Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Computer Engineering
Fpca Based Human-Like Trajectory Generating, Wei Dai
Fpca Based Human-Like Trajectory Generating, Wei Dai
USF Tampa Graduate Theses and Dissertations
This thesis presents a new human-like upper limb and hand motion generating method. The work is based on Functional Principal Component Analysis and Quadratic Programming. The human-like motion generating problem is formulated in a framework of minimizing the difference of the dynamic profile of the optimal trajectory and the known types of trajectory. Statistical analysis is applied to the pre-captured human motion records to work in a low dimensional space. A novel PCA FPCA hybrid motion recognition method is proposed. This method is implemented on human grasping data to demonstrate its advantage in human motion recognition. One human grasping hierarchy …
Robotic Hand Evaluation Based On Task Specific Kinematic Requirements, Carlos Rafael Neninger
Robotic Hand Evaluation Based On Task Specific Kinematic Requirements, Carlos Rafael Neninger
USF Tampa Graduate Theses and Dissertations
With the rise autonomous and robotic systems in field applications, the need for dexterous, highly adaptable end effectors has become a major research topic. Control mechanisms of robotics hands with a high number independent actuators is recognized as a complex, high dimensional problem, with exponentially complex algorithms. However, recent studies have shown that human hand motion possesses very high joint correlation which translates into a set of predefined postures, or synergies. The hand produces a motion using a complementing contribution of multiple joints, called synergies. The similarities place variables onto a common dimensional space, effectively reducing the number of independent …