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In accordance with strict requirements of portability, cheapness, and modularity, an innovative assistive device for hand disabilities has been developed and validated. This robotic orthosis is designed to be a low-cost, portable ...
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In accordance with strict requirements of portability, cheapness, and modularity, an innovative assistive device for hand disabilities has been developed and validated. This robotic orthosis is designed to be a low-cost, portable hand exoskeleton to assist people with physical disabilities in their everyday lives. Referring to hand opening disabilities, the authors have developed a methodology which, by starting from the geometrical characteristics of the patient's hand, defines the novel kinematic mechanism that better fits to the finger trajectories. The authors have validated the proposed novel mechanism by carrying out a Hand Exoskeleton System (HES) prototype, based on a single-phalanx mechanism, cable driven. The testing phase of the real prototype with a patient is currently on going.
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The systematic classification of hand movements, which indicates the minimum mechanism of robot hands, is suggested. The performance of existent robot hands is not as high as that of human hands because the performance of existent...
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The systematic classification of hand movements, which indicates the minimum mechanism of robot hands, is suggested. The performance of existent robot hands is not as high as that of human hands because the performance of existent actuators does not come up to that of human muscles in the same volume. It is important for robot hands to accomplish targeted tasks with a minimum mechanism. Human hand movements are analyzed quantitatively considering robot hands such as associated movement of DIP and PIP joints. Based on the results of analysis, we obtain three items, i.e., fingers, joints that must be set up actuators and basic movements we define. We systematically classify human hand movement for the robot hand based on three items.
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Industry 4.0 is the current industrial revolution and robotics is an important factor for carrying out high dexterity manipulations. However, mechatronic systems are far from human capabilities and sophisticated robotic hands are ...
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Industry 4.0 is the current industrial revolution and robotics is an important factor for carrying out high dexterity manipulations. However, mechatronic systems are far from human capabilities and sophisticated robotic hands are highly priced. This paper describes a Fuzzy Logic Expert System (FLES) to map kinematic parameters from robotic hand features to the level of dexterity. The final goal is to obtain the adequate robotic hand that can do ranges of specific tasks according to the level of dexterity required. The FLES uses important kinematic parameters of the human hand/robotic hand: number of fingers, number of Degrees of Freedom (DoF), and number of contacts that grasping involves. As a result, several robotic hands are evaluated using the FLES to determine the type of dexterity task that corresponds to each robotic hand.
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In this study, a Crossed Flexural Hinge (CFH) structure was used for the design of a humanoid robot hand that can absorb any abrupt external force and that has a large payload, giving it the advantages of both rigid and compliant ...
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In this study, a Crossed Flexural Hinge (CFH) structure was used for the design of a humanoid robot hand that can absorb any abrupt external force and that has a large payload, giving it the advantages of both rigid and compliant robots. Structural problems were identified through a 6 x 6 stiffness matrix to analyze whether CFH is suitable for use as an anthropomorphic robot hand. To reinforce the weak stiffness, a paired CFH (p-CFH) structure was proposed for the robot hand joints. In addition, it was verified through theoretical and experimental methods that p-CFH has superior stiffness characteristics compared to conventional CFH. When designing the anthropomorphic robot hand, p-CFH was appropriately deformed and applied. Using an underactuated wire mechanism suitable for the structure of the robot hand, it was possible to grasp objects of various shapes in a shape-adaptive manner. It was confirmed that the final anthropomorphic robot hand was able to stably hold an object of an unspecified shape without precisely controlling the motor. And the robot hand can also hold a heavy object due to the increased rigidity of the p-CFH. In addition, by conducting the qualitative impact test in which the robot was subjected to an impact in an arbitrary direction, it was confirmed that the robot, due to compliance of the joints, can absorb impact without incurring damage. Finally, a quantitative impact test was conducted in all directions, and the shock absorbing capability of anthropomorphic robot hand was verified through numerical comparison with the control model.
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This paper describes two robotic hands that have been developed at University Federico II of Naples and at the University of Cassino. FEDERICA Hand and LARM Hand are described in terms of design and operational features. In partic...
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This paper describes two robotic hands that have been developed at University Federico II of Naples and at the University of Cassino. FEDERICA Hand and LARM Hand are described in terms of design and operational features. In particular, careful attention is paid to the differences between the above-mentioned hands in terms of transmission systems. FEDERICA Hand uses tendons and pulleys to drive phalanxes, while LARM Hand uses cross four-bar linkages. Results of experimental tests are reported to show how key design issues affect each robotic hand's performance.
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With the advancement of robotics and the need for prosthetic hand models that are focused on solving the grip and handling of different elements, analysis and simulation of a robot hand with anthropomorphic features arise. This pa...
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With the advancement of robotics and the need for prosthetic hand models that are focused on solving the grip and handling of different elements, analysis and simulation of a robot hand with anthropomorphic features arise. This paper presents the modeling of an anthropomorphic hand with 5 degrees of freedom. The fundamentals are presented from the physiological and biomechanical analysis of a hand, allowing to generate the mathematical model to build the kinematic model. The movements used for modeling are based on flexion and extension of the wrist and all five fingers on the palm. Together, all the movements gather five degrees of freedom, enough to emulate the vast majority of hand positions adopted during the performance of their functions. The models obtained converge enough to allow proper handling of a prosthesis.
