Abstract A study was undertaken to determine the critical components/subassemblies influencing the performance of the radiator fan motor and then improving the motor performance . This article highlights the salient features of an investigation that was carried out to minimize the failure of a radiator fan motor by identifying and then redesigning the significant component/subassembly dimensions to improve the motor performance . In order to evaluate brain activation during motor tasks accurately one must also measure output parameters such as muscle force or muscle activity . Especially in clinical situations where the force output can be compromised by changes at different levels of the motor system , it is essential to standardize the task or force level . A new neural network algorithm with fuzzy logic compensation is proposed and applied to induction motor drive speed control system . A dynamic neural network is used to identify the plant on-line . A fuzzy self-adaptive PID control method is proposed for brushless DC motor speed adjustment system . First fuzzy self-adaptive PID control simulation model is established on Matlab / Simulink platform and then fuzzy self-adaptive PID of brushless DC motor model when parameters change is also simulated . Simulation and experimental results show that the proposed control algorithm can effectively overcome the effects of speed and load change , and has the characteristics of fast dynamic response , small overshoot and strong robustness . Keywords — self-tuning PID control , brushless DC motor speed adjustment , recursive least squares algorithm , closed-loop feature polynomial In this study , rehabilitation training in motor skills for hemiplegia patients comprises repetitive and passive contents . To reduce boredom of rehabilitation training and provide active training , a movement-recognizing device and contents using it were manufactured . Furthermore , the power flow characteristics in electric braking are analyzed , and the optimal continuously variable transmission ( CVT ) speed ratio under different working conditions is obtained through optimization . To understand the potential of dual-motor energy recovery , a regenerative braking control strategy is proposed by optimizing the dynamic distribution coefficient of the dual-electric mechanism and considering the restrictions of regulations and the I curve . The simulation results under typical operating conditions and the New York City Cycle ( NYCC ) proposed conditions indicate that the improved strategy has higher joint efficiency . In this paper , the basic principle of the transvector control for AC synchronous motor is introduced . The vector projection of motor commutation is calculated and summarized . It is only a reference for the analysis of synchronous motor transvector control . Priming only occurred through canonical and not through non-canonical finger postures . Together , these results provide clear evidence for motor priming of number knowledge . Relative contributions of vision and action for embodied numerical cognition and the importance of canonicity of postures are discussed . A measurement of differences in dynamics between pre-and post resolution attacks suggested that highly energetically costly resolution phase attacks occur because the winner is trying to increase its relative dominance over the loser . Overall , our data pipeline and associated framework can help researchers to develop improved descriptions of strategic behavior which span the full timescale from life history decisions down to the policies used for rapid motor coordination during individual behavioral acts . Results indicated that a difference in intention does result in divergent uses of voluntary and involuntary control and distinctly different structures in performance variability . Key words : intention ; fractal structure ; voluntary and involuntary control ; motor control Over the past decade , a substantial amount of research has focused on determining what information can be gained about human cognitive and motor processes by assuming that they are inextricably linked through what is often referred to as the ‘ interaction-dominant dynamics ’ of human behavior ( Holden , Van Orden , & Turvey , 2009 ; Ingber , 2003 ; Turvey , & Moreno , 2006 ; Van Orden , & Holden , 2002 ; Van Orden , Holden , & Turvey , 2003 ; Van Orden , Holden , & Turvey , 2005 ) . As noted by Van Orden ( 2010 ) , absolute independence of these processes would allow for random variability in performance within each process , while dominance by one process over all others would cause highly regular fluctuations across processes . Three core loss methods have been selected following premises of relatively easy implementation and coefficients obtained from standardized tests . A Finite Element Analysis ( FEA ) is used for accurate estimation of the electromagnetic fields in a motor case study . The results are post-processed with approaches at frequency and time domains by the referred iron loss models and confronted with measurements in a low power Brushless DC ( BLDC ) motor prototype , inverter-driven , whose output uses pulsewidth-modulation ( PWM ) voltage waveform . “ Second - hand TIDDA 1.6 T Mannual gear has gotten some problems , please everybody help me to solve it ? ” . This question has 5 topics : Car , Second - hand Car , Motor Dom , Autocar Conversation and Autocar Service . EXAM only misclassified the last topic . Since accuracy and precision of the measures are mandatory to provide the neurologist with a tool that can actually be applied in clinical practice , in this work , the quality of measures obtained by the SensHand system was evaluated , comparing them to an optoelectronic “ gold standard ” system addressing a preliminary technical validation . Three exercises ( i.e. , finger tapping , thumb-forefinger tapping , and pronosupination ) were selected and frequency , number of repetitions and amplitude of the movements were measured for each of them by both the wearable and optical systems . The preliminary results were very satisfying , considering that discrepancies , measured as absolute error , in frequency evaluation , number of repetitions , and amplitude movement were , on average , equal to 0.03 taps/s(min0.02 , max0.05 ) , 0.07 tap ( min 0.02 , max 0.13 ) , and 3.8 degrees ( min 1.81 , max7.47 ) , respectively . By utilizing optical fiber gloves and the virtual piano software designed by this study , the user can play the piano anywhere at any time . This virtual piano consists of three major parts : finger tapping identification , hand movement and positioning identification , and MIDI software sound effect simulation . To play the virtual piano , the user wears optical fiber gloves and simulates piano key tapping motions . The finger bending information detected by the optical fiber gloves can tell when piano key tapping motions are made . Images captured by a video camera are analyzed , hand locations and moving directions are positioned , and the corresponding scales are found . The system integrates finger tapping identification with information about hand placement in relation to corresponding piano key positions , and generates MIDI piano sound effects based on this data . This experiment shows that the proposed method achieves an accuracy rate of 95 % for determining when a piano key is tapped . Our results indicate that segmentations generated on