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Application of Tactile Slippage Sensation Algorithm in Robot Hand Control System
Yussof, Hanafiah,Jaffar, Ahmed,Zahari, Nur Ismarrubie,Ohka, Masahiro Korea Society of Industrial Information Systems 2012 한국산업정보학회논문지 Vol.17 No.4
This paper presents application of a new tactile slippage sensation algorithm in robot hand control system. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. The tactile sensor is mounted on fingertip of robotic hand. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.
Recent Molecular and Genetic Findings in Intramedullary Spinal Cord Tumors
Yoshitaka Nagashima,Yusuke Nishimura,Kaoru Eguchi,Junya Yamaguchi,Shoichi Haimoto,Fumiharu Ohka,Masakazu Takayasu,Ryuta Saito 대한척추신경외과학회 2022 Neurospine Vol.19 No.2
The study of genetic alterations and molecular biology in central nervous system (CNS) tumors has improved the accuracy of estimations of patient prognosis and tumor categorization. Therefore, the updated 2021 World Health Organization (WHO) classification includes various diagnostic genes, molecules, and pathways for diagnosis, as well as histological findings. These findings are expected both to have diagnostic applications and to facilitate new targeted therapies that target tumor-specific genetic changes and molecular biology. Intramedullary spinal cord tumors (IMSCTs) are rare CNS tumors that are difficult to treat because they occur in eloquent areas. Although the genetic underpinnings of IMSCTs remain unclear compared to their intracranial counterparts, the genetic characteristics of these tumors are gradually being revealed. Here, we describe the major changes in the new 2021 WHO classification and review the major types of IMSCTs, with an emphasis on their clinical features and genetic alterations.
Application of Tactile Slippage Sensation Algorithm in Robot Hand Control System
Hanafiah Yussof,Ahmed Jaffar,Nur Ismarrubie Zahari,Masahiro Ohka 한국산업정보학회 2012 한국산업정보학회논문지 Vol.17 No.4
This paper presents application of a new tactile slippage sensation algorithm in robot hand control system. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. The tactile sensor is mounted on fingertip of robotic hand. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.