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1
Pozzi, Maria. "Grasping and Manipulation with Soft Robotic Hands". Doctoral thesis, Università di Siena, 2019. http://hdl.handle.net/11365/1073188.
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As robots get closer to humans, their ability to safely interact with unstructured environments
proves to be essential, and the adoption of soft, or compliant, end-effectors becomes necessary.
Robotic hands and grippers can exhibit a soft behaviour both by passive compliant elements
embedded in their hardware design, and by active stiffness control strategies. The work
presented in this Thesis dealt with both aspects and was aimed at finding answers to the
growing need of mathematical models and shared standards in the emerging field of soft
manipulation. Starting from the classical modelling tools provided by the kinematic analysis of
robotic manipulators and the quasi-static analysis of grasping, a new simulation framework
for intrinsically soft fingers was defined, together with new grasp quality indices suitable for
underactuated and compliant hands. Then, the closure signature model was devised. Such
model cut ties with the traditional models introducing a completely new way of representing
robotic hands, that focused more on their capabilities, rather than their kinematic structure. The
information provided by the closure signature was found to be useful for planning power grasps
with soft robotic hands. Regarding active stiffness control strategies, methods that allow to
regulate the grasp stiffness of fully-actuated, torque-controlled rigid hands were conceived with
a bio-inspired approach and were extensively tested. Models and control paradigms presented
in this Thesis are general enough to be used with different robotic setups with respect to those
that were already tested. Future work will focus on both, the further application of the achieved
results, and their theoretical extension to address other open questions, including environmental
constraints exploitation in grasping and benchmarking of soft manipulation.
2
Marullo, Sara. "Modelling and Controlling Soft Interactions". Doctoral thesis, Università di Siena, 2022. http://hdl.handle.net/11365/1196028.
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Compliance is a key factor during physical interactions between agents and objects, allowing delicate and robust manipulation. Such a compliance can reside in human and robotic hands, as well as in objects present in the environment. This Thesis arose from the quest for mechanical conditions fostering object manipulation, and shaped as an investigation on techniques to model and control the compliance in soft interactions. Human and robotic hands are considered, functional and biomechanical models are discussed, devised and validated. To deal with unpredictable configurations assumed by intrinsically and passively-compliant underactuated robotic hands, a solution based on magnetic actuation is proposed. The exploitation of small magnetic elements allows also to simplify the robotic end-effector design by relying on local interactions to manipulate extremely deformable objects like garments. Moreover, mechanical forces exchanged during physical interactions are used to devise a control strategy for human-robot cooperative grasping, relying on a novel contact model exploiting linear elastic patches to ensure the contact permanence. The Research work contained in this Thesis shows that developing techniques for implementing robotic soft interactions is feasible and can significantly broaden the spectrum of robotic applications in real-world scenarios. An extensive experimental validation of the theoretic work supports the discussion.
3
Deimel, Raphael [Verfasser], Oliver [Akademischer Betreuer] Brock, Kaspar [Gutachter] Althoefer e Sami [Gutachter] Haddadin. "Soft robotic hands for compliant grasping / Raphael Deimel ; Gutachter: Kaspar Althoefer, Sami Haddadin ; Betreuer: Oliver Brock". Berlin : Technische Universität Berlin, 2017. http://d-nb.info/1156179505/34.
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Seiger, Cronfalk Berit. "Being in safe hands : the experiences of soft tissue massage as a complement in palliative care. Intervention studies concerning patients, relatives and nursing staff". Doctoral thesis, Ersta Sköndal högskola, Enheten för forskning om vård i livets slutskede, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:esh:diva-602.
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Homberg, Bianca (Bianca S. ). "Robust proprioceptive grasping with a soft robot hand". Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/106123.
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Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 85-88).
This work presents a soft hand capable of robustly grasping and identifying objects based on internal state measurements along with a combined system which autonomously performs grasps. A highly compliant soft hand allows for intrinsic robustness to grasping uncertainties; the addition of internal sensing allows the configuration of the hand and object to be detected. The hand can be configured in different ways using finger unit modules. The finger module includes resistive force sensors on the fingertips for contact detection and resistive bend sensors for measuring the curvature profile of the finger. The curvature sensors can be used to estimate the contact geometry and thus to distinguish between a set of grasped objects. With one data point from each finger, the object grasped by the hand can be identified. A clustering algorithm to find the correspondence for each grasped object is presented for both enveloping grasps and pinch grasps. This hand is incorporated into a full system with vision and motion planning on the Baxter robot to autonomously perform grasps of objects placed on a table. This hand is a first step towards proprioceptive soft grasping.
by Bianca Homberg.
M. Eng.
6
Rubiano, Fonseca Astrid. "Smart control of a soft robotic hand prosthesis". Thesis, Paris 10, 2016. http://www.theses.fr/2016PA100189/document.