structural images are closer in volume to those obtained from registration to the BRAHMA template than to the ICBM-152 . Furthermore , functional MRI data obtained for Working Memory and Finger Tapping paradigms processed using the BRAHMA template shows a significantly higher percentage of the activation area than ICBM-152 in relevant brain regions , i.e. the left middle frontal gyrus , and the left and right precentral gyri , respectively . The availability of different image contrasts , tissue maps , and segmentation atlases makes the BRAHMA template a comprehensive tool for multi-modal image analysis in laboratory and clinical settings . A 3-D FSPGR T1-weighted images were used for structural reference . Image processing and statistical analyses were performed using SPM5 for active finger-tapping task and GIFT program was used for statistical analyses of low frequency spontaneous fluctuation BOLD signal . Results : Both groups showed the activation in the left primary motor cortex and supplemental motor area and in the right cerebellum for right finger-tapping task . This system was composed of a pair of 3-axis accelerometers , a touch sensor an analog to digital converter and a personal computer ( PC ) . Firstly , a transfer function representing relation between the contact force and the accelerometer output during the finger contact phase of finger-tapping was determined . This means that the finger-tapping contact force could be estimated from the measured acceleration by using the determined transfer function . The present study examined interactions of speech production and finger-tapping movement , using a syncopated motor task with two movements in 10 male right-handed undergraduate students ( M age = 21.0 yr . ; SD = 1.4 ) . In this paper we propose a methodology for objective evaluation and classification of repetitive finger tapping performance based solely on its spectral behavior . We used miniature sensor system with gyroscope placed over fingertip of index finger for finger tapping recording . The study included 20 subjects - 10 patients with Parkinson 's disease ( PD ) and 10 age and gender matched healthy controls . Variations in such timing are critical , as they directly impact the amount of time that participants have to plan pending movements . In this study , participants performed finger-tapping sequences during magnetoencephalography , and we manipulated the amount of time ( i.e. , “ long ” vs. “ short ” ) between the presentation of the to-be-executed sequence and the cue to initiate the sequence . We found that the beta ERD was stronger immediately after the cue to move in the contralateral postcentral gyrus and bilateral parietal cortices during the short compared with long planning time condition . The vast majority of humans move in time with a musical beat . This behaviour has been mostly studied through finger-tapping synchronization . Here , we evaluate naturalistic synchronization responses to music – bouncing and clapping – in 100 university students . These results highlight a more complex modularity ( e.g. more modules ) for cruising and crawling compared to walking , which was only apparent when the step-to-step variability of EMG patterns was considered . This suggests that considering non-averaged data is relevant when studying muscle modularity especially in motor tasks with high variability like in motor development . This book includes relevant academic content for those studying for sport science , exercise science , rehabilitation , sport coaching , physical education , and physiotherapy qualifications . One of the key advantages of this book is that it draws together the three areas of motor control , motor learning , and motor development into one text . This makes this a rather useful resource for the undergraduate student . Objective quantitative evaluation of motor skill development is of increasing importance to carefully drive physical exercise programs in childhood . Running is a fundamental motor skill humans adopt to accomplish locomotion , which is linked to physical activity levels , although the assessment is traditionally carried out using qualitative evaluation tests . Motor Learning and Development " examines the development of movement skill in humans from infancy to older adulthood and how differing motor , cognitive , and social abilities affect when , why , and how an individual learns motor skills . " Motor Learning and Development " begins by providing a foundational understanding of the concepts in motor learning and motor development . Readers will discover the fundamental motor skills developed during childhood as well as the individual functional and structural constraints present in childhood and adolescence . When aiming at assessing motor control development , natural walking ( NW ) and tandem walking ( TW ) are two locomotor tasks that allow analysing different characteristics of motor control performance . NW is the reference locomotor task , expected to become more and more automatic with age . This article reports an experimental study initiated on labial anticipatory coarticulation in the framework of a description of motor control development . Four French children between 4 and 8 years old have been audiovisually recorded , uttering [ iCny ] puppets names , in which Cn corresponds to a varying number of intervocalic consonants . Recent work in our labs and others suggest that younger infants can utilize their reaching and grasping ability to learn power mobility . This interdisciplinary study combines our previous work in motor development and learning in infants with special needs , and the application of robot technology for rehabilitation to determine whether young infants without structured training , would drive a mobile robot , and if so , to determine how their driving would change over multiple sessions . The two infants that were seen for the most sessions were the focus of this pilot study . Methods The SME is implemented following a clinical protocol to objectively elicit cognitive and proprioceptive skills , in addition to practical needs and requirements raised by psychologists and physical therapists . The system is proposed as a complement to conventional assessments and motor development evaluation , providing support to professionals in generating objective parameters for analysis during physical training and therapy . Results The results demonstrate the significance of the parameters obtained in the assessment protocol with the virtual immersion generated by the SME , where the proprioception was evaluated and the kinesthetic sense was improved in 29.9 % . Autism Spectrum Disorders ( ASD ) are complex developmental disabilities that cause problems with social interaction and communication . ASD are associated with motor development problems , more or less blurred , and with perceptual and sensory brain areas . Crying is the infant 's earliest form of communication and recent studies connect this original “ language ” form with autism disturbs . Abstract Understanding of the motor development process is usually based on descriptive studies using either cross‐sectional or longitudinal designs . These data typically consist of sets of measurements on groups of individuals gathered during the performance of a single task . Muscle Co-activation ( MCo ) is the simultaneous muscular activation of agonist and antagonist muscle groups , which provides adequate joint