what is manipulation
158748625
What is Manipulation? What is Not Manipulation?
Andrew N Kleit
187890009
Powhatan: What is Manipulation?
Andrew N Kleit
78370000
What Is Manipulation
The first phase of this dexterous manipulation task comprising both perception of the object and visual servoing of the robot hand relies on two cameras: a wide range stereo camera integrated in the robot head as well as a close range camera embedded in a five finger robotic hand (figure 1) A robust visually controlled grasping of objects is achieved, even in the case of disturbed signals or dynamic obstacles, by using a fuzzy decision making algorithm for the optimal fusion of information from both cameras. Moreover, the hand camera can obviate occlusions of the head camera e.g. caused by the robot arm.
Anne Barnhill
12195189
What is 'manipulation' A reappraisal.
Due primarily to its colloquial function, 'manipulation' is a poor term for distinguishing one healthcare intervention from another. With reports continuing to associate serious adverse events with manipulation, particularly relating to its use in the cervical spine, it is essential that the term be used appropriately and in accordance with a valid definition. The purpose of this paper is to identify empirically derived features that we propose to be necessary and collectively sufficient for the formation of a valid definition for manipulation. A final definition is not offered. However, arguments for and against the inclusion of features are presented. Importantly, these features are explicitly divided into two categories: the 'action' (that which the practitioner does to the recipient) and the 'mechanical response' (that which occurs within the recipient) The proposed features are: 1) A force is applied to the recipient; 2) The line of action of this force is perpendicular to the articular surface of the affected joint; 3) The applied force creates motion at a joint; 4) This joint motion includes articular surface separation; 5) Cavitation occurs within the affected joint.
Manual therapy
David W Evans Nicholas Lucas
43848460
What is the role of systemic conditions and options for manipulation of bone formation and bone resorption in rotator cuff tendon healing and repair?
Rotator cuff pathology is a significant cause of shoulder pain. Operative repair of rotator cuff is an established standard of care for these patient, however, failure of the procedure is common. Systemic conditions such as diabetes mellitus, hypocholesteremia, thyroid disease, and smoking significantly affect the outcomes of rotator cuff repair and have significant implications for the management of these patients. Diabetes mellitus has been proposed to damage tendons through non enzymatic glycosylation of collagen with advanced glycation end product formation and impaired microcirculation. Hypocholesteremia may lead to fatty infiltration and subsequent pro inflammatory degenerative enzymatic degeneration. Thyroid disease may disrupt tendon homeostasis through the alteration of collagen production and the accumulation of glycosaminoglycans. Lastly, smoking inhibits tendon healing through the induction of hypovascularity and hypoperfusion. Understanding of the implications these systemic conditions have on the outcomes is important in the management of rotator cuff disease.
Techniques in shoulder elbow surgery
Simon Lee Jonathan P Gumucio Christopher L Mendias Asheesh Bedi
195069404
A Grasping Centered Analysis for Cloth Manipulation
Compliant and soft hands have gained a lot of attention in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for grasping. However, when it comes to grasping highly flexible objects such as textiles, we face the dual problem: it is the object that will adapt to the shape of the hand or gripper. In this context, the classic grasp analysis or grasping taxonomies are not suitable for describing textile objects grasps. This article proposes a novel definition of textile object grasps that abstracts from the robotic embodiment or hand shape and recovers concepts from the early neuroscience literature on hand prehension skills. This framework enables us to identify what grasps have been used in literature until now to perform robotic cloth manipulation, and allows for a precise definition of all the tasks that have been tackled in terms of manipulation primitives based on regrasps. In addition, we also review what grippers have been used. Our analysis shows how the vast majority of cloth manipulations have relied only on one type of grasp, and at the same time we identify several tasks that need more variety of grasp types to be executed successfully. Our framework is generic, provides a classification of cloth manipulation primitives and can inspire gripper design and benchmark construction for cloth manipulation.
