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— This paper proposes a new tracking algorithm within a 3D-SLAM framework that takes segmented range images as observations. The framework has two layers: the local layer tracks the view path and correspondences across the image sequence, using ambiguous landmark surfaces, and provides multiple hypotheses. The global layer conjectures and closes loops. We(More)
This article presents the approaches taken to integrate a novel anthropomorphic robot hand into a humanoid robot. The requisites enabling such a robot hand to use everyday objects in an environment built for humans are presented. Starting from a design that resembles the human hand regarding size and movability of the mechatronical system , a low-level(More)
SUMMARY In this paper a new prosthetic hand is presented that closely approximates the grasping abilities of a human hand. A large variety of different objects can be grasped reliably and the movements of the hand appear to natural. This five-finger hand has 15 degrees of freedom driven by small sized flexible fluidic actuators. The drives are within the(More)
When applied to real-world problems, the powerful optimization tool of Evolutionary Algorithms frequently turns out to be too time-consuming due to elaborate fitness calculations that are often based on run-time-intensive simulations. Incorporating domain-specific knowledge by problem-tailored heuris-tics or local searchers is a commonly used solution, but(More)
New lightweight anthropomorphic hands are presented for application in a humanoid robot. These hands possess 13 to 15 degrees of freedom and are driven by flexible fluidic actuators that are integrated in the finger joints. The compact design of the hands contains a pressure unit that is housed in the metacarpus. Alternatively, the pressure unit can be(More)
A methodological modular framework is presented for automated assessment of gait patterns. The processing steps of data selection, gait parameter calculation and evaluation are not limited to a specific field of application and are largely independent of case-based clinical expert knowledge. For these steps, a variety of mathematical methods was used and(More)
Obstructive sleep apnea (OSA) is a sleep disorder with a high prevalence that causes pathological changes in cardiovascular regulation during the night and also during daytime. We investigated whether the treatment of OSA at night by means of continuous positive airway pressure (CPAP) improves the daytime consequences. Twenty-eight patients with OSA, 18(More)