stability , movement accuracy during movement . Infant crawling is an important stage of motor function development that manifests non-synchronization growth and development of upper and lower limbs due to the well-known gross motor development principle of head to toe . However , the effect of MCo level for agonist and antagonist muscle groups on motor function development of limbs has not been previously reported . So they are not ripe in theory and technology . Problems of theory , friction and wear , preloading spring performance and motor structure development will become the research emphasis in the future . A useful analyzer system has been developed for walking stability . It is composed of two sub-systems . The focus of this paper is the problem of walking stability control in humanoid robot going upstairs . Walking stability is a very important problem in the field of robotics . Lots of researches have been done to get stable walking on plane . In this paper , a motion planning algorithm based on rapidly exploring random trees ( RRT ) is proposed . The algorithm uses representation of the pipeline as a point cloud , which is easier to generate than the geometric representations required by some of the other existing motion planning algorithms for walking in-pipe robots . The properties of the algorithm and their dependence on the geometry of the pipe are studied . In this paper , a new control method for walking in-pipe robots is discussed . The method is based on a combination of a linear quadratic regulator for systems with explicit mechanical constraints and a proportional-derivative controller formulated in terms of end effector coordinates ( Cartesian coordinates of the robot 's foot that takes the step ) . In particular , a detailed description of the pneumatic control architecture is provided , together with some design considerations . Moreover , a platform for walking trajectory generation is presented , and some experimental results are reported . In order to assure a proper stability control during the gait , a center of pressure sensor has been specifically designed and placed onboard the robot . The key is the forward dynamics subject to the unilateral constraint between the feet and the ground . Its formal treatment leads to walking trajectory generation and various control methods . As a practical scheme to control biped robots , we discuss the zero-moment point ( ZMP ) in Sect . The restorer is characterized in that nursing boards have sunk right sides and projecting reverse sides and have radians ; hinge boards at the ends of the two nursing boards are connected by a hinge axis ; the two ends of a thruster are fixed at the reverse sides of the nursing boards via supporting seats ; an oil passing hole in the thruster is connected with an oil duct hole in a dynamic motor by a hydraulic pipe ; bandages are fixed at the two sides of the nursing boards ; and the two nursing boards , a motor shoe and the thruster form a group . The walking function nursing restorer has the beneficial effects that the walking function nursing restorer has a concise structure and is convenient to manufacture and use ; and the walking function nursing restorer enables people who can stand but make a step unstably and difficultly to make less effort when walking , conduces to improving the walking stability , enables the people to walk easily and achieves the function of walking nursing . The second model is an ordinal regression model which examines the factors that make pedestrians adapt their walking speed as they are crossing the road and are informed by the countdown timers about the second remaining for the termination of the green phase . The results of the second model revealed that the age , the compliance and the perceived assistance that the countdown timer provides for the walking speed adaptation affect the minimum remaining time before a pedestrian accelerates . The practical results generated from a series of experiments involving the COmpliant huMANoid ( COMAN ) , corroborate the controllers ' abilities to permit the successful execution of walking trajectories . Furthermore , they reveal the superior efficacy of the two feedback-dependent gravity compensation control techniques in terms of tracking walking trajectories , in comparison to the feedforward controller . Passive dynamic walking is a promising concept for the design of efficient , natural two-legged walking robots . Research on this topic requires an initial point of departure ; a stability analysis can be executed only after the first successful walking motion has been found . After that , the position of each leg joint of bipedal robot is also calculated by using the proposed CoM Jacobian . Finally , computer simulations are performed by utilizing RecurDyn and MATLAB softwares to validate the proposed preview control formulation for the nonlinear walking patterns generation of a Bioloid humanoid robot . In the considered work , the object of the research is the five-link planar electromechanical biped walking robot . Purpose of the given work consists in development and improvement of methods of estimation of power consumption for walking robots and creation of the appropriate software with visualization of researched process of walking ( gait ) . Criterion of optimization is the minimum of electromechanical work . , – The paper introduces a bio‐inspired model of skill learning for humanoid robots . It is used for curvilinear bipedal walking pattern , which is a beneficial movement in soccer‐playing Nao robots in Robocup competitions . , – The paper uses a new biological motor concept in artificial humanoid robots , which is the mesencephalic locomotor region . section : The M - Walk Agent In this section , we develop a neural graph - walking agent named M - Walk ( i.e. , MCTS for graph Walking ) , which consists of ( i ) a novel neural architecture for jointly modeling and , and ( ii ) Monte Carlo Tree Search ( MCTS ) . In this paper we introduce an online grasping system for the Nao robot [ 1 ] manufactured by Aldebaran Robotics . The proposed system consists of an object detector and a grasp motion planner . Thereby , known objects are detected by a stereo contour-based object detector and hand motion paths are planned by an A*-based algorithm while avoiding obstacles . Compared to skilled robots such as Justin [ 2 ] or ASIMO [ 3 ] online grasping with the Nao constitute as particular problem due to the limited processing power and the hand design . The methods proposed allow detecting and grasping objects in real-time on an affordable humanoid robot . It is executed by the robot with online feedback . We give an overview of our NAMO system , as well as provide details of the autonomous planning , online grasping and compliant hand positioning during dynamically stable walking . Finally , we present results of a successful implementation running on the humanoid robot HRP-2 . The existence of tactile afferents sensitive to slip-related mechanical transients in the human hand augments the robustness of grasping through secondary force modulation protocols . Despite this knowledge and the fact that tactile-based slip detection has been researched for decades , robust slip detection is still not an out-of-the-box capability for any commercially available tactile sensor . Furthermore , we go into detail about the metric improvement for the grasp quality . Specifically , we