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Le sujet principal de cette thèse est le développement d’un contrôle commande intelligentpour une prothèse de main robotique avec des parties souples qui comporte: (i) uneinterface homme–machine permettant de contrôler notre prothèse, (ii) et des stratégiesde contrôle améliorant les performances de la main robotique. Notre approche tientcompte : 1. du développement d’une interaction intuitive entre l'homme et la prothèse facilitantl'utilisation de la main, d'un système d’interaction entre l’utilisateur et la mainreposant sur l'acquisition de signaux ElectroMyoGrammes superficiels (sEMG) aumoyen d'un dispositif placé sur l'avant-bras du patient. Les signaux obtenus sontensuite traités avec un algorithme basé sur l'intelligence artificielle, en vued'identifier automatiquement les mouvements désirés par le patient.2. du contrôle de la main robotique grâce à la détection du contact avec l’objet et de lathéorie du contrôle hybride.Ainsi, nous concentrons notre étude sur : (i) l’établissement d’une relation entre lemouvement du membre supérieur et les signaux sEMG, (ii) les séparateurs à vaste margepour classer les patterns obtenues à partir des signaux sEMG correspondant auxmouvements de préhension, (iii) le développement d'un système de reconnaissance depréhension à partir d'un dispositif portable MyoArmbandTM, (iv) et des stratégieshybrides de contrôle commande de force-position de notre main robotique soupleThe target of this thesis disertation is to develop a new Smart control of a soft robotic hand prosthesis for the soft robotic hand prosthesis called ProMain Hand, which is characterized by:(i) flexible interaction with grasped object, (ii) and friendly-intuitive interaction between human and robot hand. Flexible interaction results from the synergies between rigid bodies and soft bodies, and actuation mechanism. The ProMain hand has three fingers, each one is equipped with three phalanges: proximal, medial and distal. The proximal and medial are built with rigid bodies,and the distal is fabricated using a deformable material. The soft distal phalange has a new smart force sensor, which was created with the aim to detect contact and force in the fingertip, facilitating the control of the hand. The friendly intuitive human-hand interaction is developed to facilitate the hand utilization. The human-hand interaction is driven by a controller that uses the superficial electromyographic signals measured in the forearm employing a wearable device. The wearable device called MyoArmband is placed around the forearm near the elbow joint. Based on the signals transmitted by the wearable device, the beginning of the movement is automatically detected, analyzing entropy behavior of the EMG signals through artificial intelligence. Then, three selected grasping gesture are recognized with the following methodology: (i) learning patients entropy patterns from electromyographic signals captured during the execution of selected grasping gesture, (ii) performing a support vector machine classifier, using raw entropy data extracted in real time from electromyographic signals
7
Ramirez, Arias José Luis. "Development of an artificial muscle for a soft robotic hand prosthesis". Thesis, Paris 10, 2016. http://www.theses.fr/2016PA100190/document.
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Le thème central de cette thèse est la conception d’actionneurs doux à partir de matériaux intelligents et d’une prothèse de main robotique souple. Notre approche prends en compte les différents points qui peuvent influer sur le développement d’une stratégie d’actionnement ou d’un muscle artificiel : i) Les mécanismes et la fonctionnalité de la main humaine afin d’identifier les exigences fonctionnelles pour une prothèse de main robotique en matière de préhension. ii) L’analyse et l’amélioration des mécanismes de la main robotique pour intégrer un comportement souple dans la prothèse. iii) L’évaluation expérimentale de la prothèse de main robotique afin d’identifier les spécifications du système d’actionnement nécessaire au fonctionnement cinématique et dynamique du robot. iv) Le développement et la modélisation d’une stratégie d’actionnement utilisant des matériaux intelligents.Ces points sont abordés successivement dans les 4 chapitres de cette thèse1. Analyse du mouvement de la main humaine pour l’identification des exigences technologiques pour la prothèse de main robotique.2. Conception et modélisation de la prothèse de main robotique à comportement souple.3. Evaluation mécatronique de la prothèse de main.4. Conception d’un muscle artificiel basé sur des matériaux intelligentsIn the field of robotic hand prosthesis, the use of smart and soft materials is helpful in improving flexibility, usability, and adaptability of the robots, which simplify daily living activities of prosthesis users. However, regarding the smart materials for artificial muscles, technologies are considered to be far from implementation in anthropomorphic robotic hands. Therefore, the target of this thesis dissertation is to reduce the gap between smart material technologies and robotic hand prosthesis. Five central axes address the problem: i)identification of useful grasping gestures and reformulation of the robotic hand mechanism, ii) analysis of human muscle behavior to mimic human grasping capabilities, iii) modeling robot using the hybrid model DHKK-SRQ for the kinematics and the virtual works principle for dynamics, iv) definition of actuation requirements considering the synergy between prehension conditions and robot mechanism, and v) development of a smart material based actuation system.This topics are addressed in four chapters:1. Human hand movement analysis toward the hand prosthesis requirements2. Design and modeling of the soft robotic hand ProMain-I3. Mechatronic assessment of Prosthetic hand4. Development of an artificial muscle based on smart materials
8
Petinari, Andrea. "Hand rehabilitation device for extension, opposition and reposition". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.
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In this paper, the research focused on the development of a hand rehabilitation device which could perform extension, opposition and reposition movements. Firstly, the anatomy of the hand is analyzed and studied to understand where the problem resides; since the mechanism will be applied to post-stroke patients, it is necessary to comprehend the structure and the articulations of the hand, the muscles involved in the mentioned movements and how a healthy hand works. Then, the causes of the problem are studied, what are the consequences on the hand and how to solve every issue. Brunnström Approach is taken as reference for the rehabilitation therapy steps. After the performance target is defined and which function has the priority, a brief research on the state of the art is made. Six different devices are analyzed, taking into account their strengths and weaknesses, evaluating them and trying to find possible lacks to solve.
