HapticV1, PascalFrancis, Curation, bibRecord, 000655

Modeling the human hand as it interacts with a telemanipulation system

Identifieur interne : 000655 ( PascalFrancis/Curation ); précédent : 000654; suivant : 000656

Modeling the human hand as it interacts with a telemanipulation system

Auteurs : John E. Speich [États-Unis] ; LIANG SHAO [États-Unis] ; Michael Goldfarb [États-Unis]

Source :

Mechatronics : (Oxford) [ 0957-4158 ] ; 2005.

RBID : Pascal:05-0437237

Descripteurs français

Pascal (Inist)
- Homme, Téléopération, Main, Bras, Système masse ressort, Système 3 degrés liberté, Interface utilisateur, Système homme machine, Doigt, Modélisation, Système paramètre localisé, Méthode domaine fréquence, Ordre 2, Amortisseur, Etude expérimentale.
Wicri :
- topic : Homme.

English descriptors

KwdEn :
- Arm, Damper, Experimental study, Finger, Frequency domain method, Hand, Human, Lumped parameter system, Man machine system, Modeling, Remote operation, Second order, Spring mass system, System with three degrees of freedom, User interface.

Abstract

This paper describes the development of a linear lumped-parameter hand/arm model for the operator of a telemanipulation system. The authors previously developed a control architecture that implements frequency-domain loop-shaping compensators to improve the transparency or "feel" of a telemanipulation system, and a human model is used when simulating this architecture. Typically, the human is modeled as a second order mass-spring-damper system. The five-parameter model presented in this paper, however, includes an additional spring and damper to better approximate the dynamics within the specific frequency range for which compensators will be designed, typically below 20-30 Hz. The model form and parameters were determined from experimental data taken from a telemanipulation system with a single translational degree-of-freedom. Additional data was taken from a system with three actuated degrees-of-freedom, and a set of model parameters was determined for each direction of motion. Each set of model parameters presented in this paper is for the specific grip type and hand/arm orientation used during interaction with each particular telemanipulation system, however similar sets of parameters using this human model could be obtained for interaction with other telemanipulation systems and haptic interfaces. A comparison of the five-parameter model with a two-parameter spring-damper model suggests that in some cases the use of additional model parameters may not offer a significant improvement.

