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| 1 | An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals显示文摘When developing a humanoid myo-control hand,not only the mechanical structure should be considered to afford a highdexterity,but also the myoelectric (electromyography,EMG) control capability should be taken into account to fully accomplishthe actuation tasks.This paper presents a novel humanoid robotic myocontrol hand (AR hand Ⅲ) which adopted an underac-tuated mechanism and a forearm myocontrol EMG method.The AR hand Ⅲ has five fingers and 15 joints,and actuated by threeembedded motors.Underactuation can be found within each finger and between the rest three fingers (the middle finger,the ringfinger and the little finger) when the hand is grasping objects.For the EMG control,two specific methods are proposed:thethree-fingered hand gesture configuration of the AR hand Ⅲ and a pattern classification method of EMG signals based on astatistical learning algorithm-Support Vector Machine (SVM).Eighteen active hand gestures of a testee are recognized ef-fectively,which can be directly mapped into the motions of AR hand Ⅲ.An on-line EMG control scheme is established basedon two different decision functions:one is for the discrimination between the idle and active modes,the other is for the recog-nition of the active modes.As a result,the AR hand Ⅲ can swiftly follow the gesture instructions of the testee with a time delayless than 100 ms. | Da-peng Yang~1 Jing-dong Zhao~1 Yi-kun Gu~1 Xin-qing Wang~1 Nan Li~1 Li Jiang~1Hong Liu~(1,2) Hai Huang~3 Da-wei Zhao~41.State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,P.R.China2.Institute of Robotics and Mechatronics,German Aerospace Center,Munich 82230,Germany3.College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,P.R.China4.College of Automation,Harbin Engineering University,Harbin 150001,P.R.China | 2009 | Journal of Bionic Engineering2009，6，3： | 16 |
| 2 | Weldable AIMgSc alloys for transportation technology显示文摘 | Lenczowski B Rauh R Munich | 2000 | Aluminium2000，76，： | 1 |
| 3 | Laparoscopic procedures as a risk factor of deep venous thrombosis,superficial ascending thrombophlebitis and pulmonary embolism-case report and review of the literature显示文摘 | Munich Germany | 2004 | Eur J Med Res2004，9，9： | 1 |
| 4 | Distributed process planning support with MILOS 显示文摘 | Goldmann S Munich J Holz H | 2000 | International Journal of Software Engineering and Knowledge Engineering2000，10，4： | 1 |
| 5 | Experience with ver- tebral artery origin stenting and ostium dilatation: results of treatment and clinical outcomes显示文摘 | Rangel - Castilla L Gandhi S Munich SA | 2015 | J Neurointerv Surg2015，，： | 1 |
| 6 | Piracy-treat at sea:a risk analysis显示文摘 | Munich Re Group | 2006 | Mariners2006，，9： | 1 |
| 7 | IFT- ing through features with ViPR: application of visual pattern recognition to robotics and automation 显示文摘 | Munich M E Pirjanian P Bemardo E D | 2006 | IEEE Robotics and Automation Magazine2006，13，3： | 1 |
| 8 | Laparoscopic procedures as a risk factor of deep venous thrombosis,superficial ascending thrombophlebitis and pulmonary embolism-case report and review of literature显示文摘 | Munich Gemany | 2004 | Enr J Med Res2004，9，9： | 1 |
| 9 | Processability and reliability of lead - free solders with high melting points 显示文摘 | Oberpfaffenhofen S W Munich T L | 2002 | VTE2002，14，： | 1 |
