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Related Concept Videos

Relative Motion Analysis using Rotating Axes01:25

Relative Motion Analysis using Rotating Axes

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Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
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Absolute Motion Analysis- General Plane Motion01:24

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Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
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Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

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Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
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Relative Motion Analysis using Rotating Axes - Acceleration01:22

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Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame. The absolute velocity of point B is determined by adding the absolute velocity of point A, the relative velocity of point B in the rotating frame, and the effects caused by the angular velocity within the rotating frame.
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Relative Motion Analysis - Velocity01:24

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A stroke engine has a slider-crank mechanism that converts rotational motion from the crank into linear motion of the slider or vice versa. This mechanism consists of three main parts: the crank, the connecting rod, and the slider.
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Updated: Jul 25, 2025

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
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Hand Grasp Pose Prediction Based on Motion Prior Field.

Xu Shi1, Weichao Guo2, Wei Xu1

  • 1State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China.

Biomimetics (Basel, Switzerland)
|June 27, 2023
PubMed
Summary

This study introduces a novel framework for predicting grasp poses in robotic hands, crucial for shared control systems. The motion prior field model achieves 90.2% accuracy, enabling advanced planning for bionic and prosthetic hands.

Keywords:
grasp pose predictionprior fieldshared control

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Area of Science:

  • Robotics
  • Human-Computer Interaction
  • Biomechanics

Background:

  • Shared control of bionic robot hands is a growing research area.
  • Predictive analysis for grasp pose is essential for pre-shaping robotic hands and wrists but is under-explored.

Purpose of the Study:

  • To propose a framework for grasp pose prediction in shared control of dexterous hand grasp planning.
  • To enable advance prediction of grasp pose during the hand approach phase.

Main Methods:

  • Developed an object-centered motion prior field to learn the hand-object to final grasp pose mapping.
  • Utilized motion capture data for model training and evaluation.

Main Results:

  • The proposed model achieved a prediction accuracy of 90.2% and an error distance of 1.27 cm.
  • Accurate grasp pose predictions were made within the first 50% of the hand approach sequence.

Conclusions:

  • The developed framework successfully predicts grasp poses in advance, facilitating pre-shaping for shared control.
  • This advancement is vital for improving the functionality of bionic and prosthetic hands in shared control applications.