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Analysis of Motor Synergies Utilization for Optimal Movement Generation for a Human-like Robotic Arm

International Journal of Automation and computing 2013年第6期10卷 515-524页

作者： kin chung denny fu Yutaka Nakamura Tomoyuki Yamamoto Hiroshi Ishiguro Graduate School of Engineering Science Osaka University

Controlling human-like robots with musculoskeletal structure has been a challenging problem in engineering. In biological studies, motor synergy hypothesis has been proposed as a solution in order to control high degree-of-freedom and complex human body. In this paper, we focus on exploring the applicability of motor synergies in generating goal-directed movements by optimal control in a human-like robotic arm. We focus on three problems： 1） Can motor synergies facilitate the solving of optimal control problem？ 2） What properties should motor synergies have in order to achieve tasks？ 3） How should motor synergies be utilized better？ For the first problem we show that goal-directed movements can be achieved by utilizing motor synergies which have properties of achieving the goals. For the second problem, we testify motor synergies which have different properties and discover that energy efficiency is an important aspect in motor synergies which can also be utilized to achieve goal-directed movements. This discovery also implies that we can obtain motor synergies by other ways rather than from goal-directed optimal control signals. For the third problem, we show that the control complexity can be further reduced by utilizing a subset of motor synergies which are effective to achieve goals.

关键词： Motor synergies optimal control dimension reduction bio-inspired control biomimetics.

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Autocompletion of repetitive stroking with image guidance

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Computational Visual Media 2023年第3期9卷 581-596页

作者： Yilan Chen kin chung Kwan Hongbo fu School of Creative Media City University of Hong KongTat Chee AvenueKowloonHong Kong SARChina University of Konstanz University Street 1078464 KonstanzGermany

Image-guided drawing can compensate for a lack of skill but often requires a significant number of repetitive strokes to create *** automatic stroke synthesis methods are usually limited to predefined styles or require indirect manipulation that may break the spontaneous flow of *** present an assisted drawing system to autocomplete repetitive short strokes during a user's normal drawing *** draw over a reference image as usual;at the same time,our system silently analyzes the input strokes and the reference to infer strokes that follow the user's input style when certain repetition is *** can accept,modify,or ignore the system's predictions and continue drawing,thus maintaining fluid control over *** key idea is to jointly analyze image regions and user input history to detect and predict *** proposed system can effectively reduce the user's workload when drawing repetitive short strokes,helping users to create results with rich patterns.

关键词： interaction autocompletion digital drawing prediction texture synthesis

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fulminant ulcerative colitis associated with steroid-resistant minimal change disease and psoriasis: A case report

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World Journal of Gastroenterology 2007年第29期13卷 4022-4024页

作者： Ka-Ho Lok Hiu-Gong Hung Wai-Man Yip kin-Kong Li Kam-fu Li Ming-Leung Szeto Division of Gastroenterology and Hepatology Department of Medicine and Geriatrics Tuen Mun Hospital Tsing Chung Koon Road Tuen Mun Hong Kong China

A 43-year-old Chinese patient with a history of psoriasis developed fulminant ulcerative colitis after immunosuppressive therapy for steroid-resistant minimal change disease was stopped. Minimal change disease in association with inflammatory bowel disease is a rare condition. We here report a case showing an association between ulcerative colitis, minimal change disease, and psoriasis. The possible pathological link between 3 diseases is discussed.

关键词： Ulcerative colitis Inflammatory bowel disease Minimal change disease

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