Measurement and modeling of McKibben pneumatic artificial muscles
Mechanical testing the modeling results for the McKibben artificial muscle pneumatic actuator, which contains an expanding tube surrounded by braided cords, and a linearized model of these properties for three different models is derived.
Time domain passivity control of haptic interfaces
An energy-based method is presented for controlling a haptic interface system to ensure stable contact under a wide variety of operating conditions and requires very little additional computation and does not require a dynamical model to be identified.
A design framework for teleoperators with kinesthetic feedback
- B. Hannaford
- Computer ScienceIEEE Trans. Robotics Autom.
- 1 August 1989
It is shown that the hybrid model (as opposed to other two-port forms) leads to an intuitive representation of ideal teleoperator performance and applies to several teleoperator architectures.
Stable haptic interaction with virtual environments
By decoupling the haptic display control problem from the design of virtual environments, the use of a virtual coupling network frees the developer of haptic-enabled virtual reality models from issues of mechanical stability.
A Hybrid Discriminative/Generative Approach for Modeling Human Activities
- Jonathan Lester, Tanzeem Choudhury, Nicky Kern, G. Borriello, B. Hannaford
- Computer Science, Environmental ScienceInternational Joint Conference on Artificial…
- 30 July 2005
A hybrid approach to recognizing activities is presented, which combines boosting to discriminatively select useful features and learn an ensemble of static classifiers to recognize different activities, with hidden Markov models (HMMs) to capture the temporal regularities and smoothness of activities.
Static and dynamic characteristics of McKibben pneumatic artificial muscles
The authors report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models of McKibben artificial muscle pneumatic actuator.
Stable teleoperation with time-domain passivity control
A new bilateral control scheme is proposed to ensure stable teleoperation under a wide variety of environments and operating speeds and the issues in implementing the "passivity observer" and "passive controller" to teleoperation systems are studied.
Accounting for elastic energy storage in McKibben artificial muscle actuators
The McKibben artificial muscle is a pneumatic actuator whose properties include a very high force to weight ratio. This characteristic makes it very attractive for a wide range of applications such…
"Are You with Me?" - Using Accelerometers to Determine If Two Devices Are Carried by the Same Person
- Jonathan Lester, B. Hannaford, G. Borriello
- Computer ScienceInternational Conference on Pervasive Computing
- 21 April 2004
A method to determine if two devices are carried by the same person, by analyzing walking data recorded by low-cost MEMS accelerometers using the coherence function, a measure of linear correlation in the frequency domain, is presented.
Evaluation of segmentation methods on head and neck CT: Auto‐segmentation challenge 2015
The results demonstrate a clear tendency toward more general purpose and fewer structure‐specific segmentation algorithms in the state‐of‐the‐art in segmentation of organs at risk for radiotherapy treatment.