An evaluation of possible solutions is done, in order to find the optimal solution for the problem. Various types of actuation and structure of the mechanism are considered.
Defined which are the best choices between the ones proposed, the next step is to design a first prototype with the purpose of bringing together the solutions selected. The CAD used is PTC Creo Parametric.
Once the first prototype was designed, it was partially printed with 3D technique (additive manufacturing) and tested; tests were made on the actuation and on the device to evaluated its efficacy. The results are visible in this paper.
Finally, a conclusion is discussed with a short resume of the experiments made and the results obtained. Furthermore, remaining problems and future works are analyzed and debated.
9
Kibria, Raihan Hassnain [Verfasser], e Hans [Akademischer Betreuer] Eveking. "Soft Computing Approaches to DPLL SAT Solver Optimization / Raihan Hassnain Kibria. Betreuer: Hans Eveking". Darmstadt : Universitäts- und Landesbibliothek Darmstadt, 2011. http://d-nb.info/1105563952/34.
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Wirekoh, Jackson O. "Development of Soft Actuation Systems for Use in Human-Centered Applications". Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1124.
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In recent years, soft materials have seen increased prevalence in the design of robotic systems and wearables capable of addressing the needs of individuals living with disabilities. In particular, pneumatic artificial muscles (PAMs) have readily been employed in place of electromagnetic actuators due to their ability to produce large forces and motions, while still remaining lightweight, compact, and flexible. Due to the inherent nonlinearity of PAMs however, additional external or embedded sensors must be utilized in order to effectively control the overall system. In the case of external sensors, the bulkiness of the overall system is increased, which places limits on the system’s design. Meanwhile, the traditional cylindrical form factor of PAMs limits their ability to remain compact and results in overly complex fabrication processes when embedded fibers and/or sensing elements are required to provide efficient actuation and control. In order to overcome these limitations, this thesis proposed the design of flat pneumatic artificial muscles (FPAMs) capable of being fabricated using a simple layered manufacturing process, in which water-soluble masks were utilized to create collapsed air chambers. Furthermore, hyperelastic deformation models were developed to approximate the mechanical performance of the FPAMs and were verified through experimental characterization. The feasibility of these design techniques to meet the requirements of human centered applications, including the suppression of hand tremors and catheter ablation procedures, was explored and the potential for these soft actuation systems to act as solutions in other real world applications was demonstrated. We expect the design, fabrication, and modeling techniques developed in this thesis to aid in the development of future wearable devices and motivate new methods for researchers to employ soft pneumatic systems as solutions in human-centered applications.
11
Bagschik, Kai [Verfasser], e Hans Peter [Akademischer Betreuer] Oepen. "Coherent soft X-ray magnetic scattering and spatial coherence determination / Kai Bagschik ; Betreuer: Hans Peter Oepen". Hamburg : Staats- und Universitätsbibliothek Hamburg, 2017. http://d-nb.info/1143868986/34.
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Varier, Vignesh Manoj. "Towards Automated Suturing of Soft Tissue: Automating Suturing Hand-off Task for da Vinci Research Kit Arm using Reinforcement Learning". Digital WPI, 2020. https://digitalcommons.wpi.edu/etd-theses/1369.
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Successful applications of Reinforcement Learning (RL) in the robotics field has proliferated after DeepMind and OpenAI showed the ability of RL techniques to develop intelligent robotic systems that could learn to perform complex tasks. Ever since the use of robots for surgical procedures, researchers have been trying to bring some sort of autonomy into the operating room. Surgical robotic systems such as da Vinci currently provide the surgeons with direct control. To relieve the stress and the burden on the surgeon using the da Vinci robot, semi-automating or automating surgical tasks such as suturing can be beneficial. This work presents a RL-based approach to automate the needle hand-off task. It puts forward two approaches based on the type of environment, a discrete and continuous space approach. For capturing a unique suturing style, user data was collected using the da Vinci Research Kit to generate a sparse reward function. It was used to derive an optimal policy using Q-learning for a discretized environment. Further, a RL framework for da Vinci Research Kit was developed using a real-time dynamics simulator - Asynchronous Multi-Body Framework (AMBF). A model was trained and evaluated to reach the desired goal using model-free RL techniques while considering the dynamics of the robot to help mitigate the difficulty in transferring trained model to real-world robots. Therefore, the developed RL framework would enable the RL community to train surgical robots using state of the art RL techniques and transfer it to real-world robots with minimal effort. Based on the results obtained, the viability of applying RL techniques to develop a supervised level of autonomy for performing surgical tasks is discussed. To summarize, this work mainly focuses on using RL to automate the suture hand-off task in order to move a step towards solving the greater problem of automating suturing.
13
Soot, Matthias [Verfasser], Alexandra [Akademischer Betreuer] Weitkamp, Alexandra [Gutachter] Weitkamp, Hans-Berndt [Gutachter] Neuner e Hans-Joachim [Gutachter] Linke. "Immobilienbewertung in Märkten mit geringen Transaktionen – Möglichkeiten statistischer Auswertungen / Matthias Soot ; Gutachter: Alexandra Weitkamp, Hans-Berndt Neuner, Hans-Joachim Linke ; Betreuer: Alexandra Weitkamp". Dresden : Technische Universität Dresden, 2021. http://d-nb.info/1238140564/34.