A01	`01`	`1`		`@0 0957-4158`
A03		`1`		`@0 Mechatronics : (Oxf.)`
A05				`@2 15`
A06				`@2 9`
A08	`01`	`1`	`ENG`	`@1 Modeling the human hand as it interacts with a telemanipulation system`
A11	`01`	`1`		`@1 SPEICH (John E.)`
A11	`02`	`1`		`@1 LIANG SHAO`
A11	`03`	`1`		`@1 GOLDFARB (Michael)`
A14	`01`			`@1 Mechanical Engineering, Virginia Commonwealth University @2 Richmond, VA, 23284-3015 @3 USA @Z 1 aut.`
A14	`02`			`@1 Mechanical Engineering, Vanderbilt University @2 Nashville, TN 37235-1592 @3 USA @Z 2 aut. @Z 3 aut.`
A20				`@1 1127-1142`
A21				`@1 2005`
A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 22113 @5 354000131791070070`
A44				`@0 0000 @1 © 2005 INIST-CNRS. All rights reserved.`
A45				`@0 18 ref.`
A47	`01`	`1`		`@0 05-0437237`
A60				`@1 P`
A61				`@0 A`
A64	`01`	`1`		`@0 Mechatronics : (Oxford)`
A66	`01`			`@0 GBR`
C01	`01`		`ENG`	@0 This paper describes the development of a linear lumped-parameter hand/arm model for the operator of a telemanipulation system. The authors previously developed a control architecture that implements frequency-domain loop-shaping compensators to improve the transparency or "feel" of a telemanipulation system, and a human model is used when simulating this architecture. Typically, the human is modeled as a second order mass-spring-damper system. The five-parameter model presented in this paper, however, includes an additional spring and damper to better approximate the dynamics within the specific frequency range for which compensators will be designed, typically below 20-30 Hz. The model form and parameters were determined from experimental data taken from a telemanipulation system with a single translational degree-of-freedom. Additional data was taken from a system with three actuated degrees-of-freedom, and a set of model parameters was determined for each direction of motion. Each set of model parameters presented in this paper is for the specific grip type and hand/arm orientation used during interaction with each particular telemanipulation system, however similar sets of parameters using this human model could be obtained for interaction with other telemanipulation systems and haptic interfaces. A comparison of the five-parameter model with a two-parameter spring-damper model suggests that in some cases the use of additional model parameters may not offer a significant improvement.
C02	`01`	`X`		`@0 001D12`
C03	`01`	`X`	`FRE`	`@0 Homme @5 06`
C03	`01`	`X`	`ENG`	`@0 Human @5 06`
C03	`01`	`X`	`SPA`	`@0 Hombre @5 06`
C03	`02`	`X`	`FRE`	`@0 Téléopération @5 07`
C03	`02`	`X`	`ENG`	`@0 Remote operation @5 07`
C03	`02`	`X`	`SPA`	`@0 Teleacción @5 07`
C03	`03`	`X`	`FRE`	`@0 Main @5 20`
C03	`03`	`X`	`ENG`	`@0 Hand @5 20`
C03	`03`	`X`	`SPA`	`@0 Mano @5 20`
C03	`04`	`X`	`FRE`	`@0 Bras @5 21`
C03	`04`	`X`	`ENG`	`@0 Arm @5 21`
C03	`04`	`X`	`SPA`	`@0 Brazo @5 21`
C03	`05`	`X`	`FRE`	`@0 Système masse ressort @5 22`
C03	`05`	`X`	`ENG`	`@0 Spring mass system @5 22`
C03	`05`	`X`	`SPA`	`@0 Sistema masa muelle @5 22`
C03	`06`	`X`	`FRE`	`@0 Système 3 degrés liberté @5 23`
C03	`06`	`X`	`ENG`	`@0 System with three degrees of freedom @5 23`
C03	`06`	`X`	`SPA`	`@0 Sistema 3 grados libertad @5 23`
C03	`07`	`X`	`FRE`	`@0 Interface utilisateur @5 24`
C03	`07`	`X`	`ENG`	`@0 User interface @5 24`
C03	`07`	`X`	`SPA`	`@0 Interfase usuario @5 24`
C03	`08`	`X`	`FRE`	`@0 Système homme machine @5 25`
C03	`08`	`X`	`ENG`	`@0 Man machine system @5 25`
C03	`08`	`X`	`SPA`	`@0 Sistema hombre máquina @5 25`
C03	`09`	`X`	`FRE`	`@0 Doigt @5 26`
C03	`09`	`X`	`ENG`	`@0 Finger @5 26`
C03	`09`	`X`	`SPA`	`@0 Dedo @5 26`
C03	`10`	`X`	`FRE`	`@0 Modélisation @5 27`
C03	`10`	`X`	`ENG`	`@0 Modeling @5 27`
C03	`10`	`X`	`SPA`	`@0 Modelización @5 27`
C03	`11`	`X`	`FRE`	`@0 Système paramètre localisé @5 28`
C03	`11`	`X`	`ENG`	`@0 Lumped parameter system @5 28`
C03	`11`	`X`	`SPA`	`@0 Sistema parámetro localizado @5 28`
C03	`12`	`X`	`FRE`	`@0 Méthode domaine fréquence @5 29`
C03	`12`	`X`	`ENG`	`@0 Frequency domain method @5 29`
C03	`12`	`X`	`SPA`	`@0 Método dominio frecuencia @5 29`
C03	`13`	`X`	`FRE`	`@0 Ordre 2 @5 30`
C03	`13`	`X`	`ENG`	`@0 Second order @5 30`
C03	`13`	`X`	`SPA`	`@0 Orden 2 @5 30`
C03	`14`	`X`	`FRE`	`@0 Amortisseur @5 33`
C03	`14`	`X`	`ENG`	`@0 Damper @5 33`
C03	`14`	`X`	`SPA`	`@0 Amortiguador @5 33`
C03	`15`	`X`	`FRE`	`@0 Etude expérimentale @5 34`
C03	`15`	`X`	`ENG`	`@0 Experimental study @5 34`
C03	`15`	`X`	`SPA`	`@0 Estudio experimental @5 34`
N21				`@1 305`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: Pour aller vers cette notice dans l'étape Curation :000E53