study how noise at each joint of the manipulator affects grasp quality and how different arm configurations will generate different noise distributions at the end-effector , which has a huge impact in the robustness of grasping . Moreover , we illustrate our method that evaluates arm configurations based on the probability of achieving a force closure grasp . Stably grasping objects for a specific task is a hot research topic in robotics due to multiple degrees of freedom of hand kinematics , various shapes of objects , and incomplete visual sensing of objects ( partial point clouds ) . This paper proposes an effective grasp planning method by integrating the crucial grasp cues ( positions and orientations of thumb fingertips and the wrist ) from humans ’ grasp experience . Stably grasping objects for a specific task is a hot research topic in robotics due to multiple degrees of freedom of hand kinematics , incomplete visual sensing of objects , and various shapes of objects . This paper proposes an effective grasp planning method by integrating the crucial grasp cues ( positions and orientations of thumb fingertips and the wrist ) from human experience . The bachelor thesis deals with the creation of library for control of grasping end-effector UG20 , which is attached as an tool of industrial robot Staubli UNIMATION TX40 . A theoretical part of thesis presents a basic description of grasping end-effector , VAL3 programming language and integrated development environment Staubli Robotics Studio . By modifying this procedure , two processing techniques suitable for the real-time extraction of a tactile image are obtained . The case study validates these procedures using experimental data obtained during grasping and releasing operations carried out on a test object . The implementation steps are discussed , and the applicability of the technique for real-time task status interpretation is analyzed.<<ETX > > The anterior intraparietal area ( AIP ) of macaques contains neurons that signal the depth structure of disparity-defined 3-D shapes . Previous studies have suggested that AIP 's depth information is used for sensorimotor transformations related to the efficient grasping of 3-D objects . We trained monkeys to categorize disparity-defined 3-D shapes and examined whether neuronal activity in AIP may also underlie pure perceptual categorization behavior . However , the currently achievable information transfer rate of noninvasive BCIs is insufficient to control complex prostheses continuously in many degrees of freedom . In this paper we present an autonomous system for grasping natural objects that compensates the low information flow from noninvasive BCIs . Using this system , one out of several objects can be grasped without any muscle activity . In this work , natural hand poses ( i.e. , priors ) according to the shape of objects are used in training an agent via Deep Reinforcement Learning ( DRL ) . To validate the effect of human-like grasping priors , the agent is trained to perform object grasping and relocation tasks including a single apple , milk box , and can . The results show that the trained agent with human-like hand pose priors in DRL is able to grasp the objects more naturally and performs object relocation with significantly improved success rate against the trained agent with only DRL . Virtual reality often uses motion tracking to incorporate physical hand movements into interaction techniques for selection and manipulation of virtual objects . To increase realism and allow direct hand interaction , real-world physical objects can be aligned with virtual objects to provide tactile feedback and physical grasping . However , unless a physical space is custom configured to match a specific virtual reality experience , the ability to perfectly match the physical and virtual objects is limited . In addition , we propose a versatile Bayesian framework that endows the robot with the ability to infer the door kinematic model from observations of its motion while opening it and learn from previous experiences or human demonstrations . Combining this probabilistic approach with a state-of-the-art motion planner , we achieve efficient door grasping and subsequent door operation regardless of the kinematic model using the Toyota Human Support Robot .
Abstract A study was undertaken to determine the critical components/subassemblies influencing the performance of the radiator fan motor and then improving the motor performance . This article highlights the salient features of an investigation that was carried out to minimize the failure of a radiator fan motor by identifying and then redesigning the significant component/subassembly dimensions to improve the motor performance .
In order to evaluate brain activation during motor tasks accurately one must also measure output parameters such as muscle force or muscle activity . Especially in clinical situations where the force output can be compromised by changes at different levels of the motor system , it is essential to standardize the task or force level .
A new neural network algorithm with fuzzy logic compensation is proposed and applied to induction motor drive speed control system . A dynamic neural network is used to identify the plant on-line .
A fuzzy self-adaptive PID control method is proposed for brushless DC motor speed adjustment system . First fuzzy self-adaptive PID control simulation model is established on Matlab / Simulink platform and then fuzzy self-adaptive PID of brushless DC motor model when parameters change is also simulated .
Simulation and experimental results show that the proposed control algorithm can effectively overcome the effects of speed and load change , and has the characteristics of fast dynamic response , small overshoot and strong robustness . Keywords — self-tuning PID control , brushless DC motor speed adjustment , recursive least squares algorithm , closed-loop feature polynomial
In this study , rehabilitation training in motor skills for hemiplegia patients comprises repetitive and passive contents . To reduce boredom of rehabilitation training and provide active training , a movement-recognizing device and contents using it were manufactured .
Furthermore , the power flow characteristics in electric braking are analyzed , and the optimal continuously variable transmission ( CVT ) speed ratio under different working conditions is obtained through optimization . To understand the potential of dual-motor energy recovery , a regenerative braking control strategy is proposed by optimizing the dynamic distribution coefficient of the dual-electric mechanism and considering the restrictions of regulations and the I curve . The simulation results under typical operating conditions and the New York City Cycle ( NYCC ) proposed conditions indicate that the improved strategy has higher joint efficiency .
In this paper , the basic principle of the transvector control for AC synchronous motor is introduced . The vector projection of motor commutation is calculated and summarized . It is only a reference for the analysis of synchronous motor transvector control .
Priming only occurred through canonical and not through non-canonical finger postures . Together , these results provide clear evidence for motor priming of number knowledge . Relative contributions of vision and action for embodied numerical cognition and the importance of canonicity of postures are discussed .
