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Robots can modify their environment b y manipulating objects. To fully exploit this ability, i t is important to determine the manipulation capabilities of a given robot. Such c haracterization in terms of the physics and geometry of the task has important implications for manufacturing applications, where simpler hardware leads to cheaper and more reliable(More)
—The sound of a working vehicle provides an important clue to the vehicle type. In this paper, we introduce the " eigenfaces method, " originally used in human face recognition, to model the sound frequency distribution features. We show that it can be a simple and reliable acoustic identification method if the training samples can be properly chosen and(More)
We present a novel and relatively simple method for magnifying forces perceived by an operator using a tool. A sensor measures the force between the tip of a tool and its handle held by the operator's fingers. These measurements are used to create a proportionally greater force between the handle and a brace attached to the operator's hand, providing an(More)
– A low-cost " artificial nose " is required to monitor incontinence of elderly patients in nursing homes. With the aim of identifying a small array of inexpensive sensors whose response vector could provide an unambiguous signature at a useful sensitivity level, we characterized the sensitivity of seven easily available solid-state sensors to fecal(More)
To increase the quality of life and better support the economical development, we often appreciate adaptable solutions, simple interfaces, and virtual views for enhanced operation. The wide and increasing needs of adaptable and flexible solutions for many industrial, environmental, engineering, educational, entertainment, and biomedical applications point(More)
We present a novel device mounted on the fingertip for acquiring and transmitting visual information through haptic channels. In contrast to previous systems in which the user interrogates an intermediate representation of visual information, such as a tactile display representing a camera generated image, our device uses a fingertip-mounted camera and(More)
To answer the challenge of context-understanding for HCI, we propose and test experimentally a top-down sensor fusion approach. We seek to systematize the sensing process in two steps: first, decompose relevant context information in such a way that it can be described in a model of discrete facts and quantitative measurements; second, we build a(More)
Context sensing for context-aware HCI challenges traditional sensor fusion methods with its requirements for (1) adaptability to a constantly changing sensor suite and (2) sensing quality commensurate with human perception. We build this paper on two IMTC2002 papers, where the Dempster-Shafer " theory of evidence " was shown to be a practical approach to(More)