This report presents issues relating to the kinematics and control of dexterous robotic hands using the Utah-MIT hand as an illustrative example. The emphasis throughout is on the actual implementation and testing of the theoretical concepts presented. The kinematics of such hands is interesting and complicated owing to the large number of degrees of freedom involved. The implementation of position and force control algorithms on such tendon driven hands has previously suffered from inefficient formulations and a lack of sophisticated computer hardware. Both these problems are addressed in this report. A multiprocessor architecture has been built with high performance microcomputers on which real-time algorithms can be efficiently implemented. A large software library has also been built to facilitate flexible software development on this architecture. The position and force control algorithms described herein have been implemented and tested on this hardware.

Thesis (Ph.D.)--Hong Kong University of Science and Technology, 2006. / Includes bibliographical references (leaves 112-125). Also available in electronic version.

Thesis (M.S.)--Ohio State University. / Includes bibliographical references. Available online via OhioLINK's ETD Center

A thorough understanding of typical shoulder motion is desirable for both clinicians and shoulder researchers. With this knowledge, comparisons between normal and special populations (e.g. athletic, working, elderly, injured) are enabled and injury mechanisms for heightened or diminished performance may be identified. The purpose of this study was to generate a robust quantification of typical shoulder kinematic profiles during dynamic humeral elevation in six vertical movement planes, and to determine the influence of humeral movement plane, movement phase, gender, and humeral elevation angle on typical scapulothoracic (ST), glenohumeral (GH), acromioclavicular (AC), and sternoclavicular (SC) kinematics. Upper limb kinematic data were collected on 15 males and 14 females as they elevated and lowered their right humerus in six vertical movement planes with elbows fully extended. A total of 60 shoulder kinematic profiles were generated for both raising and lowering motion phases. Trial-to-trial repeatability of the measured rotations, as indicated by intra-class correlation coefficient was found to be moderate (0.658) to high (0.999). Overall, as the humerus was elevated, scapulothoracic (ST) upward rotation, ST posterior tilt, sternoclavicular (SC) elevation, SC retraction, acromioclavicular (AC) elevation and glenohumeral (GH) elevation all increased. However, ST protraction/retraction, GH internal/external rotation, GH anterior/posterior plane of elevation, and AC protraction/retraction responses were less consistent. There was a main effect of humeral movement plane and elevation angle (p < 0.001) identified for all measured joint rotations. A significant phase main effect was not found for right glenohumeral +anterior/-posterior plane of elevation (GAP), glenohumeral +medial/-lateral elevation (GLE), and acromioclavicular protraction/retraction (APR). At least one significant interaction of the main effects, including that of gender, was present for all rotations. The typical shoulder kinematic profiles provided in this investigation is the largest to date of its kind obtained using skin-mounted shoulder tracking techniques. Clinical scientists will find the profiles useful because they provide motion trends that can be compared to profiles from other segments of the population, including patients with specific shoulder injuries. This work supports the more ambitious future clinical goal of being able to identify people who are at risk for developing shoulder pathologies in clinical settings in a non-invasive manner.

Thèse : Mécanique : Faculté des sciences de Paris : 1853. Thèse : Astronomie : Faculté des sciences de Paris : 1853. / Titre provenant de l'écran-titre.

Thesis (Doctoral)--Katholieke Universiteit Nijmegen, 1998. / Includes bibliographical references.

Thesis (Ph. D.)--Princeton University. / Reprinted with supplementary historical & bibliographical notes, from the American journal of mathematics, v. 33, p. 337-362, 1911.

Thesis (Ph. D.)--University of Texas at Austin, 2000. / Vita. Includes bibliographical references (leaves 288-296). Available also in a digital version from Dissertation Abstracts.

Thesis (Ph.D)--Aerospace Engineering, Georgia Institute of Technology, 2009. / Committee Chair: Lieuwen, Tim; Committee Member: Menon, Suresh; Committee Member: Peters, Norbert; Committee Member: Yang, Vigor; Committee Member: Zinn, Benjamin. Part of the SMARTech Electronic Thesis and Dissertation Collection.

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