Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 13 of 13 for “"Slip Detection"”.
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Development of Intelligent Exoskeleton Grasping Through Sensor Fusion and Slip Detection
… field of hand exoskeleton robotic systems with slip detection and its applications. It presents the design and control of the intelligent sensing and force- feedback exoskeleton robotic (iSAFER) glove to create a system capable of intelligent object grasping initiated by detection of the user’s …
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The Slippery Slope Between Falling And Recovering: An Examination Of Sensory And Somatic Factors Influencing Recovery After A Slip
Background: Slips and falls account for large rates of injury and mortality in multiple populations. During an unexpected slip, sensory mechanisms are responsible for signaling the slip to the central nervous system, and a series of corrective responses is generated to arrest the slip and prevent a …
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Personalized Voice Activated Grasping System for a Robotic Exoskeleton Glove
… to allow force measurement, force application, slip detection, cloud computing, and a power supply to provide over 2 hours of continuous usage. A voice-control-based HMI referred to as the integrated trigger-word configurable voice activation and speaker verification system (CVASV), is …
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New Estimation Algorithms With Applications To Relative And Absolute Orbit Determination
… information estimator, a robust cycle-slip detection and recovery algorithm, and an extended Kalman filter with an adaptive ionosphere model that allows to make multimodal use of dual-frequency GPS data. The third paper develops a new process noise model and extended Kalman filter that …
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Touching is believing : sensing and analyzing touch information with GelSight
… parts, normal and shear force estimation, and slip detection, as well as for material recognition, in terms of 3D surface texture classification. With image processing and machine learning techniques applied on the tactile images obtained, the fingertip GelSight sensor opens many possibilities …
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Tactile perception of cognitive robots
… on optimal grasp force determination through slip detection with a static tactile sensor. Detection of incipient slippage is a very important aspect of tactile sensing as it allows for the adjustment of the grasp force without any prior knowledge about the weight and friction of the object. …
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Problems in GPS Accuracy
… methods for detecting and repairing cycle-slips in range delay data between a satellite and a receiver. The distance between a satellite and a receiver can be estimated by measuring the difference in the carrier frequency phase shift experienced between the satellite and receiver …
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Humanoid Robot Friction Estimation in Multi-Contact Scenarios
… This is achieved by utilizing disturbance detection as a method of monitoring active forces at a single external point and deriving available friction force at said contact point in accordance with Coulomb's Law of Friction. First, the rigid body dynamics and required compliant humanoid …
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A Single-Actuated and Cable-Driven Assistive Glove Designed For Farming Application
… with the fabric's flexibility and potential slippage between the cable and the glove, the designed mechanisms and sensory and control systems are initially implemented on a robotic hand. The rigid structure of the robotic hand provides a suitable proving ground for the design and control …
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Vision-Based Force Planning and Voice-Based Human-Machine Interface of an Assistive Robotic Exoskeleton Glove for Brachial Plexus Injuries
… glove. In the aspect of force planning, a slip-grasp force planning method with hybrid slip detection is implemented. This method incorporates a vision-based approach to estimate object properties to refine grasp force predictions, thus mimicking human grasping processes and reducing the …
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Design and development of functional foot for agile and dynamic legged robots
… arrays), which can be switched based on the slip condition to compensate for their drawbacks. A passive slip detection mechanism as well as a lock & release mechanism have been designed to switch the rubber pad to the micro-spine arrays in the event of a slip. In addition, this thesis …
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Collaborative control strategies for robotic manipulation
… in the field of robotics must be made. <br/><br/>Slip detection and control is an area which can be applied to dual collaborating manipulators. With adequate sensing capabilities, two collaborating manipulators may hold an object without the use of dexterous end-effectors. This vastly improves the …