A measurement of differences in dynamics between pre-and post resolution attacks suggested that highly energetically costly resolution phase attacks occur because the winner is trying to increase its relative dominance over the loser . Overall , our data pipeline and associated framework can help researchers to develop improved descriptions of strategic behavior which span the full timescale from life history decisions down to the policies used for rapid motor coordination during individual behavioral acts .
Results indicated that a difference in intention does result in divergent uses of voluntary and involuntary control and distinctly different structures in performance variability . Key words : intention ; fractal structure ; voluntary and involuntary control ; motor control Over the past decade , a substantial amount of research has focused on determining what information can be gained about human cognitive and motor processes by assuming that they are inextricably linked through what is often referred to as the ‘ interaction-dominant dynamics ’ of human behavior ( Holden , Van Orden , & Turvey , 2009 ; Ingber , 2003 ; Turvey , & Moreno , 2006 ; Van Orden , & Holden , 2002 ; Van Orden , Holden , & Turvey , 2003 ; Van Orden , Holden , & Turvey , 2005 ) . As noted by Van Orden ( 2010 ) , absolute independence of these processes would allow for random variability in performance within each process , while dominance by one process over all others would cause highly regular fluctuations across processes .
Three core loss methods have been selected following premises of relatively easy implementation and coefficients obtained from standardized tests . A Finite Element Analysis ( FEA ) is used for accurate estimation of the electromagnetic fields in a motor case study . The results are post-processed with approaches at frequency and time domains by the referred iron loss models and confronted with measurements in a low power Brushless DC ( BLDC ) motor prototype , inverter-driven , whose output uses pulsewidth-modulation ( PWM ) voltage waveform .
“ Second - hand TIDDA 1.6 T Mannual gear has gotten some problems , please everybody help me to solve it ? ” . This question has 5 topics : Car , Second - hand Car , Motor Dom , Autocar Conversation and Autocar Service . EXAM only misclassified the last topic .
Since accuracy and precision of the measures are mandatory to provide the neurologist with a tool that can actually be applied in clinical practice , in this work , the quality of measures obtained by the SensHand system was evaluated , comparing them to an optoelectronic “ gold standard ” system addressing a preliminary technical validation . Three exercises ( i.e. , finger tapping , thumb-forefinger tapping , and pronosupination ) were selected and frequency , number of repetitions and amplitude of the movements were measured for each of them by both the wearable and optical systems . The preliminary results were very satisfying , considering that discrepancies , measured as absolute error , in frequency evaluation , number of repetitions , and amplitude movement were , on average , equal to 0.03 taps/s(min0.02 , max0.05 ) , 0.07 tap ( min 0.02 , max 0.13 ) , and 3.8 degrees ( min 1.81 , max7.47 ) , respectively .
By utilizing optical fiber gloves and the virtual piano software designed by this study , the user can play the piano anywhere at any time . This virtual piano consists of three major parts : finger tapping identification , hand movement and positioning identification , and MIDI software sound effect simulation . To play the virtual piano , the user wears optical fiber gloves and simulates piano key tapping motions . The finger bending information detected by the optical fiber gloves can tell when piano key tapping motions are made . Images captured by a video camera are analyzed , hand locations and moving directions are positioned , and the corresponding scales are found . The system integrates finger tapping identification with information about hand placement in relation to corresponding piano key positions , and generates MIDI piano sound effects based on this data . This experiment shows that the proposed method achieves an accuracy rate of 95 % for determining when a piano key is tapped .
Our results indicate that segmentations generated on structural images are closer in volume to those obtained from registration to the BRAHMA template than to the ICBM-152 . Furthermore , functional MRI data obtained for Working Memory and Finger Tapping paradigms processed using the BRAHMA template shows a significantly higher percentage of the activation area than ICBM-152 in relevant brain regions , i.e. the left middle frontal gyrus , and the left and right precentral gyri , respectively . The availability of different image contrasts , tissue maps , and segmentation atlases makes the BRAHMA template a comprehensive tool for multi-modal image analysis in laboratory and clinical settings .
A 3-D FSPGR T1-weighted images were used for structural reference . Image processing and statistical analyses were performed using SPM5 for active finger-tapping task and GIFT program was used for statistical analyses of low frequency spontaneous fluctuation BOLD signal . Results : Both groups showed the activation in the left primary motor cortex and supplemental motor area and in the right cerebellum for right finger-tapping task .
This system was composed of a pair of 3-axis accelerometers , a touch sensor an analog to digital converter and a personal computer ( PC ) . Firstly , a transfer function representing relation between the contact force and the accelerometer output during the finger contact phase of finger-tapping was determined . This means that the finger-tapping contact force could be estimated from the measured acceleration by using the determined transfer function .
The present study examined interactions of speech production and finger-tapping movement , using a syncopated motor task with two movements in 10 male right-handed undergraduate students ( M age = 21.0 yr . ; SD = 1.4 ) .
In this paper we propose a methodology for objective evaluation and classification of repetitive finger tapping performance based solely on its spectral behavior . We used miniature sensor system with gyroscope placed over fingertip of index finger for finger tapping recording . The study included 20 subjects - 10 patients with Parkinson 's disease ( PD ) and 10 age and gender matched healthy controls .
Variations in such timing are critical , as they directly impact the amount of time that participants have to plan pending movements . In this study , participants performed finger-tapping sequences during magnetoencephalography , and we manipulated the amount of time ( i.e. , “ long ” vs. “ short ” ) between the presentation of the to-be-executed sequence and the cue to initiate the sequence . We found that the beta ERD was stronger immediately after the cue to move in the contralateral postcentral gyrus and bilateral parietal cortices during the short compared with long planning time condition .