| 10 | THE EFFECTS OF INACCURATE INPUT PARAMETERS ON DEPOSITION OF SUSPENDED SEDIMENT显示文摘Calculation of sediment transport processes is a very difficult task. Due to many influencing factors and the impossibibity to develop a fully valid physically model, there exist many approximate models to simulate the process of sediment transport. For engineering predictions in unsteady flow, there exist numerical schemes to solve the St. Venant equations in one or two dimensions coupled with an equation for sediment tranport. The problem is not only the accurate calibratinn of the model, but also the acquisition of realistic values for the various input parameters. For most of the parameters we have to consider their spatial and/or temporal stochastic nature, and therefore we must describe them as random variables or spatiotemporal random fields. The well known first order reliability method is a useful tool to assess the influence of stochastic input variables to the calculated result. In this paper we will show how uns method can be applied to judge quantitatively the influence of the inaccuracy of different input parameters with a simple model for deposition of suspended material in onedimensinnal unsteady flow. | Markus MAURER, Research Associate, Institute of Hydrosciences, University of the Federal Armed Forces Munich, Werner-Heisenberg-Weg 39, D-85577 Neubiberg/Munich, Germany Youcef KELANEMER, Research Associate, Institute of Hydrosciences, University of the F | 1997 | International Journal of Sediment Research1997，12，3： | 1 |
| 11 | HIV home test kit banned in Germa-ny显示文摘 | Helmut L Karcher Munich | 1997 | BMJ1997，315，： | 1 |
| 12 | Baneassurance in Practice 显示文摘 | Munich Re Group | 2001 | 2001，，： | 1 |
| 13 | Annual variation in soil respiration in selected areas of the temperate zone 显示文摘 | Dorr H K O Munich | 1987 | Tellus1987，，： | 1 |
| 14 | Visual input for pen-based computers显示文摘 | M E Munich P Perona | 2002 | IEEE Transactionson Pattern Analysis and Machine Intelligence2002，24，3： | 1 |
| 15 | Indications and therapeutic management of carotid stenosis in high-risk patients: SAPPHIRE and beyond 显示文摘 | Munich SA Cress MC Krishna C | 2015 | J Neurosurg Sci2015，59，1： | 1 |
| 16 | Weldable Al-Mg-Sc alloys for transportation technology 显示文摘 | Lenczowski B Rauh R Munich | 2000 | Aluminum2000，76，： | 1 |
| 17 | Dendritic-cell exosomes cross-present Toll-like receptor-ligands and activate bystander dendritic cells显示文摘 | Sobo-VujanovicA MunichS VujanovicNL | 2014 | Cell Immunol2014，289，12： | 1 |
| 18 | Antitumor cytotoxic T-cell response induced by a survivin peptide mimic 显示文摘 | Ciesielski M J Ahluwalia M S Munich S A | 2010 | Cancer Immunol Immunother2010，59，8： | 1 |
| 19 | Studies on evalua- tion of forest roads surface by driver's psychological and physiological responses显示文摘 | Pan Xiao-dong Gotou Munich | 2001 | Applied Forest Sci- ence2001，10，2： | 1 |
| 20 | LONG TERM EFFECTS OF REHABILITATION MEASURES ON BED LOAD TRANSPORT AT THE SALZACH RIVER显示文摘The river Salzach and its tributary Saalach as part of the border line between Germany and Austria represents a permanent water management problem since centuries. While in former times threats for the people mainly arose from severe flood events the present situation is characterized by significant ecological deficits. These were caused by a rectification of the river resulting in a concentration of the flow followed by erosion of the river bed. The situation got worse in the late 60s after construction of hydropower plants started upstream holding back nearly all bed load material. The degradation of the river bed in the downstream section of the Salzach is stated critical by the authorities in respect of the lack of sufficient gravel remaining on top of fine material. As erosion processes of fine sand and silt cannot be predicted accurately but will be probably much faster than those of the gravel bed measures are necessary to stabilize the river bottom to avoid major damages of the embankments and further degradation of the groundwater table. Different alternatives were investigated in a framework of a wide range of studies over the past years. One of the major tasks was to estimate the long term effects on bed load transport. | Sven HARTMANN Institute for Hydrosciences, German Armed Forces University Munich, 85577 Neubiberg, Germany. | 2001 | International Journal of Sediment Research2001，16，2： | 1 |
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