensors and actuators, a tactile feedback system that conveys tactual information (force, pressure, & temperature) from an artificial fingertip to the user’s hand is developed and tested with subjects. Results reveal that subjects are capable of distinguishing specific actuators with a high degree of accuracy. The sensor density and actuator fidelity of the feedback system is insufficient to yield performance equal to that of a human’s

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9

Jentoft, Leif Patrick. "Sensing and Control for Robust Grasping with Simple Hardware." Thesis, Harvard University, 2014. http://dissertations.umi.com/gsas.harvard:11657.

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Robots can move, see, and navigate in the real world outside carefully structured factories, but they cannot yet grasp and manipulate objects without human intervention. Two key barriers are the complexity of current approaches, which require complicated hardware or precise perception to function effectively, and the challenge of understanding system performance in a tractable manner given the wide range of factors that impact successful grasping. This thesis presents sensors and simple control algorithms that relax the requirements on robot hardware, and a framework to understand the capabi

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10

Sanchez, Loza Jose Manuel. "Shape sensing of deformable objects for robot manipulation." Thesis, Université Clermont Auvergne‎ (2017-2020), 2019. http://www.theses.fr/2019CLFAC012/document.

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Les objets déformables sont omniprésents dans notre vie quotidienne. Chaque jour, nous manipulons des vêtements dans des configurations innombrables pour nous habiller, nouons les lacets de nos chaussures, cueillons des fruits et des légumes sans les endommager pour notre consommation et plions les reçus dans nos portefeuilles. Toutes ces tâches impliquent de manipuler des objets déformables et peuvent être exécutées sans problème par une personne. Toutefois, les robots n'ont pas encore atteint le même niveau de dextérité. Contrairement aux objets rigides, que les robots sont maintenant capabl

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11

Oliveira, Thomas Volpato de. "Usage of tactile feedback to aid cooperative object manipulation in virtual environments." Pontif?cia Universidade Cat?lica do Rio Grande do Sul, 2017. http://tede2.pucrs.br/tede2/handle/tede/8235.

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12

Perozzi, Marco. "A myo-controlled wearable manipulation system with tactile sensing for prosthetics studies." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2022. http://amslaurea.unibo.it/25054/.

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The following thesis project aims to study and realize a wearable manipulation system composed by an AR10 robotic hand, controlled via myoelectric signals and tactile sensors for prosthetic studies. The project starts with the kinematic study of the hand via MATLAB and Simulink, in order to obtain a complete insight on the robotic grasping device. Thereafter, a wearable support has been designed and printed to fix the robotic hand around the user forearm. Surface electromyography is acquired using a gForce gesture armband. A Simulink system has been developed to acquire and filter the signals,

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13

Cochran, Nigel B. "The Development of a Sensitive Manipulation Platform." Digital WPI, 2013. https://digitalcommons.wpi.edu/etd-theses/861.

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"This thesis presents an extension of sensitive manipulation which transforms tactile sensors away from end effectors and closer to whole body sensory feedback. Sensitive manipulation is a robotics concept which more closely replicates nature by employing tactile sensing to interact with the world. While traditional robotic arms are specifically designed to avoid contact, biological systems actually embrace and intentionally contact the environment. This arm is inspired by these biological systems and therefore has compliant joints and a tactile shell surrounding the two primary links of the

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14

Yussof, Hanafiah, Jiro Wada, and Masahiro Ohka. "Grasp synthesis based on tactile sensation in robot manipulation of arbitrary located object." IEEE, 2009. http://hdl.handle.net/2237/13947.

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15

Besançon, Lonni. "An interaction Continuum for 3D Dataset Visualization." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLS554/document.

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Un nombre croissant de paradigmes d'interaction et de dispositifs ont été développés et étudiés pour les manipulations 3D.Ce développement bénéficie, en particulier, aux domaines scientifiques tels que la visualisation qui s'appuie sur la manipulation de données 3D.De nombreuses études ont démontré les avantages de chacun d'entre eux pour des tâches spécifiques liées à la visualisation. Pourtant, les interfaces utilisateur graphiques classiques ainsi que la souris et les claviers prédominent toujours dans la plupart des environnements interactifs: de tels environnements sont toujours utiles po

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16

Killpack, Marc Daniel. "Model predictive control with haptic feedback for robot manipulation in cluttered scenarios." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/50208.