Links to Exploration step

Pascal:05-0437237

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Modeling the human hand as it interacts with a telemanipulation system</title>
<author><name sortKey="Speich, John E" sort="Speich, John E" uniqKey="Speich J" first="John E." last="Speich">John E. Speich</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Mechanical Engineering, Virginia Commonwealth University</s1>
<s2>Richmond, VA, 23284-3015</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
</affiliation>
</author>
<author><name sortKey="Liang Shao" sort="Liang Shao" uniqKey="Liang Shao" last="Liang Shao">LIANG SHAO</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Mechanical Engineering, Vanderbilt University</s1>
<s2>Nashville, TN 37235-1592</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
</affiliation>
</author>
<author><name sortKey="Goldfarb, Michael" sort="Goldfarb, Michael" uniqKey="Goldfarb M" first="Michael" last="Goldfarb">Michael Goldfarb</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Mechanical Engineering, Vanderbilt University</s1>
<s2>Nashville, TN 37235-1592</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">INIST</idno>
<idno type="inist">05-0437237</idno>
<date when="2005">2005</date>
<idno type="stanalyst">PASCAL 05-0437237 INIST</idno>
<idno type="RBID">Pascal:05-0437237</idno>
<idno type="wicri:Area/PascalFrancis/Corpus">000E53</idno>
<idno type="wicri:Area/PascalFrancis/Curation">000655</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Modeling the human hand as it interacts with a telemanipulation system</title>
<author><name sortKey="Speich, John E" sort="Speich, John E" uniqKey="Speich J" first="John E." last="Speich">John E. Speich</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Mechanical Engineering, Virginia Commonwealth University</s1>
<s2>Richmond, VA, 23284-3015</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
</affiliation>
</author>
<author><name sortKey="Liang Shao" sort="Liang Shao" uniqKey="Liang Shao" last="Liang Shao">LIANG SHAO</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Mechanical Engineering, Vanderbilt University</s1>
<s2>Nashville, TN 37235-1592</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
</affiliation>
</author>
<author><name sortKey="Goldfarb, Michael" sort="Goldfarb, Michael" uniqKey="Goldfarb M" first="Michael" last="Goldfarb">Michael Goldfarb</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Mechanical Engineering, Vanderbilt University</s1>
<s2>Nashville, TN 37235-1592</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
</affiliation>
</author>
</analytic>
<series><title level="j" type="main">Mechatronics : (Oxford)</title>
<title level="j" type="abbreviated">Mechatronics : (Oxf.)</title>
<idno type="ISSN">0957-4158</idno>
<imprint><date when="2005">2005</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
<seriesStmt><title level="j" type="main">Mechatronics : (Oxford)</title>
<title level="j" type="abbreviated">Mechatronics : (Oxf.)</title>
<idno type="ISSN">0957-4158</idno>
</seriesStmt>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Arm</term>
<term>Damper</term>
<term>Experimental study</term>
<term>Finger</term>
<term>Frequency domain method</term>
<term>Hand</term>
<term>Human</term>
<term>Lumped parameter system</term>
<term>Man machine system</term>
<term>Modeling</term>
<term>Remote operation</term>
<term>Second order</term>
<term>Spring mass system</term>
<term>System with three degrees of freedom</term>
<term>User interface</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Homme</term>
<term>Téléopération</term>
<term>Main</term>
<term>Bras</term>
<term>Système masse ressort</term>
<term>Système 3 degrés liberté</term>
<term>Interface utilisateur</term>
<term>Système homme machine</term>
<term>Doigt</term>
<term>Modélisation</term>
<term>Système paramètre localisé</term>
<term>Méthode domaine fréquence</term>
<term>Ordre 2</term>
<term>Amortisseur</term>
<term>Etude expérimentale</term>
</keywords>
<keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Homme</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">This paper describes the development of a linear lumped-parameter hand/arm model for the operator of a telemanipulation system. The authors previously developed a control architecture that implements frequency-domain loop-shaping compensators to improve the transparency or "feel" of a telemanipulation system, and a human model is used when simulating this architecture. Typically, the human is modeled as a second order mass-spring-damper system. The five-parameter model presented in this paper, however, includes an additional spring and damper to better approximate the dynamics within the specific frequency range for which compensators will be designed, typically below 20-30 Hz. The model form and parameters were determined from experimental data taken from a telemanipulation system with a single translational degree-of-freedom. Additional data was taken from a system with three actuated degrees-of-freedom, and a set of model parameters was determined for each direction of motion. Each set of model parameters presented in this paper is for the specific grip type and hand/arm orientation used during interaction with each particular telemanipulation system, however similar sets of parameters using this human model could be obtained for interaction with other telemanipulation systems and haptic interfaces. A comparison of the five-parameter model with a two-parameter spring-damper model suggests that in some cases the use of additional model parameters may not offer a significant improvement.</div>
</front>
</TEI>
<inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>0957-4158</s0>
</fA01>
<fA03 i2="1"><s0>Mechatronics : (Oxf.)</s0>
</fA03>
<fA05><s2>15</s2>
</fA05>
<fA06><s2>9</s2>
</fA06>
<fA08 i1="01" i2="1" l="ENG"><s1>Modeling the human hand as it interacts with a telemanipulation system</s1>
</fA08>
<fA11 i1="01" i2="1"><s1>SPEICH (John E.)</s1>
</fA11>
<fA11 i1="02" i2="1"><s1>LIANG SHAO</s1>
</fA11>
<fA11 i1="03" i2="1"><s1>GOLDFARB (Michael)</s1>
</fA11>
<fA14 i1="01"><s1>Mechanical Engineering, Virginia Commonwealth University</s1>
<s2>Richmond, VA, 23284-3015</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
</fA14>
<fA14 i1="02"><s1>Mechanical Engineering, Vanderbilt University</s1>
<s2>Nashville, TN 37235-1592</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</fA14>
<fA20><s1>1127-1142</s1>
</fA20>
<fA21><s1>2005</s1>
</fA21>
<fA23 i1="01"><s0>ENG</s0>
</fA23>
<fA43 i1="01"><s1>INIST</s1>
<s2>22113</s2>
<s5>354000131791070070</s5>
</fA43>
<fA44><s0>0000</s0>
<s1>© 2005 INIST-CNRS. All rights reserved.</s1>
</fA44>
<fA45><s0>18 ref.</s0>
</fA45>
<fA47 i1="01" i2="1"><s0>05-0437237</s0>
</fA47>
<fA60><s1>P</s1>
</fA60>
<fA61><s0>A</s0>
</fA61>
<fA64 i1="01" i2="1"><s0>Mechatronics : (Oxford)</s0>
</fA64>
<fA66 i1="01"><s0>GBR</s0>
</fA66>
<fC01 i1="01" l="ENG"><s0>This paper describes the development of a linear lumped-parameter hand/arm model for the operator of a telemanipulation system. The authors previously developed a control architecture that implements frequency-domain loop-shaping compensators to improve the transparency or "feel" of a telemanipulation system, and a human model is used when simulating this architecture. Typically, the human is modeled as a second order mass-spring-damper system. The five-parameter model presented in this paper, however, includes an additional spring and damper to better approximate the dynamics within the specific frequency range for which compensators will be designed, typically below 20-30 Hz. The model form and parameters were determined from experimental data taken from a telemanipulation system with a single translational degree-of-freedom. Additional data was taken from a system with three actuated degrees-of-freedom, and a set of model parameters was determined for each direction of motion. Each set of model parameters presented in this paper is for the specific grip type and hand/arm orientation used during interaction with each particular telemanipulation system, however similar sets of parameters using this human model could be obtained for interaction with other telemanipulation systems and haptic interfaces. A comparison of the five-parameter model with a two-parameter spring-damper model suggests that in some cases the use of additional model parameters may not offer a significant improvement.</s0>
</fC01>
<fC02 i1="01" i2="X"><s0>001D12</s0>
</fC02>
<fC03 i1="01" i2="X" l="FRE"><s0>Homme</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="ENG"><s0>Human</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="SPA"><s0>Hombre</s0>
<s5>06</s5>
</fC03>
