From Robot To Human Grasping Simulation
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From Robot to Human Grasping Simulation
Author: Beatriz León
language: en
Publisher: Springer Science & Business Media
Release Date: 2013-09-29
The human hand and its dexterity in grasping and manipulating objects are some of the hallmarks of the human species. For years, anatomic and biomechanical studies have deepened the understanding of the human hand’s functioning and, in parallel, the robotics community has been working on the design of robotic hands capable of manipulating objects with a performance similar to that of the human hand. However, although many researchers have partially studied various aspects, to date there has been no comprehensive characterization of the human hand’s function for grasping and manipulation of everyday life objects. This monograph explores the hypothesis that the confluence of both scientific fields, the biomechanical study of the human hand and the analysis of robotic manipulation of objects, would greatly benefit and advance both disciplines through simulation. Therefore, in this book, the current knowledge of robotics and biomechanics guides the design and implementation of a simulation framework focused on manipulation interactions that allows the study of the grasp through simulation. As a result, a valuable framework for the study of the grasp, with relevant applications in several fields such as robotics, biomechanics, ergonomics, rehabilitation and medicine, has been made available to these communities.
Digital Human Modeling
Author: Vincent G. Duffy
language: en
Publisher: Springer Science & Business Media
Release Date: 2009-07-14
The 13th International Conference on Human–Computer Interaction, HCI Inter- tional 2009, was held in San Diego, California, USA, July 19–24, 2009, jointly with the Symposium on Human Interface (Japan) 2009, the 8th International Conference on Engineering Psychology and Cognitive Ergonomics, the 5th International Conference on Universal Access in Human–Computer Interaction, the Third International Conf- ence on Virtual and Mixed Reality, the Third International Conference on Internati- alization, Design and Global Development, the Third International Conference on Online Communities and Social Computing, the 5th International Conference on Augmented Cognition, the Second International Conference on Digital Human Mod- ing, and the First International Conference on Human Centered Design. A total of 4,348 individuals from academia, research institutes, industry and gove- mental agencies from 73 countries submitted contributions, and 1,397 papers that were judged to be of high scientific quality were included in the program. These papers - dress the latest research and development efforts and highlight the human aspects of the design and use of computing systems. The papers accepted for presentation thoroughly cover the entire field of human–computer interaction, addressing major advances in knowledge and effective use of computers in a variety of application areas.
The Visual Neuroscience of Robotic Grasping
This book presents interdisciplinary research that pursues the mutual enrichment of neuroscience and robotics. Building on experimental work, and on the wealth of literature regarding the two cortical pathways of visual processing - the dorsal and ventral streams - we define and implement, computationally and on a real robot, a functional model of the brain areas involved in vision-based grasping actions. Grasping in robotics is largely an unsolved problem, and we show how the bio-inspired approach is successful in dealing with some fundamental issues of the task. Our robotic system can safely perform grasping actions on different unmodeled objects, denoting especially reliable visual and visuomotor skills. The computational model and the robotic experiments help in validating theories on the mechanisms employed by the brain areas more directly involved in grasping actions. This book offers new insights and research hypotheses regarding such mechanisms, especially for what concerns the interaction between the dorsal and ventral streams. Moreover, it helps in establishing a common research framework for neuroscientists and roboticists regarding research on brain functions.