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Current robot manipulation and control paradigms have largely been developed for static or highly structured environments such as those common in factories. For most techniques in robot trajectory generation, such as heuristic-based geometric planning, this has led to putting a high cost on contact with the world. This approach and methodology can be prohibitive to robots operating in many unmodeled and dynamic environments. This dissertation presents work on using haptic based feedback (torque and tactile sensing) to formulate a controller for robot manipulation in clutter. We define “clutter

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17

Sandberg, Robert D. "Use of tactile and vision sensing for recognition of overlapping parts for robot manipulation." Thesis, Georgia Institute of Technology, 1985. http://hdl.handle.net/1853/18910.

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18

VEZZANI, GIULIA. "Sense, Think, Grasp: A study on visual and tactile information processing for autonomous manipulation." Doctoral thesis, Università degli studi di Genova, 2019. http://hdl.handle.net/11567/941934.

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Interacting with the environment using hands is one of the distinctive abilities of humans with respect to other species. This aptitude reflects on the crucial role played by objects’ manipulation in the world that we have shaped for us. With a view of bringing robots outside industries for supporting people during everyday life, the ability of manipulating objects autonomously and in unstructured environments is therefore one of the basic skills they need. Autonomous manipulation is characterized by great complexity especially regarding the processing of sensors information to perceiv

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Fernandes, Veiga Filipe [Verfasser], Jan [Akademischer Betreuer] Peters, and Veronica [Akademischer Betreuer] Santos. "Towards Dexterous In-Hand Manipulation through Tactile Sensing / Filipe Fernandes Veiga ; Jan Peters, Veronica Santos." Darmstadt : Universitäts- und Landesbibliothek Darmstadt, 2018. http://d-nb.info/1197800824/34.

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Fernandes, Veiga Filipe [Verfasser], Jan Akademischer Betreuer] Peters, and Veronica [Akademischer Betreuer] [Santos. "Towards Dexterous In-Hand Manipulation through Tactile Sensing / Filipe Fernandes Veiga ; Jan Peters, Veronica Santos." Darmstadt : Universitäts- und Landesbibliothek Darmstadt, 2018. http://d-nb.info/1197800824/34.

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21

Yussof, Hanafiah Bin, Nobuyuki Morisawa, Hirofumi Suzuki, Hiroaki Kobayashi, Jumpei Takata, and Masahiro Ohka. "Object exploration and manipulation using a robotic finger equipped with an optical three-axis tactile sensor." Cambridge University Press, 2009. http://hdl.handle.net/2237/14322.

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22

Yussof, Hanafiah, Masahiro Ohka, Abdul Rahman Omar, and Muhammad Azmi Ayub. "Determination of Object Stiffness Control Parameters in Robot Manipulation Using a Prototype Optical Three-Axis Tactile Sensor." IEEE, 2008. http://hdl.handle.net/2237/12138.

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23

Martinet, Anthony. "Etude de l'infuence de la séparation des degrés de liberté pour la manipulation 3-D à l'aide de surfaces tactiles multipoints." Phd thesis, Université des Sciences et Technologie de Lille - Lille I, 2011. http://tel.archives-ouvertes.fr/tel-00638449.

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Inventées au milieu des années 1980, nous assistons actuellement au développement à grande échelle des interfaces tactiles multipoints. Par comparaison avec la souris, les écrans multipoints nécessitent un nouveau processus d'étude afin de comprendre les changements apportés par cette technologie. Le travail déjà effectué avec d'autres périphériques d'entrée doit être repris à zéro afin de formuler de nouvelles théories pour la création d'interfaces tactiles multipoints. La manipulation à trois dimensions (3-D) d'un objet nécessite le contrôle de six degrés de liberté. Trois sont responsables

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24

Fernandes, Guilherme. "Exploração de ambientes não estruturados através de manipulador robótico implementando controlador de impedância com parâmetros variáveis." Universidade de São Paulo, 2013. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-22072014-174251/.