IEEE Transactions on Robotics
Julia Borras G Alenya Carme Torras
16345057
What is in a tool concept? Dissociating manipulation knowledge from function knowledge
Research on patients with apraxia, a deficit in skilled action, has shown that the ability to use objects may be differentially impaired relative to knowledge about object function. Here we show, using a modified neuropsychological test, that similar dissociations can be observed in response times in healthy adults. Participants were asked to decide which two of three presented objects shared the same manipulation or the same function; triads were presented in picture and word format, and responses were made manually (button press) or with a basic level naming response (verbally) For manual responses (Experiment 1) participants were slower to make manipulation judgments for word stimuli than for picture stimuli, while there was no difference between word and picture stimuli for function judgments. For verbal naming responses (Experiment 2) participants were again slower for manipulation judgments over word stimuli, as compared with picture stimuli; however, and in contrast to Experiment 1, function judgments over word stimuli were faster than function judgments over picture stimuli. These data support the hypotheses that knowledge of object function and knowledge of object manipulation correspond to dissociable types of object knowledge and that simulation over motor information is not necessary in order to retrieve knowledge of object function.
Memory cognition
Frank E Garcea Bradford Z Mahon
201672410
Protecting elections from social media manipulation
Rigorous causal analysis could help harden democracy against future attacks To what extent are democratic elections vulnerable to social media manipulation? The fractured state of research and evidence on this most important question facing democracy is reflected in the range of disagreement among experts. Facebook chief executive officer Mark Zuckerberg has repeatedly called on the U.S. government to regulate election manipulation through social media. But we cannot manage what we do not measure. Without an organized research agenda that informs policy, democracies will remain vulnerable to foreign and domestic attacks. Thankfully, social media's effects are, in our view, eminently measurable. Here, we advocate a research agenda for measuring social media manipulation of elections, highlight underutilized approaches to rigorous causal inference, and discuss political, legal, and ethical implications of undertaking such analysis. Consideration of this research agenda illuminates the need to overcome important trade offs for public and corporate policy for example, between election integrity and privacy. We have promising research tools, but they have not been applied to election manipulation, mainly because of a lack of access to data and lack of cooperation from the platforms (driven in part by public policy and political constraints)
Science
Sinan Aral Dean Eckles
49394699
Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation
What is the right object representation for manipulation? We would like robots to visually perceive scenes and learn an understanding of the objects in them that (i) is task agnostic and can be used as a building block for a variety of manipulation tasks, (ii) is generally applicable to both rigid and non rigid objects, (iii) takes advantage of the strong priors provided by 3D vision, and (iv) is entirely learned from self supervision. This is hard to achieve with previous methods: much recent work in grasping does not extend to grasping specific objects or other tasks, whereas task specific learning may require many trials to generalize well across object configurations or other tasks. In this paper we present Dense Object Nets, which build on recent developments in self supervised dense descriptor learning, as a consistent object representation for visual understanding and manipulation. We demonstrate they can be trained quickly (approximately 20 minutes) for a wide variety of previously unseen and potentially non rigid objects. We additionally present novel contributions to enable multi object descriptor learning, and show that by modifying our training procedure, we can either acquire descriptors which generalize across classes of objects, or descriptors that are distinct for each object instance. Finally, we demonstrate the novel application of learned dense descriptors to robotic manipulation. We demonstrate grasping of specific points on an object across potentially deformed object configurations, and demonstrate using class general descriptors to transfer specific grasps across objects in a class.
CoRL
Peter R Florence Lucas Manuelli Russ Tedrake
3104458
Manipulation of host behaviour by Toxoplasma gondii: what is the minimum a proposed proximate mechanism should explain?
The behavioural manipulation hypothesis posits that parasites can change the behaviour of hosts to increase the reproductive fitness of the parasite. The protozoan parasite Toxoplasma gondii fits this description well. Sexual reproduction occurs in the cat intestine, from which highly stable oocysts are excreted in faeces. Grazing animals, including rodents, can then ingest these oocysts. The parasite has evolved the capacity to abolish the innate fear that rodents have of the odours of cats, and to convert that fear into an attraction. This presumably increases the likelihood of the rodent being predated, thereby completing the parasite's life cycle. The behavioural syndrome produced by T. gondii does not have any precedent in neuroscience research. This is not a case where the normal functioning of fear system have been altered. This is not even the case of the altering of fear towards predator odours, while leaving other kinds of fear intact. This is an unprecedented example of one component of the fear being eliminated (and replaced by a novel attraction) while appearing to leave other domains unchanged. An understanding of the neurobiological effects of T. gondii is beginning to emerge. One possibility is T. gondii's preferential localisation to, and effects within the amygdala; this is particularly intriguing, given the role of this brain structure in the normal fear response. Obviously, far more must be understood, and the unique behavioural effects of T. gondii put very demanding constraints on any hypothesis we formulate to explain proximate neurobiological mechanisms.
Folia parasitologica
Ajai Vyas Robert Morris Sapolsky