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This paper investigates the possibility of recognising individual persons from their walking gait using three-dimensional 'skeleton' data from an inexpensive consumer-level sensor, the Microsoft 'Kinect'. In an experimental pilot study it is shown that the K-means algorithm - as a candidate unsupervised clustering algorithm - is able to cluster gait samples(More)
—This paper concerns the design of robust control systems using sliding-mode control that incorporates a fuzzy tuning technique. The control law superposes equivalent control, switching control, and fuzzy control. An equivalent control law is first designed using pole placement. Switching control is then added to guarantee that the state reaches the sliding(More)
In the general framework of hydraulic servo systems, this paper addresses the problem of position control in the presence of important friction nonlinearities. The accent falls on the variable structure methodology, as we try to use its intrinsic robustness properties. Several friction observers, including the one based on a variable structure approach,(More)
During social interaction, humans extract important information from tactile stimuli that improves their understanding of the interaction. The development of a similar capacity in a robot will contribute to the future success of intuitive human-robot interaction. This paper presents a method of touch sensing based on the principle of electrical impedance(More)
—This paper presents a unified and systematic assessment of ten position control strategies for a hydraulic servo system with single-ended cylinder driven by a proportional directional control valve. We aim at identifying those methods that achieve better tracking, have a low sensitivity to system uncertainties, and offer a good balance between development(More)
This paper presents a fuzzy tuning approach to sliding mode control for tracking-performance enhancement in a class of nonlinear systems. The sliding surface can rotate or shift in the phase space in such a direction that the tracking behaviour can be improved. It is shown that with arbitrary initial conditions, the reaching time and tracking error in the(More)
Electrical impedance tomography (EIT) is a technique used to estimate the internal conductivity of an electrically conductive body by using measurements made only at its boundary. If this body is made of a thin, flexible, and stretchable material that responds to touch with local changes in conductivity, it can be used to create an artificial sensitive(More)