<fC03 i1="02" i2="X" l="FRE"><s0>Téléopération</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="ENG"><s0>Remote operation</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="SPA"><s0>Teleacción</s0>
<s5>07</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Main</s0>
<s5>20</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Hand</s0>
<s5>20</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Mano</s0>
<s5>20</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Bras</s0>
<s5>21</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Arm</s0>
<s5>21</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Brazo</s0>
<s5>21</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Système masse ressort</s0>
<s5>22</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>Spring mass system</s0>
<s5>22</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Sistema masa muelle</s0>
<s5>22</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Système 3 degrés liberté</s0>
<s5>23</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>System with three degrees of freedom</s0>
<s5>23</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Sistema 3 grados libertad</s0>
<s5>23</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Interface utilisateur</s0>
<s5>24</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>User interface</s0>
<s5>24</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Interfase usuario</s0>
<s5>24</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Système homme machine</s0>
<s5>25</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Man machine system</s0>
<s5>25</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Sistema hombre máquina</s0>
<s5>25</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Doigt</s0>
<s5>26</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Finger</s0>
<s5>26</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Dedo</s0>
<s5>26</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Modélisation</s0>
<s5>27</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Modeling</s0>
<s5>27</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Modelización</s0>
<s5>27</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Système paramètre localisé</s0>
<s5>28</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Lumped parameter system</s0>
<s5>28</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Sistema parámetro localizado</s0>
<s5>28</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Méthode domaine fréquence</s0>
<s5>29</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Frequency domain method</s0>
<s5>29</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Método dominio frecuencia</s0>
<s5>29</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Ordre 2</s0>
<s5>30</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Second order</s0>
<s5>30</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Orden 2</s0>
<s5>30</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Amortisseur</s0>
<s5>33</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Damper</s0>
<s5>33</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Amortiguador</s0>
<s5>33</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Etude expérimentale</s0>
<s5>34</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Experimental study</s0>
<s5>34</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Estudio experimental</s0>
<s5>34</s5>
</fC03>
<fN21><s1>305</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
</inist>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PascalFrancis/Curation

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000655 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/PascalFrancis/Curation/biblio.hfd -nk 000655 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    PascalFrancis
   |étape=   Curation
   |type=    RBID
   |clé=     Pascal:05-0437237
   |texte=   Modeling the human hand as it interacts with a telemanipulation system
}}

This area was generated with Dilib version V0.6.23.
Data generation: Mon Jun 13 01:09:46 2016. Site generation: Wed Mar 6 09:54:07 2024

	Serveur d'exploration sur les dispositifs haptiques
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.

Serveur d'exploration sur les dispositifs haptiques

Modeling the human hand as it interacts with a telemanipulation system

Modeling the human hand as it interacts with a telemanipulation system

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri