This paper proposes a segmentation method of human manipulation task based on measurement of contact force imposed by a human hand on a grasped object. We define an index measure for segmenting a human manipulation task into primitives. The indices are calculated from the set of the contact forces measured at all the contact points during a manipulation task. Then, we apply the EM algorithm to ...

This paper presents an approach to fast object manipulation by dextrous regrasping of multingered hands. The approach is based on a real-time grasping force optimization algorithm (GFO) and a ngertip impedance control scheme. Both the controller and the GFO make use of 6D contact force sensor data at run-time. The latter keeps contact forces as small as possible while considering friction limit...

Clinical analyses have shown that injuries and pain linked specifically to fencing training/competition were prevalent in 92.8% of fencers. Patellofemoral pain is the most common chronic injury in athletic populations and females are considered to be more susceptible to this pathology. This study aimed to examine gender differences in patellofemoral contact forces during the fencing lunge. Pate...

In a trochoidal-type machine, the rotor and chamber will be in direct contact when apex seals arc removed. The reliability and efficiency of the machine will depend on the magnitude of these contact forces. In this paper, a finite element model that simulates the planetary rotation of a rotor inside a chamber is developed. The model is then used to analyze contact forces between rotor and chamb...

Neutrophil capture and recruitment from the circulation requires the formation of specific receptor/ligand bonds under hydrodynamic forces. In the present study we examine bond formation between beta2-integrins on neutrophils and immobilized ICAM-1 while using micropipettes to control the force of contact between the cell and substrate. Magnesium was used to induce the high affinity conformatio...