This paper presents a new developed anthropomorphic robot dexterous hand： HIT/DLR Hand II. The hand is composed of an independent palm and five identical modular fingers, and each finger has three degree of freedom ...This paper presents a new developed anthropomorphic robot dexterous hand： HIT/DLR Hand II. The hand is composed of an independent palm and five identical modular fingers, and each finger has three degree of freedom （DOFs） and four joints. All the actuators and electronics are integrated in the finger body and the palm. Owing to using a new actuator, drivers and a novel arrangement, both the length and width of the finger is about two third of its formner version. By using the wire coupling mecha- nism, the distal phalanx transmission ratio is kept exactly 1 ： 1 in the whole movement range. The packing mechanism which is implemented directly in the finger body and palm not only reduces the size of whole hand but also make it more anthropomorphic. Additionally, the new designed force/torque and position sensors are integrated in the hand for increasing muhisensory capability. To evaluate the performances of the finger mechanism, the position and impedance control experiments are conducted.展开更多
This paper presents a novel system assisting medical dementia examination in a joyful way: the object just needs to play a popular game SSC against the computer during the examination. The SSC game’s target is to det...This paper presents a novel system assisting medical dementia examination in a joyful way: the object just needs to play a popular game SSC against the computer during the examination. The SSC game’s target is to detect the player’s reacting capability, which is related closely with dementia. Our system reaches this target with some advantages: there are no temporal and spatial constraints at all. There is no cost, and it can even improve people’s mental status. Hand talk technology and EHMM gesture recognition approach are employed to realize the human computer interface. Experiments showed that this system can evaluate people’s reacting capability effectively and is helpful for initial dementia examination.展开更多
基金supported by the National High Technology Research and Development Programme of China(2006AA04Z255)the 111 Project(B307018)
文摘This paper presents a new developed anthropomorphic robot dexterous hand： HIT/DLR Hand II. The hand is composed of an independent palm and five identical modular fingers, and each finger has three degree of freedom （DOFs） and four joints. All the actuators and electronics are integrated in the finger body and the palm. Owing to using a new actuator, drivers and a novel arrangement, both the length and width of the finger is about two third of its formner version. By using the wire coupling mecha- nism, the distal phalanx transmission ratio is kept exactly 1 ： 1 in the whole movement range. The packing mechanism which is implemented directly in the finger body and palm not only reduces the size of whole hand but also make it more anthropomorphic. Additionally, the new designed force/torque and position sensors are integrated in the hand for increasing muhisensory capability. To evaluate the performances of the finger mechanism, the position and impedance control experiments are conducted.
基金Project supported by the National Nature Science Foundation of China (Nos. 60303018 and 60533030) and Beijing Science and Technology New Star Project (No. 2005B54), China
文摘This paper presents a novel system assisting medical dementia examination in a joyful way: the object just needs to play a popular game SSC against the computer during the examination. The SSC game’s target is to detect the player’s reacting capability, which is related closely with dementia. Our system reaches this target with some advantages: there are no temporal and spatial constraints at all. There is no cost, and it can even improve people’s mental status. Hand talk technology and EHMM gesture recognition approach are employed to realize the human computer interface. Experiments showed that this system can evaluate people’s reacting capability effectively and is helpful for initial dementia examination.
