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At least 199 records · Page 11Linked to original sources
PubMed1991

The Space Station Freedom Flight Telerobotic Servicer: the design and evolution of a dexterous space robot.

The Flight Telerobotic Servicer (FTS) Project at the Goddard Space Flight Center is developing an advanced telerobotic system to assist in and reduce crew extravehicular activity (EVA) for Space Station) Freedom (SSF). The FTS will provide a telerobotic capability to the Freedom Station in the early assembly phases of the program and will be employed for assembly, maintenance, and inspection applications throughout the lifetime of the space station. Appropriately configured elements of the FTS will also be employed for robotic manipulation in remote satellite servicing applications and possibly the Lunar/Mars Program. In mid-1989, the FTS entered the flight system design and implementation phase (Phase C/D) of development with the signing of the FTS prime contract with Martin Marietta Astronautics Group in Denver, Colorado. The basic FTS design is now established and can be reported on in some detail. This paper will describe the FTS flight system design and the rationale for the specific design approaches and component selections. The current state of space technology and the nature of the FTS task dictate that the FTS be designed with sophisticated teleoperation capabilities for its initial primary operating mode. However, there are technologies, such as advanced computer vision and autonomous planning techniques currently in research and advanced development phases which would greatly enhance the FTS capabilities to perform autonomously in less structured work environments. Therefore, a specific requirement on the initial FTS design is that it has the capability to evolve as new technology becomes available. This paper will describe the FTS design approach for evolution to more autonomous capabilities. Some specific task applications of the FTS and partial automation approaches of these tasks will also be discussed in this paper.

Biomechanical Phenomena↗
PubMed2006

Effect of reducing frequency of augmented feedback on manual dexterity training and its retention.

OBJECTIVE: The study addressed the impact of the frequency of tutorial-enriched augmented visual feedback, provided by a virtual simulation system (DentSim), on the skill acquisition for a cavity preparation task in novice dental students. METHODS: Thirty-six subjects were assigned to two training groups and a control group. The task consisted of a geometrical cross preparation on the lower left first molar. All subjects performed a pre-test to assess their basic skill level. The training groups received simulation feedback, enriched with tutorial information, across acquisition. One group trained under continuous augmented feedback, while a second group trained under an intermittent (66% of the time) feedback. At both 1-day and 4-month interval, subjects performed a retention test to explore learning specific effects. Two transfer tests were added to assess the extrapolation of the learned skills to an adjacent molar. All tests were performed in the absence of feedback. A control group performed all the tests, without preceding training. All preparations were graded by the simulation system. RESULTS: The training groups performed similarly across acquisition and improved with practice (ANOVA, P<0.001). After 1 day and 4 months of no practice, the training groups outperformed the control group on a retention test (ANOVA, P<0.001) and transfer test (ANOVA, P<0.001). CONCLUSIONS: Performance and learning of a cavity preparation task on a simulation unit was independent of the frequency of tutorial-enriched augmented visual feedback within the range tested. Training sessions on a simulation unit could be alternated with training sessions in the traditional phantom head laboratory.

Adolescent↗
PubMed2005

Dexterity with numbers: rTMS over left angular gyrus disrupts finger gnosis and number processing.

Since the original description of Gerstmann's syndrome with its four cardinal symptoms, among which are finger agnosia and acalculia, the neuro-cognitive relationship between fingers and calculation has been debated. We asked our participants to perform four different tasks, two of which involved fingers and the other two involving numbers, during repetitive transcranial magnetic stimulation (rTMS) over the posterior parietal lobe of either hemisphere. In the finger tasks, they were required to transform a tactile stimulus randomly delivered on one of their fingers into a speeded key-press response either with the same or with the homologous finger on the opposite hand. In the numerical tasks, they were asked to perform a magnitude or a parity matching on pairs of single digits, in the context of arithmetically related or unrelated numerical primes. In accordance with the original anatomical hypothesis put forward by Gerstmann [Gerstmann, J. (1924). Fingeragnosie: eine umschriebene Stoerung der Orienterung am eigenen Koerper. Wiener clinische Wochenschrift, 37, 1010-12], we found that rTMS over the left angular gyrus disrupted tasks requiring access to the finger schema and number magnitude processing in the same group of participants. In addition to the numerous studies which have employed special populations such as neurological patients and children, our data confirm the presence of a relationship between numbers and body knowledge in skilled adults who no longer use their fingers for solving simple arithmetical tasks.

Adult↗
PubMed2001

The pasta matrix reaching task: a simple test for measuring skilled reaching distance, direction, and dexterity in rats.

Skilled forelimb use has been used in many studies to examine motor system status, learning, and recovery from nervous system damage in rats. The dependent measures in many current skilled reaching models rely on endpoint measures, number of successful reaches, or qualitative measures, the movements used in performing a reach. The present study describes a new reaching task, which allows measurement of distance and direction of skilled forelimb movement while also permitting end point and qualitative measurements. Animals reached from a clear Plexiglas box through an aperture to retrieve pieces of straight, uncooked pasta from an array of 260 vertically oriented pieces of pasta arranged in rows distally and laterally away from the aperture (a matrix). By extending the range of a reach, more pasta is obtained. Limb movements, pieces of pasta removed, and the pattern of pasta removal are dependent measures. The usefulness of the test is demonstrated using control, dorsal column lesion, and unilateral dopamine depleted animals. The task uses a desired food, tests learning and skill, the range of limb movement, and the ability to reach for different distances and directions. The task can also be modified to investigate other features of limb use including skill adjustments, laterality, and force.

Adrenergic Agents↗