The vast majority of humans move in time with a musical beat . This behaviour has been mostly studied through finger-tapping synchronization . Here , we evaluate naturalistic synchronization responses to music – bouncing and clapping – in 100 university students .
These results highlight a more complex modularity ( e.g. more modules ) for cruising and crawling compared to walking , which was only apparent when the step-to-step variability of EMG patterns was considered . This suggests that considering non-averaged data is relevant when studying muscle modularity especially in motor tasks with high variability like in motor development .
This book includes relevant academic content for those studying for sport science , exercise science , rehabilitation , sport coaching , physical education , and physiotherapy qualifications . One of the key advantages of this book is that it draws together the three areas of motor control , motor learning , and motor development into one text . This makes this a rather useful resource for the undergraduate student .
Objective quantitative evaluation of motor skill development is of increasing importance to carefully drive physical exercise programs in childhood . Running is a fundamental motor skill humans adopt to accomplish locomotion , which is linked to physical activity levels , although the assessment is traditionally carried out using qualitative evaluation tests .
Motor Learning and Development " examines the development of movement skill in humans from infancy to older adulthood and how differing motor , cognitive , and social abilities affect when , why , and how an individual learns motor skills . " Motor Learning and Development " begins by providing a foundational understanding of the concepts in motor learning and motor development . Readers will discover the fundamental motor skills developed during childhood as well as the individual functional and structural constraints present in childhood and adolescence .
When aiming at assessing motor control development , natural walking ( NW ) and tandem walking ( TW ) are two locomotor tasks that allow analysing different characteristics of motor control performance . NW is the reference locomotor task , expected to become more and more automatic with age .
This article reports an experimental study initiated on labial anticipatory coarticulation in the framework of a description of motor control development . Four French children between 4 and 8 years old have been audiovisually recorded , uttering [ iCny ] puppets names , in which Cn corresponds to a varying number of intervocalic consonants .
Recent work in our labs and others suggest that younger infants can utilize their reaching and grasping ability to learn power mobility . This interdisciplinary study combines our previous work in motor development and learning in infants with special needs , and the application of robot technology for rehabilitation to determine whether young infants without structured training , would drive a mobile robot , and if so , to determine how their driving would change over multiple sessions . The two infants that were seen for the most sessions were the focus of this pilot study .
Methods The SME is implemented following a clinical protocol to objectively elicit cognitive and proprioceptive skills , in addition to practical needs and requirements raised by psychologists and physical therapists . The system is proposed as a complement to conventional assessments and motor development evaluation , providing support to professionals in generating objective parameters for analysis during physical training and therapy . Results The results demonstrate the significance of the parameters obtained in the assessment protocol with the virtual immersion generated by the SME , where the proprioception was evaluated and the kinesthetic sense was improved in 29.9 % .
Autism Spectrum Disorders ( ASD ) are complex developmental disabilities that cause problems with social interaction and communication . ASD are associated with motor development problems , more or less blurred , and with perceptual and sensory brain areas . Crying is the infant 's earliest form of communication and recent studies connect this original “ language ” form with autism disturbs .
Abstract Understanding of the motor development process is usually based on descriptive studies using either cross‐sectional or longitudinal designs . These data typically consist of sets of measurements on groups of individuals gathered during the performance of a single task .
Muscle Co-activation ( MCo ) is the simultaneous muscular activation of agonist and antagonist muscle groups , which provides adequate joint stability , movement accuracy during movement . Infant crawling is an important stage of motor function development that manifests non-synchronization growth and development of upper and lower limbs due to the well-known gross motor development principle of head to toe . However , the effect of MCo level for agonist and antagonist muscle groups on motor function development of limbs has not been previously reported .
So they are not ripe in theory and technology . Problems of theory , friction and wear , preloading spring performance and motor structure development will become the research emphasis in the future .
A useful analyzer system has been developed for walking stability . It is composed of two sub-systems .
The focus of this paper is the problem of walking stability control in humanoid robot going upstairs . Walking stability is a very important problem in the field of robotics . Lots of researches have been done to get stable walking on plane .
In this paper , a motion planning algorithm based on rapidly exploring random trees ( RRT ) is proposed . The algorithm uses representation of the pipeline as a point cloud , which is easier to generate than the geometric representations required by some of the other existing motion planning algorithms for walking in-pipe robots . The properties of the algorithm and their dependence on the geometry of the pipe are studied .
In this paper , a new control method for walking in-pipe robots is discussed . The method is based on a combination of a linear quadratic regulator for systems with explicit mechanical constraints and a proportional-derivative controller formulated in terms of end effector coordinates ( Cartesian coordinates of the robot 's foot that takes the step ) .
In particular , a detailed description of the pneumatic control architecture is provided , together with some design considerations . Moreover , a platform for walking trajectory generation is presented , and some experimental results are reported . In order to assure a proper stability control during the gait , a center of pressure sensor has been specifically designed and placed onboard the robot .
The key is the forward dynamics subject to the unilateral constraint between the feet and the ground . Its formal treatment leads to walking trajectory generation and various control methods . As a practical scheme to control biped robots , we discuss the zero-moment point ( ZMP ) in Sect .
The restorer is characterized in that nursing boards have sunk right sides and projecting reverse sides and have radians ; hinge boards at the ends of the two nursing boards are connected by a hinge axis ; the two ends of a thruster are fixed at the reverse sides of the nursing boards via supporting seats ; an oil passing hole in the thruster is connected with an oil duct hole in a dynamic motor by a hydraulic pipe ; bandages are fixed at the two sides of the nursing boards ; and the two nursing boards , a motor shoe and the thruster form a group . The walking function nursing restorer has the beneficial effects that the walking function nursing restorer has a concise structure and is convenient to manufacture and use ; and the walking function nursing restorer enables people who can stand but make a step unstably and difficultly to make less effort when walking , conduces to improving the walking stability , enables the people to walk easily and achieves the function of walking nursing .
The second model is an ordinal regression model which examines the factors that make pedestrians adapt their walking speed as they are crossing the road and are informed by the countdown timers about the second remaining for the termination of the green phase . The results of the second model revealed that the age , the compliance and the perceived assistance that the countdown timer provides for the walking speed adaptation affect the minimum remaining time before a pedestrian accelerates .
The practical results generated from a series of experiments involving the COmpliant huMANoid ( COMAN ) , corroborate the controllers ' abilities to permit the successful execution of walking trajectories . Furthermore , they reveal the superior efficacy of the two feedback-dependent gravity compensation control techniques in terms of tracking walking trajectories , in comparison to the feedforward controller .
Passive dynamic walking is a promising concept for the design of efficient , natural two-legged walking robots . Research on this topic requires an initial point of departure ; a stability analysis can be executed only after the first successful walking motion has been found .
After that , the position of each leg joint of bipedal robot is also calculated by using the proposed CoM Jacobian . Finally , computer simulations are performed by utilizing RecurDyn and MATLAB softwares to validate the proposed preview control formulation for the nonlinear walking patterns generation of a Bioloid humanoid robot .
In the considered work , the object of the research is the five-link planar electromechanical biped walking robot . Purpose of the given work consists in development and improvement of methods of estimation of power consumption for walking robots and creation of the appropriate software with visualization of researched process of walking ( gait ) . Criterion of optimization is the minimum of electromechanical work .
, – The paper introduces a bio‐inspired model of skill learning for humanoid robots . It is used for curvilinear bipedal walking pattern , which is a beneficial movement in soccer‐playing Nao robots in Robocup competitions . , – The paper uses a new biological motor concept in artificial humanoid robots , which is the mesencephalic locomotor region .
section : The M - Walk Agent In this section , we develop a neural graph - walking agent named M - Walk ( i.e. , MCTS for graph Walking ) , which consists of ( i ) a novel neural architecture for jointly modeling and , and ( ii ) Monte Carlo Tree Search ( MCTS ) .
In this paper we introduce an online grasping system for the Nao robot [ 1 ] manufactured by Aldebaran Robotics . The proposed system consists of an object detector and a grasp motion planner . Thereby , known objects are detected by a stereo contour-based object detector and hand motion paths are planned by an A*-based algorithm while avoiding obstacles . Compared to skilled robots such as Justin [ 2 ] or ASIMO [ 3 ] online grasping with the Nao constitute as particular problem due to the limited processing power and the hand design . The methods proposed allow detecting and grasping objects in real-time on an affordable humanoid robot .
It is executed by the robot with online feedback . We give an overview of our NAMO system , as well as provide details of the autonomous planning , online grasping and compliant hand positioning during dynamically stable walking . Finally , we present results of a successful implementation running on the humanoid robot HRP-2 .
The existence of tactile afferents sensitive to slip-related mechanical transients in the human hand augments the robustness of grasping through secondary force modulation protocols . Despite this knowledge and the fact that tactile-based slip detection has been researched for decades , robust slip detection is still not an out-of-the-box capability for any commercially available tactile sensor .
Furthermore , we go into detail about the metric improvement for the grasp quality . Specifically , we study how noise at each joint of the manipulator affects grasp quality and how different arm configurations will generate different noise distributions at the end-effector , which has a huge impact in the robustness of grasping . Moreover , we illustrate our method that evaluates arm configurations based on the probability of achieving a force closure grasp .
Stably grasping objects for a specific task is a hot research topic in robotics due to multiple degrees of freedom of hand kinematics , various shapes of objects , and incomplete visual sensing of objects ( partial point clouds ) . This paper proposes an effective grasp planning method by integrating the crucial grasp cues ( positions and orientations of thumb fingertips and the wrist ) from humans ’ grasp experience .
Stably grasping objects for a specific task is a hot research topic in robotics due to multiple degrees of freedom of hand kinematics , incomplete visual sensing of objects , and various shapes of objects . This paper proposes an effective grasp planning method by integrating the crucial grasp cues ( positions and orientations of thumb fingertips and the wrist ) from human experience .
The bachelor thesis deals with the creation of library for control of grasping end-effector UG20 , which is attached as an tool of industrial robot Staubli UNIMATION TX40 . A theoretical part of thesis presents a basic description of grasping end-effector , VAL3 programming language and integrated development environment Staubli Robotics Studio .
By modifying this procedure , two processing techniques suitable for the real-time extraction of a tactile image are obtained . The case study validates these procedures using experimental data obtained during grasping and releasing operations carried out on a test object . The implementation steps are discussed , and the applicability of the technique for real-time task status interpretation is analyzed.<<ETX > >
The anterior intraparietal area ( AIP ) of macaques contains neurons that signal the depth structure of disparity-defined 3-D shapes . Previous studies have suggested that AIP 's depth information is used for sensorimotor transformations related to the efficient grasping of 3-D objects . We trained monkeys to categorize disparity-defined 3-D shapes and examined whether neuronal activity in AIP may also underlie pure perceptual categorization behavior .
However , the currently achievable information transfer rate of noninvasive BCIs is insufficient to control complex prostheses continuously in many degrees of freedom . In this paper we present an autonomous system for grasping natural objects that compensates the low information flow from noninvasive BCIs . Using this system , one out of several objects can be grasped without any muscle activity .
