Michael Sorg

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In the eld of visual control of robot motion, visual servoing has been proposed as the suitable control strategy to cope with imprecise models and calibration errors. Remaining problems such as the necessity of a high rate of visual feedback are deemed to be solvable by the development of real-time vision modules. However, human grasping, which still(More)
In this paper, a strategy that combines the tracking of an object and of the selected gmsp on it is presented. This strategy is intended to provide enough information to a control system for executing the grasp. The tracking of the object uses the ICondensation and AARM Prediction algorithms to predict the cumnt object position and shape in the image space.(More)
PURPOSE An accurate measurement of intraocular pressure (IOP) is still essential for detecting, following-up, and treating glaucoma. The objective of the interdisciplinary project GlauPhon was to prove a new noncontact tonometry principle that analyzes the acoustic oscillation of the eye. METHOD Three enucleated porcine eyes were infused via the optic(More)
A 55-year-old patient who clinically presented with a Heberden arthrosis and gryphosis of the second and fourth finger nails of the left hand was admitted to our outpatient department under the tentative diagnosis of psoriatic arthritis. Nature of nail damage and combination of clinical findings suggested the diagnosis of a pincer-nail syndrome. The(More)
In this thesis a robotic hand-eye system capable of visual tracking of a moving object and reaching out to grasp this object using a robotic manipulator is described. A noticeable number of successful methods performing those tasks has been published (also recently) and impressive demonstrations have been shown thereby. Nevertheless, there is still one(More)
In the eld of visually guided grasping, humans still outshine their robotic counterparts with respect to accuracy, speed, robustness, and exibility. We therefore examined current neuroscientiic models for the control of human reach-to-grasp movements and, based on one of them, developed a novel visual motion control strategy. This control strategy was(More)
We present the case of a 35-year-old male patient with severe myalgia and arthralgia in combination with fatigue, nocturnal sweating, leucocytosis and eosinophilia after a history of two months treatment of sleep disturbances with L-tryptophane in a daily dose of 1500 mg. Four months after discontinuation of treatment symptoms are still present.