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Eriksson, Skoog Gun. "The soft budget constraint : the emergence, persistence and logic of an institution : The Case of Tanzania1967-1992". Doctoral thesis, Handelshögskolan i Stockholm, Internationell Ekonomi och Geografi (IEG), 1998. http://urn.kb.se/resolve?urn=urn:nbn:se:hhs:diva-652.
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The soft budget constraint - today a popular metaphor - is a paradox. In socialist economies, it implies that the state tends to bail out state-owned firms in financial trouble, in spite of the tremendous performance problems of the entire system that result. When the system broke down, the soft budget constraint was expected to disappear. However, it seems to persist, and its persistence appears to hamper the transition process itself. This study seeks an answer to this paradox. It aims at increasing our understanding of why the soft budget constraint exists. By investigating state-owned enterprises in Tanzania before, during and after socialism, the prevalence of the soft budget constraint is examined and an explanation of its existence is suggested. The approach is institutional. The soft budget constraint is defined as an informal institution and an invisible-hand explanation of its emergence, persistence and logic is applied. The study shows that the soft budget constraint emerged as an unintended consequence of the establishment of the Tanzanian socialist system in the 1970s. A behavioural solution to recurrent systemic problems was offered, and thus the soft budget constraint performed several functions. Once established, its very existence set off a cumulative process of self-generation. Four reinforcement mechanisms that accounted for its prevalence during Tanzanian socialism are identified. Its character as a behavioural rule helps to explain why it persisted during market-oriented reform, initiated in the mid-1980s. The soft budget constraint was part of the socialist heritage, was adapted to systemic change, and influenced the direction and character of this change.Diss. Stockholm : Handelshögsk.
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Hockings, Nicholas. "Material and mechanical emulation of the human hand". Thesis, University of Bath, 2017. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.720651.
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The hands and feet account for half of the complexity of the musculoskeletal system, while the skin of the hand is specialised with many important structures. Much of the subtlety of the mechanism of the hand lies in the soft tissues, and the tactile and proprioceptive sensitivity depends on the large number of mechanoreceptors embedded in specific structures of the soft tissues. This thesis investigates synthetic materials and manufacturing techniques to enable building robots that reproduce the biomechanics and tactile sensitivity of vertebrates – histomimetic robotics. The material and mechanical anatomy of the hand is reviewed, highlighting difficulty of numerical measurement in soft-tissue anatomy, and the predictive nature of descriptive anatomical knowledge. The biomechanical mechanisms of the hand and their support of sensorimotor control are presented. A palate of materials and layup techniques are identified for emulating ligaments, joint surfaces, tendon networks, sheaths, soft matrices, and dermal structures. A method for thermoplastically drawing fine elastic fibres, with liquid metal amalgam cores, for connecting embedded sensors is demonstrated. The performance requirements of skeletal muscles are identified. Two classes of muscle-like bulk MEMS electrostatic actuators are shown theoretically to be capable of meeting these requirements. Means to manufacture them, and their additional application as mechanoreceptors are described. A novel machine perception algorithm is outlined as a solution to the problem of measuring soft tissue anatomy, CAD/CAE/CNC for layup of histomimetic robots, and sensory perception by such robots. The results of the work support the view that histomimetic robotics is a viable approach, and identify a number of areas for further investigation including: polymer modification by graft-polymerisation, automated layup tools, and machine perception.
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Imhof, Michael E. [Verfasser], e Hans-Joachim [Akademischer Betreuer] Wunderlich. "Fault tolerance infrastructure and its reuse for offline testing : synergies of a unified architecture to cope with soft errors and hard faults / Michael E. Imhof. Betreuer: Hans-Joachim Wunderlich". Stuttgart : Universitätsbibliothek der Universität Stuttgart, 2015. http://d-nb.info/1078506000/34.
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Tohline, Andrew M. "“Around the Corner”: How Jam Handy’s Films Reflected and Shaped the 1930s and Beyond". Ohio University / OhioLINK, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1248295030.
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Lino, Pedro Jorge da Cruz. "The control of Baxter Robot, and its interaction with objects using force sensitive AR10 hands, guided by Kinect". Master's thesis, 2017. http://hdl.handle.net/10316/83030.
