Proceedings ArticleDOI
Prediction of Target Object Based on Human Hand Movement for Handing-Over between Human and Self-Moving Trays
Yusuke Tamura,Masao Sugi,Jun Ota,Tamio Arai +3 more
- pp 189-194
TLDR
A robotic system that hands over a necessary object to a user as soon as he/she attempts to reach out for it is realized by applying the smoothness and the speed of the hand movement to distinguish whether the movement is for reaching or not.Abstract:
We aim to realize a robotic system that hands over a necessary object to a user as soon as he/she attempts to reach out for it. In order to realize such system, the following is required: 1) detection of the reaching movement, 2) prediction of the target object among multiple objects, and 3) handing over the object to a user. In this paper, the first two of them are described and discussed. We apply the smoothness and the speed of the hand movement to distinguish whether the movement is for reaching or not. And in order to predict the target object, we define the certainty according to the relative movement of the hand to each object. To evaluate the performance of the proposed method, we compare the method with the minimum jerk model based approach. A description of the experimental results demonstrates the usefulness of the method proposed here.read more
Citations
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Dissertation
Formation and control of optimal trajectory in human multijoint arm movement : minimum torque-change model
Patent
Controlling and monitoring a storage and order-picking system by means of movement and speech
Elmar Issing,Rudolf Keller +1 more
TL;DR: In this article, a storage and order-picking system for storing and picking piece goods for an order is described, in which an operator is intended to manipulate piece goods with their hands in a predefined manner, which is communicated to the operator visually and/or audibly.
These de doctorat de l'universite pierre et marie curie
TL;DR: In this article, NIR spectra of macroaggregates of the matrix of the forest site exhibited high variability inside groups of macro aggregregates and PCA projections did not allow to visualize a clear superimposition of spectral signatures of unknown macro aggregates taken from the soil matrix with structures of known origin produced in laboratory cultures.
Proceedings ArticleDOI
Prediction of Human Arm Target for Robot Reaching Movements
Chiara Talignani Landi,Yujiao Cheng,Federica Ferraguti,Marcello Bonfe,Cristian Secchi,Masayoshi Tomizuka +5 more
TL;DR: A human-arm prediction algorithm that allows to infer if the human operator is moving towards the robot to intentionally interact with it and obtained a reliable prediction of the human hand trajectory and final target in a short amount of time.
Journal ArticleDOI
Exploiting eye-hand coordination to detect grasping movements
Miguel Carrasco,Xavier Clady +1 more
TL;DR: A novel approach to detect grasping movements by means of computer vision techniques that fuses two viewpoints, one viewpoint obtained from an eye-tracker capturing the user's perspective and a second viewpoint captured by a wearable camera attached to a user's wrist.
References
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Journal ArticleDOI
The coordination of arm movements: an experimentally confirmed mathematical model.
Tamar Flash,Neville Hogan +1 more
TL;DR: A mathematical model is formulated which is shown to predict both the qualitative features and the quantitative details observed experimentally in planar, multijoint arm movements, and is successful only when formulated in terms of the motion of the hand in extracorporal space.
Journal ArticleDOI
Signal-dependent noise determines motor planning
Chris Harris,Daniel M. Wolpert +1 more
TL;DR: This theory provides a simple and powerful unifying perspective for both eye and arm movement control and accurately predicts the trajectories of both saccades and arm movements and the speed–accuracy trade-off described by Fitt's law.
Journal ArticleDOI
Spatial control of arm movements
TL;DR: Human subjects were instructed to point one hand to different visual targets which were randomly sequenced, using a paradigm which allowed two degrees of freedom, and trajectories of the hand in space were observed.
Journal ArticleDOI
Formation and control of optimal trajectory in human multijoint arm movement
TL;DR: In this article, the authors proposed a mathematical model which accounts for formation of hand trajectories by defining an objective function, a measure of performance for any possible movement: square of the rate of change of torque integrated over the entire movement.