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Manipulação robótica em ambientes não estruturados desafia intensamente a comunidade científica. Grandes esforços tem sido empregados em sistemas de visão computacional culminando em resultados notáveis. Entretanto, a informação obtida de sistemas de visão diversas vezes é incompleta, ruidosa e imprecisa devido a limitações técnicas dos sensores empregados ou devido a posição em que o sensor se encontra em relação ao ambiente. Além disso, pouca atenção tem sido destinada a utilização do tato como informação adicional para enriquecer a percepção do ambiente. Este trabalho apresenta um estudo ex

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25

Petchartee, Somrak [Verfasser], Volker [Akademischer Betreuer] Graefe, and Gerhard [Akademischer Betreuer] Hirzinger. "Object Manipulation and Force Control by Using Tactile Sensors / Somrak Petchartee. Universität der Bundeswehr München, Fakultät für Luft- und Raumfahrttechnik. Gutachter: Volker Graefe ; Gerhard Hirzinger. Betreuer: Volker Graefe." Neubiberg : Universitätsbibliothek der Universität der Bundeswehr München, 2008. http://d-nb.info/106366764X/34.

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Troconis, Claudia. "The Effects of Manipulating Conditioned Establishing Operations on the Acquisition of Mands in Children with Autism Spectrum Disorders." Scholar Commons, 2011. http://scholarcommons.usf.edu/etd/3382.

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In Verbal Behavior, Skinner (1957) suggested that each verbal operant has independent response functions, in which acquiring one does not automatically result in the other, unless transfer between the verbal operants is directly trained. Although several researchers have shown that mands and tacts are functionally independent, more recent research has demonstrated that mands may emerge following tact training. However, this research has not clarified the influence of establishing operations on the emergence of pure mands following tact training. Therefore, the present study investigated the

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Cavez, Vincent. "Designing Pen-based Interactions for Productivity and Creativity." Electronic Thesis or Diss., université Paris-Saclay, 2025. http://www.theses.fr/2025UPASG013.

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Conçus pour une utilisation avec la souris et le clavier, les outils aidant à la productivité et à la créativité sont puissants sur les ordinateurs de bureau, mais leur structure devient un obstacle lorsqu'ils sont transposés sur des surfaces interactives offrant une saisie tactile et au stylet.En effet, les opportunités offertes par le stylet en termes de précision et d'expressivité ont été démontrées dans la littérature sur en IHM. Cependant, les outils de productivité et de créativité nécessitent une refonte minutieuse exploitant ces propriétés uniques pour tirer parti de l'intuitivité qu'i

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Кульчицька, Катерина Юріївна. "Маніпулятивні технології в політичних ток-шоу на українському телебаченні". Магістерська робота, 2020. https://dspace.znu.edu.ua/jspui/handle/12345/4299.

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Кульчицька К. Ю. Маніпулятивні технології в політичних ток-шоу на українському телебаченні : кваліфікаційна робота магістра спеціальності 061 "Журналістика" / наук. керівник О. В. Усманова. Запоріжжя : ЗНУ, 2020. 76 с.<br>UA : Магістерська робота «Маніпулятивні технології в політичних ток-шоу на українському телебаченні» основний текст – 76 сторінок. Для виконання магістерської роботи опрацьовано 95 джерел. Об’єктом дослідження політичні ток-шоу «Пульс» на телеканалі 112.ua та «Український формат» на телеканалі NEWSONE за липень-серпень 2020 року. Предмет дослідження – стратегії та тактики м

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Fernandes, Veiga Filipe. "Towards Dexterous In-Hand Manipulation through Tactile Sensing." Phd thesis, 2018. https://tuprints.ulb.tu-darmstadt.de/9180/1/filipe-veiga-thesis.pdf.