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Dissertação de Mestrado Integrado em Engenharia Electrotécnica e de Computadores apresentada à Faculdade de Ciências e TecnologiaA minha tese foi a primeira a estar em contacto com, e pôr a funcionar, o robô Baxter adquirido pelo Departamento de Engenharia Electrotécnica e de Computadores da Universidade de Coimbra. Nesta tese serão apresentados os primeiros problemas que surgiram na utilização do robô e as suas limitações. Com base nestas mesmas limitações, foi feito um estudo em que foram testadas implementações de controladores para os braços do robô por torque e por velocidade. Estes controladores incluem o controlo da posição do “end-effector”, da sua orientação, e da posterior disposição das suas juntas. Para este fim, tirei partido do espaço nulo das equações matemáticas que regem o braço do robô com “7 DOF”. Estes controladores foram testados de maneira a atuarem em simultâneo, e hierarquicamente, durante o seguimento de diversas trajetórias. Depois do estudo da performance das implementações dos controladores, foram colocadas no “end-effector” do robô mãos robóticas AR10; as quais também fui o primeiro a funcionar com, e a deparar-me com os primeiros problemas das mesmas. De maneira a dar a estas mãos “feedback” de pressão nos dedos, estas foram integradas com sensores de pressão moles fabricados, de propósito para o efeito, no departamento. Com estes sensores, em conjugação com as mãos, foram feitos testes em que os sensores permitiram à mão agarrar objectos com a devida força, sem os pressionar demais. De maneira ao robô ser mais autónomo, e descobrir por si só a localização de objectos a agarrar, foi integrada uma Kinect v1.0 com o propósito de encontrar objectos no espaço cartesiano do robô. Depois dos objectos serem encontrados com base na sua côr, foram feitos testes em que o robot tenta pegar num objeto no espaço, e tenta pousá-lo numa zona desejada.
My thesis was the first one to get in contact with, and to work with, Baxter robot acquired by the Department of Electro-techniques and Computer Engineering of the University of Coimbra. In this thesis there will be presented the first problems that came with the first utilization of the robot, and its limitations. Based on this limitations, I conducted a study that tested the implementation of controllers for Baxter arms, using torque and velocity. These controllers include the control of the robot end-effector position, its orientation, and the posterior layout of of the joints of the arm. In order to do this, I took advantage of the null-spaces allowed by the mathematical equations that govern the 7 DOF robot arms. These controllers were tested so that they could act simultaneously and hierarchically during the following of diverse desired trajectory. After the studies on the performances of these controllers, there were placed AR10 robotic hands on the robot’s end-effector; which I was also the first one to work with and to encounter the first problems that came by using them. In order to “give” these hands some kind of pressure feedback on the fingers, they were integrated with soft electronic sensors, made specifically for the job, in the department. With these sensors “connected” to the hands, there were made tests where the sensors allowed the hand to grasp objects with the required force, without squishing them too hard. In order to make the robot more autonomous, and find for itself the location of the objects to be grasped, there was also integrated a Kinect v1.0 sensor, with the purpose of finding objects in the Cartesian space of the robot. After the objects have been found based on their color, there were made tests in which the robot tries to grab an object in space, and places it in a desired landing site.
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Lue, Da-Chung, e 魯大中. "Design of a Hand-Held Device for Measuring Stiffness of Soft Tissues". Thesis, 2006. http://ndltd.ncl.edu.tw/handle/63344433711776456432.
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碩士國立成功大學
機械工程學系碩博士班
94
For quantification of stiffness of soft tissues, we develop a measuring device and hope could be used in clinical application. The in-vitro experiment object is porcine liver. We choose it because of its convenience to obtain and its size similar to human beings. In addition many patients in Taiwan have liver cirrhosis problems and porcine liver is comportable to be an experiment object. We design and improve related elements including pen-size probe, load cell and so forth based on works found in the literature. The porcine liver is chosen for in-vitro experiment object. First, using material testing system (MTS) in specific indentation rate evaluates the apparent Young’s modulus of normal and frozen liver were evaluated individually to verify whether the mathematical model in this thesis is feasible to differentiate these two kinds of livers and to establish a normal database. Then, the probe is driven manually, evaluating the effective Young’s modulus too, and compared with the database finally. From the results, porcine livers from normal and frozen ones can be identified successfully. And the apparent Young’s modulus getting from manual experiments (4,040±656Pa) is about 1.5 folds of these obtained from MTS experiments (1,758±574Pa). We suppose that it is not easy to control the probe by hand, and it causes the probe vibrating and indenting too fast. But for the coefficient of variation, the result of manual experiments is 16% and the result of MTS experiments is 33%. From this statistics, we think that it is feasible to quantitate the stiffness measured by the ultrasound indentation device driven by hand, but it maybe need more experiment samples to verify the results.
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Corveira, João António de Almeida. "Design and development of a Soft Body-Actuated 3D printed prosthetic hand". Master's thesis, 2017. http://hdl.handle.net/10316/82965.
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Dissertação de Mestrado Integrado em Engenharia Mecânica apresentada à Faculdade de Ciências e TecnologiaO principal objetivo deste trabalho é a produção de uma prótese de uma mão, com baixo custo, através de impressão 3D. Através da utilização de um silicone dúctil nos dedos e na palma da mão, foi criada uma nova versão deste tipo de próteses, que se adapta muito bem às diferentes formas e tamanhos dos objetos, permitindo-nos ter um melhor coeficiente de atrito entre a prótese e os objetos, quando comparada com uma prótese sem este tipo de materiais. Depois da produção da prótese, esta foi testada por um voluntário com um transtorno congenital na mão direita e, como tal, os dedos desta mão estão em falta.Os avanços nos últimos anos em fabricação aditiva levaram à produção de próteses de membros superiores a baixo custo e baixo peso. A e-NABLE é uma organização não lucrativa que tem contribuído em larga escala para esta área nos últimos quatro anos. Esta comunidade desenvolve novos desenhos de próteses da mão e coloca-os no seu website para que qualquer pessoa possa fazer o download sem qualquer custo. As próteses da e-NABLE não possuem nenhum atuador ou sensores, portanto apresentam um baixo peso e custo. O movimento de abrir e fechar a mão é feito através da flexão e extensão do pulso, o que faz com que prótese possua um controlo muito intuitivo. A metodologia desta dissertação passou pelo uso de um programa CAD, para criar um desenho 3-D baseado na mão do voluntário e no conceito de prótese da e-NABLE. Contudo, a funcionalidade da prótese, foi melhorada graças aos materiais usados nos dedos e na palma da prótese. Para cada componente da mesma foi realizada uma análise com o intuito de remover partes desnecessárias e, consequentemente, diminuir o peso da prótese. A prótese final foi então montada e testada pelo voluntário, e através de várias iterações, uma prótese final ótima foi produzida.
