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6 Beamforming Combined with Multi-channel Acoustic Echo Cancellation
For audio signal acquisition, beamforming microphone arrays can be efficiently used for enhancing a desired signal while suppressing... -
4 Optimum Beamforming for Wideband Non-stationary Signals
Array processing techniques strive for extraction of maximum information from a propagating wave field using groups of sensors, which are located at... -
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... -
B Experimental Setups and Acoustic Environments
In this chapter, the experimental setup and the acoustic environments are described, which are used in this work for illustrating the properties of... -
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... -
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... -
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... -
5 A Practical Audio Acquisition System Using a Robust GSC (RGSC)
In the preceding chapter, we have seen that data-dependent beamformers can be efficiently realized in GSC structures. However, GSCs, or more general... -
3 Optimum Linear Filtering
In this chapter, we introduce the concept of optimum linear filtering for multiple-input multiple-output (MIMO) digital systems for solving... -
8 Summary and Conclusions
Convenient human/machine interaction requires acoustic front-ends which allow seamless and hands-free audio communication. For suppressing... -
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... -
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... -
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... -
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... -
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... -
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... -
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... -
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... -
Cognitive differences in product shape evaluation between real settings and virtual reality: case study of two-wheel electric vehicles
Product shape evaluation is an important part of new product development. In the shape design stage, design schemes are often presented through...
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A Estimation of Signal-to-Interference-Plus-Noise Ratios (SINRs) Exploiting Non-stationarity
Our discussion about optimum data-dependent beamforming has shown that the second-order statistics of the sensor signals w.r.t. the desired signal...