Human hand and finger tracking is an important input modality for both virtual and augmented reality. We present a novel device that overcomes the disadvantages of current glove-based or visionbased solutions by using inverse-kinematic models of the human hand. The fingertips are tracked by an optical infrared tracking system and the pose of the phalanxes is calculated from the known anatomy of...

INTRODUCTION: Anatomical marker placement reliability is an important consideration in 3D gait analysis given its influence on defining joint centers, anatomical coordinate systems (ACSs), and ultimately the resulting joint kinematic outputs. It has been postulated that gait kinematic reliability could be improved using a functional (FUN) method compared to a manual marker placement approach (M...

This document introduces a new kinematic simulation of a wheeled mobile robot operating on uneven terrain. Our modeling method borrows concepts from dextrous manipulation. This allows for an accurate simulation of the way 3-dimensional wheels roll over a smooth ground surface. The purpose of the simulation is to validate a new concept for design of off-road wheel suspensions, called Passive Var...

In this article, the basic constructs of algebraic kinematics (links, joints, and mechanism spaces) are introduced. This provides a common schema for many kinds of problems that are of interest in kinematic studies. Once the problems are cast in this algebraic framework, they can be attacked by tools from algebraic geometry. In particular, we review the techniques of numerical algebraic geometr...

The objectives of this study were twofold. The first was to develop a forward dynamic model of cycling and an optimization framework to simulate pedaling during submaximal steady-state cycling conditions. The second was to use the model and framework to identify the kinetic, kinematic, and muscle timing quantities that should be included in a performance criterion to reproduce natural pedaling ...

Kinematic robot calibration is the key requirement for the successful application of offline programming to industrial robotics. To compensate for inaccurate robot tool positioning, offline generated poses need to be corrected using a calibrated kinematic model, leading the robot to the desired poses. Conventional robot calibration techniques are heavily reliant upon numerical optimisation meth...

Inverse kinematics is computationally expensive and can result in significant control delays in real lime. Fur a redundant robot, additional computations are required for the inversekinematic solution through optimization schemes. Based on h e fact that humans do not compute exact inverse kinematics, but can do precise positioning from heuristics. we developed an inverse kinematic mapping &ugh ...

Sound measured at various points around the environment can be evaluated by a series of multi-pole sources and their acoustic strength can be acquired. In this numerical study, a method, called the inverse method, was examined to achieve this goal. A variety of arrangements of different sources were considered and the acoustic strength of these sources was acquired. Through the application of t...

This paper introduced design analysis of a new 5DOF surgical robot used for minimally invasive surgery. The kinematics modeling is studied by solving the forward and inverse kinematics of the robot using the Denavit-Hartenberg convention and geometrical method. Robot kinematics simulation is built by creating the 3D CAD model of the robot and patient, then a kinematic motion simulation of a sur...

Electroactive polymer (EAP) actuators, also known as artificial muscles, have remarkable properties such as low energy consumption, low weight, low actuation foot-print, compliance and bio-compatibility. Several methodologies have been proposed to model and analyse their quasi-static bending behaviour with negligible attention paid to their dynamic behaviour. We, therefore, report on an enhance...