The main objective of this work is design and development of a low cost soft 3D-printed body-actuated upper limb prosthesis. By integration of a soft silicone skin into the fingers and palms of the hand, we introduce a novel version of the prosthetic hand that adapts very well to various object shapes and sizes, and allows a better grasp of the objects due to a higher friction coefficient between the object and the elastic skin, when compared to a hand without the soft skin. In addition, the hand was tested by a volunteer with a congenital disorder as so, the fingers of his right hand are missing.Over the last few years, advancements in additive manufacturing and rapid prototyping, led to new designs of upper limb prosthesis at low cost and light weight. The e-NABLE, a non-profit community, has largely contributed into this field over the last four years. This community develops new designs of upper limb prosthesis and places them online for replication as well as contribution on the design. The devices made by e-NABLE community don’t pose any actuator or sensors in the prosthesis, as so, the prosthesis are light weight and low-cost. The closing and opening of the prosthetic hand is based on the movement of flexion and extension of the wrist, which makes the device very intuitive to control.The methodology of this work is to create a 3-D sketch of the prosthesis based on the hand of the person along with the concept of e-NABLE prosthesis. However, by taking advantage of a soft skin, we improve the hands functionality, i.e. the number of grasps it can perform. After each component is printed, an analysis of the component is made to see if there is any material that can be removed to decrease the weight of the prosthesis.For each of the components of the body-actuated hand, we analysed the actual problems and proposed, designed, developed and tested a new solution. Afterwards, the final assembly was tested and validated through several iterations involving the volunteer in the decision making loop.
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Chao, Li-Chun, e 趙莉郡. "A Study of Hard and Soft Hand Touch in the Grip Relieve Stress Effect". Thesis, 2010. http://ndltd.ncl.edu.tw/handle/54772128156656188189.
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碩士國立臺灣藝術大學
圖文傳播藝術學系
98
The purpose of the study was to explore the grip to different hardness, size dimensions, and shapes when the degree of relaxation produced feel. The State- Trait Anxiety Inventory (STAI) is used as the purpose to tell their status of pressure, and then the physiological feedback is used to keep records of their Galvanic Skin Response (GSR) and Skin temperature response data. There are three class groups’ experimental samples: one, six different hardness, the same size of the spherical sample; second, the same degree of hardness, 3cm, 5.5cm, 8cm three spherical sample size; third, four kinds of shape (spherical, cylinder, cone < tip up and down >),and samples of the same degree of hardness. The experiment is to adopt "counterbalanced design", each participant must be tested for three times, depending on the different types of groups to grip samples, so that the result counteracting with the effects can be achieved. From experimental results and analysis of its Galvanic Skin Response (GSR) and Skin temperature data analysis revealed that: (A) six kinds of hardness in the relaxing effect of the sequence number is the 1st ball (HS-D 5), the 3rd ball (HS-D 23), the 2nd ball (HS-D 14), the 4th ball (HS-D 32), the 6th ball (HS-D 50), and the 5th ball (HS-D 41). (B) When low hardness (HS-D 5), the relaxing effect of better size diameter 5.5cm, in high hardness (HS D41) is 3cm more relaxing. To show the size of soft and hard is inversely proportional to the relaxation effect. (C) Shapes: In the same degree of hardness (HS-D 23), the Cone (tip down) most relaxation effect, followed by sphere, cylinder, and finally for the cone (tip up). Because the cone tip in a different direction will produce different relaxation results. The result of this study revealed that grip in different hardness, size dimensions, and shape could bring different physiological responses, and discovered the soft and hard hand touch may produce the relaxation results. Achievement of the research can be used as relieve stress and other soothing product development for reference.
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Lee, Kuang-Hwa, e 李光華. "An analysis of CDMA mobile system on uplink soft hand-off in homogeneous-cell". Thesis, 1997. http://ndltd.ncl.edu.tw/handle/04825602450210720725.
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碩士國立中央大學
電機工程學系
85
We propose five channel assignment schemes including (1) Sequential channelreselection scheme, (2)Reverse sequential channel reselection scheme, (3)Randomchannel selection scheme, (4)Random channel reselection scheme, and (5)Optimum channel selection scheme, in order to demonstrate several CDMA soft- handoff effects in the seven-homogeneous-cell-structure by using uplink fixed-powercontrol ,and give comparison between soft handoff and hard handoff operation, because the system effects of the central cell is confined with much interferencefrom six surrounding cells, we put stress on the central cell and discuss the difference among these channel assignment schemes.