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Currently, robots display manipulation capabilities that translate into actions such as picking and placing objects or poring liquid from containers. For actions that require finer in-hand manipulation to reposition objects or to use them as tools, robots are still not proficient enough. These shortcomings become even more apparent when considering the ease with which humans perform such manipulations on a daily basis, and while these limitations are not addressed, robots can not truly aid humans with their daily activities. The scope of possible interactions and the high dimensionality int

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Torres-Jara, Eduardo, Iuliu Vasilescu, and Raul Coral. "A soft touch: Compliant Tactile Sensors for Sensitive Manipulation." 2006. http://hdl.handle.net/1721.1/31220.

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We present the design, analysis and construction of a biologicallyinspired tactile sensor. The sensor can measure normal and lateralforces, conform to the surfaces with which it comes in contact andincrease the friction of the surface for a good grasp.The sensor is built using a simple process and the applied forcesare read using standard electronics. These features make thesensors ideal for mass production.We are motivated to build tactile sensors that are useful forrobotic manipulation given that the current ones do not have thefeatures that we consider necessary. The sensors presented in th

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31

Akinola, Iretiayo Adegbola. "Improving Robotic Manipulation via Reachability, Tactile, and Spatial Awareness." Thesis, 2021. https://doi.org/10.7916/d8-x67d-tj57.

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Robotic grasping and manipulation remains an active area of research despite significant progress over the past decades. Many existing solutions still struggle to robustly handle difficult situations that a robot might encounter even in non-contrived settings.For example, grasping systems struggle when the object is not centrally located in the robot's workspace. Also, grasping in dynamic environments presents a unique set of challenges. A stable and feasible grasp can become infeasible as the object moves; this problem becomes pronounced when there are obstacles in the scene. This research i

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Gouveia, Nuno Rafael Pereira. "Manipulation of Tactile Perception of Objects in Mixed Reality." Master's thesis, 2017. http://hdl.handle.net/10316/82925.

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Dissertação de Mestrado Integrado em Engenharia Electrotécnica e de Computadores apresentada à Faculdade de Ciências e Tecnologia<br>After the resurgence of virtual reality as a research topic due to, among other advancements in technology, the improvement of head-mounted displays. Mixed reality falls in, naturally, as the next step in human, computer and environment interaction, blending the physical world with the digital one.Heretofore, human interaction with computers occurs through an assortment of devices, which range from trackballs to controllers. With mixed and virtual reality environ

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Li, You-lin, and 李佑琳. "The Integration of Embedded Tactile Robot Gripper and Robotic Manipulator." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/99500648966064334192.

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碩士<br>國立臺灣科技大學<br>機械工程系<br>102<br>In this thesis, an two degrees of freedom intelligent gripper with embedded micro-control chip is designed and integrated with an five degrees of freedom industrial robotic arm. The robotic arm monitors end-effector position, and intelligent gripper control the tactile force. I^2 C communication protocol is established for these two independent systems structure. The robotic control system manipulator the end-effector of robotic arm to arrive the spatial target location firstly, then sends asignal by I^2 C to intelligent gripper. The intelligent gripper receiv

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"The Role of Tactile Information in Transfer of Learned Manipulation Following Changes in Degrees of Freedom." Master's thesis, 2014. http://hdl.handle.net/2286/R.I.24891.

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abstract: Humans are capable of transferring learning for anticipatory control of dexterous object manipulation despite changes in degrees-of-freedom (DoF), i.e., switching from lifting an object with two fingers to lifting the same object with three fingers. However, the role that tactile information plays in this transfer of learning is unknown. In this study, subjects lifted an L-shaped object with two fingers (2-DoF), and then lifted the object with three fingers (3-DoF). The subjects were divided into two groups--one group performed the task wearing a glove (to reduce tactile sensibility)

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35

(9706709), Yoselyn Walsh. "Improving conceptual understanding of statics concepts through tactile feedback tools." Thesis, 2020.

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<div>Learning practices in education are constantly evolving to provide high-quality education. One of the trends used to provide high-quality education is incorporating technological tools to teach and learn STEM concepts. Implementing physical manipulative tools and virtual manipulative tools in STEM classrooms positively influenced conceptual learning. Furthermore, visuohaptic simulations are learning tools that combine physical and virtual manipulative affordances in a single learning experience. For investigating the value of visual and haptic feedback in virtual environments, we designed

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