Contact mechanics plays an important role in the design, performance analysis, simulation, and control of legged robots. The Hunt–Crossley model and the Coulomb friction model are often used as black-box models with limited consideration of the properties of the terrain and the feet. This paper analyzes the foot–terrain interaction based on the knowledge of terramechanics and reveals the relati...

Using a force feedback device within the framework of deformable object simulation remains difficult because of the incompatibility between the computation time needed by realistic deformable models and high refresh frequencies necessary for real-time haptic rendering. Giving the user a good haptic sensation requires refreshing the applied forces at least ten times more often than for giving a ...

We describe an approach for extracting facial features from images and for determining the spatial organization between these features using the concept of a deformable template. This is a parameterized geometric model of the object to be recognized together with a measure of how well it fits the image data. Variations in the parameters correspond to allowable deformations of the object and can...

We present an approach for computing generalized proximity information between arbitrary polygonal models using graphics hardware acceleration. Our algorithm combines object-space localization, multi-pass rendering techniques, and accelerated distance field computation to perform complex proximity queries at interactive rates. It is applicable to any closed, possibly non-convex, polygonal objec...

End-effectors are usually related to the location of limbs, and their reliable detection enables robust body tracking as well as accurate pose estimation. Recent innovation in depth cameras has re-stated the pose estimation problem. We focus on the information provided by these sensors, for which we borrow the name 2.5D data from the Graphics community. In this paper we propose a human pose est...

Deformable models often require some degree of user-interaction to produce an accurate segmentation of the feature object. We propose an automatic deformable surface for segmenting the femur from magnetic resonance volumes of the knee. In order to overcome the limitations of many existing deformable models, probabilistic labelling is used to drive the deformation process, together with a surfac...

In this paper we describe a test-bed we have developed for simulation of abdominal trauma surgery. The abdominal surgery scene is highly complex and contains many layers of deformable organs. Representing this layered and deformable anatomy with models that can interact, be probed and cut presents a unique challenge. We have met this challenge by applying a variety of technology advances in def...

A local deformable-model-based segmentation can be very helpful to extract objects from an image, especially when no prototype about the object is available. However, this technique can drive to an erroneous segmentation in noisy images, in case of the active contour is captured by noise particles. If some geometrical information (a priori knowledge) of the object is available, then it can be u...

Objective. To examine the association of polycystic ovary syndrome (PCOS) in early pregnancy with gestational diabetes mellitus (GDM) and adverse birth outcomes. Methods. In this retrospective cohort study including 2389 pregnant women, the medical records of 352 women diagnosed with PCOS were evaluated. Outcomes included GDM, preterm birth, low birth weight, macrosomia, and being small and lar...

Studies have investigated the relationship between genetic variants and risk of gestational diabetes mellitus (GDM). However, the results remain inconclusive. The aim of this study was to investigate the association of rs10830963 and rs1387153 variants in melatonin receptor 1B (MTNR1B) and rs1801278 variant in insulin receptor substrate 1 (IRS1) with GDM susceptibility. Electronic database of P...