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Li, Guang-Hua, e 李光華. "An analysis of CDMA mobile system on uplink soft hand-off in homogeneous-cell". Thesis, 1997. http://ndltd.ncl.edu.tw/handle/99749874272265846793.
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Alves, Samuel José dos Reis. "Design and Manufacturing of soft robotics mechanisms: improving the reliability of pneumatic-based solutions". Master's thesis, 2020. http://hdl.handle.net/10316/92241.
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Dissertação de Mestrado Integrado em Engenharia Mecânica apresentada à Faculdade de Ciências e TecnologiaAtualmente, os robôs operam em diversos tipos de indústria, serviços médicos e até mesmo em aplicações de lazer. Os robôs têm melhorado as suas características ao nível da velocidade, precisão e capacidade de repetição de tarefas. Contudo, os mecanismos robóticos tradicionais são normalmente constituídos por materiais rígidos, apresentando dificuldades de deformação e adaptação, principalmente no manuseamento de objetos frágeis e/ou complexos, assim como em aplicações onde o ambiente não é perfeitamente conhecido. Estas aplicações requerem um comportamento robótico complacente, tanto ao nível de software como de hardware. Assim, surge uma nova subárea da robótica, chamada soft robotics. Baseando-se em estruturas biológicas, esta assenta no desenvolvimento de componentes robóticos com materiais elásticos, flexíveis e de baixa rigidez (materiais suaves). Esta subárea comprovou apresentar potencial significativo na fabricação de grippers e manipuladores. A possibilidade de fabricar estruturas de materiais suaves, permite criar formas realísticas, diminuir o peso, lidar com um vasto número de objetos e aumentar a segurança dos equipamentos. Neste âmbito, esta dissertação apresenta o design e o processo de fabricação de um protótipo de uma mão robótica, atuada pneumaticamente, concebida com materiais suaves, parcialmente fabricados pelo processo de impressão 3D. Este conceito permite o desenvolvimento de uma mão robótica a um custo relativamente reduzido, com forma anatómica e reduzida complexidade de controlo. O estudo do comportamento dos materiais elásticos é também estudado nesta dissertação. É proposto um modelo numérico, utilizado na Análise de Elementos Finitos (FEA) para simular o comportamento da mão quando esta está atuada. Os resultados das simulações são comparados com testes experimentais, comprovando assim parcialmente a viabilidade do modelo numérico.
Nowadays, robots are used in a wide range of applications such as industrial manufacturing, medical services and even in leisure applications. Robots have substantially increased their capabilities in terms of speed, precision and task execution abilities. However, they are commonly made of rigid materials, presenting limitations in terms of deformation and adaptation when handling fragile and/or complex objects, especially when the environment is not entirely known. These applications require a complacent robot behaviour both at software and hardware level. In order to deal with such a requirement, a new robotics subarea, called soft robotics, arises. This new subarea is based on biological structures and allows a designer to create robot components, with elastic, flexible and low rigidity materials (soft materials). Soft robotics has proven its potential in the manufacture of grippers and manipulators. Soft materials provide the ability to create realistic shapes, reduced weight and increase the safety of the equipment. In this context, this dissertation presents the design and manufacture of a pneumatic robotic hand prototype made of soft materials, and partially fabricated by 3D printing. This concept allows the design and fabrication of an anthropomorphic hand at a low cost, with anatomical shape, desired compliance and reduced control complexity (since the number of actuated degrees-of-freedom is lower than the number of degrees-of-freedom of the robotic hand). There is no systematic procedure or methodology to simulate the behaviour of elastic materials. A numerical model implemented in Finite Element Analysis (FEA) is proposed to simulate the hand behaviour when it is actuated. Simulations results proved the model effectiveness when compared with experimental tests.
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"The Design and Characterization of a Soft Haptic Interface for Rehabilitation of Impaired Hand Function". Master's thesis, 2018. http://hdl.handle.net/2286/R.I.49061.
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abstract: The human hand comprises complex sensorimotor functions that can be impaired by neurological diseases and traumatic injuries. Effective rehabilitation can bring the impaired hand back to a functional state because of the plasticity of the central nervous system to relearn and remodel the lost synapses in the brain. Current rehabilitation therapies focus on strengthening motor skills, such as grasping, employ multiple objects of varying stiffness and devices that are bulky, costly, and have limited range of stiffness due to the rigid mechanisms employed in their variable stiffness actuators. This research project presents a portable cost-effective soft robotic haptic device with a broad stiffness range that is adjustable and can be utilized in both clinical and home settings. The device eliminates the need for multiple objects by employing a pneumatic soft structure made with highly compliant materials that act as the actuator as well as the structure of the haptic interface. It is made with interchangeable soft elastomeric sleeves that can be customized to include materials of varying stiffness to increase or decrease the stiffness range. The device is fabricated using existing 3D printing technologies, and polymer molding and casting techniques, thus keeping the cost low and throughput high. The haptic interface is linked to either an open-loop system that allows for an increased pressure during usage or closed-loop system that provides pressure regulation in accordance with the stiffness the user specifies. A preliminary evaluation is performed to characterize the effective controllable region of variance in stiffness. Results indicate that the region of controllable stiffness was in the center of the device, where the stiffness appeared to plateau with each increase in pressure. The two control systems are tested to derive relationships between internal pressure, grasping force exertion on the surface, and displacement using multiple probing points on the haptic device. Additional quantitative evaluation is performed with study participants and juxtaposed to a qualitative analysis to ensure adequate perception in compliance variance. Finally, a qualitative evaluation showed that greater than 60% of the trials resulted in the correct perception of stiffness in the haptic device.Dissertation/Thesis
Masters Thesis Biomedical Engineering 2018
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Fu-Yuan, Liang, e 梁甫遠. "Hygiene and safety investigation for hand-shaking soft drinks at university campuses in Central and North Taiwan". Thesis, 2017. http://ndltd.ncl.edu.tw/handle/31042923106095823612.
