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9 On Observing Contact States in Overconstrained Manipulation
Estimation of contact state is important to any multi-point interaction that involves frictional stick/slip phenomena. In particular, when there are...
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13 Haptic Interfaces: Collocation and Coherence Issues
Multi-modality, collocation and immersive VE nowadays represents the break-trough barrier of human computer interaction. Typical VE systems...
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6 Efficient and Precise Grasp Planning for Real World Objects
With the development of .exible and highly integrated dexterous grip** devices (e.g. fig.6.1) the research results on grasp and manipulation...
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4 Modelling and Controlling the Compliance of a Robotic Hand with Soft Finger-pads
Compliant pads greatly contribute to increase the robustness and the stability of grasps of robot hands, because of their conformability to the...
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14 Intrinsically Passive Control using Sampled Data System Passivity
In this chapter, which is a distilled version of [271], we present a novel way to approach the interconnection of a continuous and a discrete time...
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8 Semi-Autonomous Human-Robot Interaction for People with Disability
This chapter presents an innovative semi-autonomous human-robot interaction concept for people with disability and discusses a proof-of-concept...
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1 Rapid Collision Dynamics for Multiple Contacts with Friction
We examine the interaction of complex two-dimensional rigid bodies with friction. Given their idealized description, many different feasible...
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16 Design of 100G Capturing Robot
How much acceleration can a robot produce? Pursuing a robot with an extremely high response is a challenging matter. We have designed and developed...
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10 Tactile Flow and Haptic Discrimination of Softness
Haptic perception involves both cutaneous perception, through mechanoreceptors lying on the skin, and kinaesthetic perception mediated by the...
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5 Grasp Synthesis from Example: Tuning the Example to a Task or Object
Many approaches to grasp synthesis do not scale well as the desired number of contacts is increased. In previous work [223], we have presented a...
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7 Toward Sensorless Acquisition of Multiple Contact Points Between Planar Parts
A fixture is a device which immobilizes a part through a maximal set of linearly independent contacts. While many techniques exist to determine an...
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3 Dynamic Proxies and Haptic Constraints
Haptic simulations strive to provide users with realistic renditions of virtual environments but often struggle to display convincing rigid...
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15 Effects of Grip** and Translational Forces on Teleoperation
For minimally invasive surgical teleoperation systems, it is often impractical to provide the same number of degrees of freedom (dof) for position...
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2 Does Torque Minimization Yield a Stable Human Grasp?
In this chapter, we present a study of the human grasp conducted with a mathematical formalism that has been developed in robotics during the last...
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11 Evaluation of Multipoint Contact Interfaces in Haptic Perception of Shapes
This chapter presents the evaluation of a multicontact point interface for the shape recognition of objects. A set-up constituted of an Haptic...
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12 Contact Location Trajectory on the Fingertip as a Sufficient Requisite for Illusory Perception of Haptic Shape and Effect of Multiple Contacts
This chapter seeks to demonstrate that haptic curvature perception can result solely from the trajectory of the deformed region of the fingertip due...
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An Efficient Local Search Algorithm for Correlation Clustering on Large Graphs
Correlation clustering (CC) is a widely-used clustering paradigm, with many applications to problems such as classification, database deduplication,...
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Two Exact Algorithms for the Packet Scheduling Problem
We consider a classic packet scheduling problem [7] and its variants. This packet scheduling problem has applications in the areas of logistics, road...
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Dynamic Programming for the Fixed Route Hybrid Electric Aircraft Charging Problem
Air mobility is rapidly moving towards the development and usage of hybrid electric aircraft in multi-flight missions. Aircraft operators must...
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A Novel Approximation Algorithm for Max-Covering Circle Problem
We study the efficient approximation algorithm for max-covering circle problem. Given a set of weighted points in the plane and a circle with...