In this work , natural hand poses ( i.e. , priors ) according to the shape of objects are used in training an agent via Deep Reinforcement Learning ( DRL ) . To validate the effect of human-like grasping priors , the agent is trained to perform object grasping and relocation tasks including a single apple , milk box , and can . The results show that the trained agent with human-like hand pose priors in DRL is able to grasp the objects more naturally and performs object relocation with significantly improved success rate against the trained agent with only DRL .
Virtual reality often uses motion tracking to incorporate physical hand movements into interaction techniques for selection and manipulation of virtual objects . To increase realism and allow direct hand interaction , real-world physical objects can be aligned with virtual objects to provide tactile feedback and physical grasping . However , unless a physical space is custom configured to match a specific virtual reality experience , the ability to perfectly match the physical and virtual objects is limited .
In addition , we propose a versatile Bayesian framework that endows the robot with the ability to infer the door kinematic model from observations of its motion while opening it and learn from previous experiences or human demonstrations . Combining this probabilistic approach with a state-of-the-art motion planner , we achieve efficient door grasping and subsequent door operation regardless of the kinematic model using the Toyota Human Support Robot .
Winning customer satisfaction by eliminating radiator fan motor noise MR compatible strain gauge based force transducer A neural network algorithm with fuzzy logic compensation for dynamical system Study on fuzzy self-adaptive PID control strategy for brushless DC motor Adaptive Control of Servo Motor in lSOTMr Developing a device using accelerometers and EMG for hand movement recognition Efficiency Optimization and Control Strategy of Regenerative Braking System with Dual Motor The Application of Vector-Projection-Transform for AC Synchronous Motor's Commutation Control Finger posing primes number comprehension Opponent assessment and conflict resolution through mutual motor coordination Intentional Constraints on the Dynamics of Human Performance and Behavioral Variability in Motor Control A Comparative Investigation of Iron Loss Models for Electrical Machine Design Using FEA and Experimental Validation Explicit Interaction Model towards Text Classification Vision Optical-Based Evaluation of Senshand Accuracy for Parkinson’s Disease Motor Assessment Portable Virtual Piano Design BRAHMA: Population specific T1, T2, and FLAIR weighted brain templates and their impact in structural and functional imaging studies. Low Frequency Fluctuation Component Analysis in Active Stimulation fMRI Paradigm Measurement system of finger-tapping contact force for quantitative diagnosis of Parkinson's disease Interactions of Speech and Manual Movement in a Syncopated Task Implementation of continuous wavelet transformation in repetitive finger tapping analysis for patients with PD Cue-related Temporal Factors Modulate Movement-related Beta Oscillatory Activity in the Human Motor Circuit Keeping the Beat: A Large Sample Study of Bouncing and Clapping to Music Modularity underlying the performance of unusual locomotor tasks inspired by developmental milestones. Motor Control, Learning and Development Assessing locomotor skills development in childhood using wearable inertial sensor devices: the running paradigm. Motor Learning and Development Nonlinear analysis of human movement dynamics offer new insights in the development of motor control during childhood. The development of anticipatory labial coarticulation in French: a pionering study Babies driving robots: self-generated mobility in very young infants The effect of smart mirror environment on proprioception factors of children with Down syndrome Automatic newborn cry analysis: A Non-invasive tool to help autism early diagnosis Functional data analysis of knee joint kinematics in the vertical jump Antagonist muscle co-activation of limbs in human infant crawling: A pilot study Development and existing problems of longitudinal and torsional hybrid type ultrasonic motors Analysis of impulse response on walking stability by a synchronized system of two accelerometers Walking Planning and Control for a Biped Robot Upstairs RRT-based Motion Planning for In-pipe Walking Robots Modification of constrained LQR for control of walking in-pipe robots A Pneumatic Human Inspired Robotic Leg: Control Architecture and kinematical Overview Legged Robot 16 . Legged Robots Walking function nursing restorer Pedestrian compliance and cross walking speed adaptation due to countdown timer installations: A self report study An analysis of the effect of gravity compensation on compliant biped walking controllers First Steps in Passive Dynamic Walking Using Zero Moment Point preview control formulation to generate nonlinear trajectories of walking patterns on humanoid robots Simulation of power consumption for walking robot Modeling of mesencephalic locomotor region for Nao humanoid robot M-Walk: Learning to Walk over Graphs using Monte Carlo Tree Search Grab a mug - Object detection and grasp motion planning with the Nao robot Planning and executing navigation among movable obstacles Slip Detection: Analysis and Calibration of Univariate Tactile Signals Bridging the Gap in Grasp Quality Evaluation and Grasp Planning Learning to Grasp Familiar Objects Based on Experience and Objects’ Shape Affordance Learning to grasp familiar objects based on experience Knihovna pro ovládání úchopné hlavice UG20 Interpretation of the task status of a gripper from tactile sensor data Choice-related Activity in the Anterior Intraparietal Area during 3-D Structure Categorization Brain-Controlled Selection of Objects Combined with Autonomous Robotic Grasping Human-like Object Grasping and Relocation for an Anthropomorphic Robotic Hand with Natural Hand Pose Priors in Deep Reinforcement Learning Evaluating Remapped Physical Reach for Hand Interactions with Passive Haptics in Virtual Reality A Versatile Framework for Robust and Adaptive Door Operation with a Mobile Manipulator Robot
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BMEI CogSci AAAI M&amp;N INTERSPEECH EMBC EMBC CBMS ICINCO-RA (1) AMC FSKD RoMoCo NeurIPS Humanoids ICARM ICRA
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