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碩士元培醫事科技大學
食品科學系碩士班
105
Tea was divided into green tea (Not fermented), oolong tea (Semi-fermented), and black tea (Full fermentation), at the sampling, we observed that whether the store of hand-shaking soft drinks marked the tea of origin, aiming the questionnaire about consume from college student, to understand what kind of additives ( bubble, coconut, pudding, grass jelly ) are popular in the tea. The results showed that black tea to adding bubble are popularity, it's the reason for us to investigate bubble black tea, oolong tea, green tea. In this study, indicators of the hand-shaking soft drink in campuses of university at the central and north part of Taiwan, Microbial and chemical analysis.One hundred and four hand-shaking soft drink samples were collected from thirty four universities, to discuss the hand-shaking soft drink whether to comply with a hygiene standard, whether or not contents food additives, and the drink tea was using tea leaf or not. Microorganisms test included of total aerobic plate count, coliform, Escherichia coli, Salmonella spp., and Staphylococcus aureus, chemical analysis included coumarin, maleic acid, sweeteners, caffeine and catechin as the main target assessed for microbial and chemical analysis using Food and Drug Administration methods.The microbiological results are as follows: the legal rate of total aerobic plate count, coliform, Escherichia coli, Salmonella spp., and Staphylococcus aureus was 68.3%、61.5%、100%、100% and 100%. In the results of chemical analysis, coumarin, maleic acid and sweeteners were not detected in all samples.To investigate the different of store of hand-shaking soft drinks at student restaurant of college and outside of the college. Outside the school among hand-shaking soft drink, the legal rate of total aerobic plate count, coliform, Escherichia coli, Salmonella spp., and Staphylococcus aureus was 30.4%、26.1%、100%、100% and 100%.
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Weng, Jung-hui, e 翁榕徽. "The Influence of Handle Soft Materials on the Comfortness of Hand Operations for the Carry-on Luggage". Thesis, 2015. http://ndltd.ncl.edu.tw/handle/63138596219636715702.
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碩士大同大學
工業設計學系(所)
103
With the global village growing up rapidly, the enterprises are setting up to distribute world widely; with the multi-country-travel raising gradually, people are heading back and forth frequently. Consequentially, the luggage is turned into one of the most indispensable companions, no matter life or work, as well as a necessary for every single family. However, there are only a few works to study the material of grip, long-term hand contact, on the luggage. In this work, we focused on the material of grip and to see if the grip composed of soft rubber could reduce the possibility to get injured and ease discomforts with long-term observation. The study was divided into two parts. Firstly, we had to collect the information via questionnaire regarding how the users used their own luggage and the reason why the users felt constrained as using it. Further, to discuss the grip in detail excluding the weight of luggage and different status of routes. Secondly, twenty-seven volunteers were invited to conduct this test that was used three different types of grips (whole plastic, 40-degree-soft-rubber, 80-degree-soft-rubber) to evaluate whether these grips likely slipped from hand and made it discomfort. The results show that there was no obvious difference regarding using these grips. Although it was helpful to improve the property of slip-proof by increasing the contents of soft rubber, there was no obvious improvement for the comfort due to the fact that operating the four 360-degree-wheels was not restricted to hold luggage tight. In summary, the trend of commercialization in the future is to design the luggage with 360-degree-wheels. It is suggested that it is not necessary to increase the composed of soft rubber at the lower end of grip; by this way, it is easy to prevent from over-producing and to reduce the cost.
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Dalby, Susan E. "Electric, eclectic, Canadian: issues of genre and identity in the music of the Guess Who". Thesis, 2009. http://hdl.handle.net/1828/1751.
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Conducting musical analyses over three case studies, Electric, Eclectic, Canadian: Issues of Genre and Identity in the Music of the Guess Who considers issues of genre, culture, and identity in the music of Canadian rock band the Guess Who. The first case study discusses soft rock transformations in the songs “These Eyes” (1968), “Laughing” (1969), and “Undun” (1969). The second case study examines changes in audience identification with the song “American Woman” (1970), performing comparative analyses of the Guess Who original release to Lenny Kravitz’s version (1999). The final case study discusses ideas of authenticity in the folk rock-inspired protest songs “Hand Me Down World” (1970), “Share the Land” (1970), and “Guns, Guns, Guns” (1972), comparing them to the iconic songs “For What It’s Worth” (Buffalo Springfield, 1967), “Big Yellow Taxi” (1970), “Ohio” (Neil Young, 1970 and “Southern Man” (Young, 1970). The conclusions summarise various musical and socio-political aspects of the Guess Who’s output and places it in relation to questions of national identity.