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This paper presents a new direct method for estimating the average center of rotation (CoR). An existing least-squares (LS) solution has been shown by previous works to have reduced accuracy for data with small range of motion (RoM). Alternative methods proposed to improve the CoR estimation use iterative algorithms. However, in this paper we show that with(More)
—Humans exhibit a rich set of manipulation strategies that may be desirable to mimic in humanoid robots. This study investigates preparatory object rotation as a manipulation strategy for grasping objects from different presented orientations. First, we examine how humans use preparatory rotation as a grasping strategy for lifting heavy objects with(More)
— Studies of human manipulation strategies suggest that pre-grasp object manipulation, such as rotation or sliding of the object to be grasped, can improve task performance by increasing both the task success rate and the quality of load-supporting postures. In previous demonstrations, pre-grasp object rotation by a robot manipulator was limited to(More)
— Although the human hand is a complex biome-chanical system, only a small set of features may be necessary for observation learning of functional grasp classes. We explore how to methodically select a minimal set of hand pose features from optical marker data for grasp recognition. Supervised feature selection is used to determine a reduced feature set of(More)
—Recent advances in neuroscience and humanoid robotics have allowed initial demonstrations of brain-computer interfaces (BCIs) for controlling humanoid robots. However, previous BCIs have relied on higher-level control based on fixed pre-wired behaviors. On the other hand, low-level control can be tedious, imposing a high cognitive load on the BCI user. To(More)
A simple method is developed for robustly estimating a fixed dominant axis of rotation (AoR) of anatomical joints from surface marker data. Previous approaches which assume a model of circular marker trajectories use plane fitting to estimate the direction of the AoR. However, when there is limited joint range of motion and rotation due to a second degree(More)
This study investigates preparatory rotation as a manipulation strategy for grasping objects from different presented orientations. Participants lifted heavy, handled objects from eight initial orientations under two task constraints. When object motion was permitted, participants used preparatory rotation to first adjust the object handle to a desired(More)
— In this paper, we present a method for representing and re-targeting manipulations for object adjustment before final grasping. Such pre-grasp manipulation actions bring objects into better configurations for grasping through e.g. object rotation or object sliding. For this purpose, we propose a scaling-invariant and rotation-invariant representation of(More)