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This paper discusses the design criteria imposed by the capabilities of the human user on the design of force reflecting controllers for hands and arms. A framework of issues regarding human capabilities is presented that maps directly to mechanical design requirements. The state of knowledge for each capability is briefly summarized along with presentation(More)
This thesis describes the design of the hardware and software for a haptic interface system. A haptic interface allows a human \observer" to explore and interact with a virtual environment using the sense of touch. Haptic interface systems include three main components: the haptic interface (usually an electro-mechanical system capable of exerting forces on(More)
This paper describes a new statistical, model-based approach to building a contact state observer. The observer uses measurements of the contact force and position, and prior information about the task encoded in a graph, to determine the current location of the robot in the task connguration space. Each node represents what the measurements will look like(More)
Speaker spotting is an application of automatic speaker recognition to multimedia indexing. It aims to find if and when a predetermined individual or member of a predetermined set of individuals is speaking. This project examines the development of a speaker spotter for broadcast television news. In particular, it examines the issue of open-set speaker(More)
Effective adaptive controller designs potentially combine high-speed and high-precision in robot manipulation. Furthermore, they can considerably simplify high-level programming by providing consistent performance in the face of large variations in loads and tasks. Globally convergent adaptive manipulator controllers have recently been developed for this(More)
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