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Basing on strict requirements of portability, low cost and modularity, an assistive device for hand-opening impairment, characterized by an innovative mechanism, has been developed and tested by the authors. This robotic orthosis ...
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Basing on strict requirements of portability, low cost and modularity, an assistive device for hand-opening impairment, characterized by an innovative mechanism, has been developed and tested by the authors. This robotic orthosis is designed to be a low-cost and portable hand exoskeleton to assist people with hand-opening impairment in their everyday lives. The mechanism has been especially studied for this kind of applications and presents some interesting features in terms of limited encumbrances and costs. Concerning the hand-opening impairment, the authors have also developed a methodology which, starting from the geometrical characteristics of the patient's hand, properly defines the novel kinematic mechanism that better fits the finger trajectories. The authors have tested and validated the proposed approach by building a functional Hand Exoskeleton System (HES) prototype. The preliminary testing phase of the prototype with a single subject is concluded; currently, a group of subjects is testing the proposed HES methodology in collaboration with a rehabilitation center. (C) 2016 Elsevier Ltd. All rights reserved.
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Underactuated hands are able to achieve shape adaptation to conformally grasp a wide variety of objects, while keeping low undesirable hand attributes such as weight, size, complexity and cost. The available analytical and simulat...
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Underactuated hands are able to achieve shape adaptation to conformally grasp a wide variety of objects, while keeping low undesirable hand attributes such as weight, size, complexity and cost. The available analytical and simulation studies of planar underactuated hands normally assume quasi-static conditions and a fixed object. In the present paper, a new quasi-dynamic analysis of the grasping process in the horizontal plane by a planar, two-finger, four-joint underactuated hand is presented. The study considers object movement during the grasping process, and also contact friction with a surface that supports the object. An extensive and versatile simulation program, based on the analysis, is developed to investigate the effects of various parameters of hand and object on the grasping process. A prototype hand has been developed and the simulation results are validated experimentally. An extensive and detailed study and optimization exercise is carried out using the developed simulation tool. Specifically, the study concerns a manipulative grasping process that moves the object to the hand centerline during the process. Important new findings on the influence of link dimensions, link angular speeds, friction with the supporting surface, object mass and object size on the grasping performance of the hand in this scenario are presented. The results are used to establish new design guidelines for the hand. In particular, the results indicate that in the case where there is limited information on the size and precise initial location of the object to be grasped, the optimal hand design would involve inner to outer phalange size ratios of approximately 3:1, and inner phalange joints that are very close to each other. (C) 2015 Elsevier B.V. All rights reserved.
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Basic turn-taking and imitation skills are imperative for effective communication and social interaction (Nehaniv in Imitation and Social Learning in Robots, Springer, New York, 2007). Recently, research has demonstrated that inte...
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Basic turn-taking and imitation skills are imperative for effective communication and social interaction (Nehaniv in Imitation and Social Learning in Robots, Springer, New York, 2007). Recently, research has demonstrated that interactive games using turn-taking and imitation have yielded positive results with autistic children who have impaired communication or social skills (Barakova and Brok in Proceedings of the 9th International Conference on Entertainment Computing, pp. 115-126, 2010). This paper describes a robot that plays interactive imitation games using hand and face tracking. The robot is equipped with a head and two arms, each with two degrees of freedom, and a camera. We trained a human hands detector and subsequently, used this detector along with a standard face tracker to create two autonomous interactive games: single-player ("Imitate Me, Imitate You") and two-player ("Pass the Pose".) Additionally, we implemented a third setting in which the robot is teleoperated by remote control. In "Imitate Me, Imitate You", the robot has both passive and active game modes. In the passive mode, the robot waits for the child to initiate an interaction by raising one or both hands. In the second game mode, the robot initiates interactions. The "Pass the Pose" game engages two children in cooperative play by enlisting the robot as a mediator between two children alternately initiating and imitating poses. These games are designed to increase attention, promote turn-taking skills and encourage child-led verbal and nonverbal communication through simple imitative play. This research makes two specific contributions: (1) We present a low-cost robot design which measures and adapts to a child's actions during interactive games and, (2) we train, test and make freely available, a new hand detector, based on Haar-like features, which is usable in various kinds of human-robot interactions. We present proof-of-concept experiments with a group of typically developing children.
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During laparoscopic surgery, large internal organs should often be manipulated while being internally visualized. For this purpose, we study an assemblable two-fingered hand implemented with an ultrasound probe. The fingers are se...
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During laparoscopic surgery, large internal organs should often be manipulated while being internally visualized. For this purpose, we study an assemblable two-fingered hand implemented with an ultrasound probe. The fingers are separately introduced into the abdominal cavity through small incisions and are assembled into a hand sufficiently large to grasp or manipulate the large organ. Two types of ultrasound probes are employed; a phased array probe of a commercially available ultrasound diagnosis system, and a single-element probe. Using the latter probe, the hand is assembled through 12 mm trocars and is assessed in an in vivo experiment. Ultrasound echo sensing is found to retrieve diagnostic information regarding specific internal organs. It also visualizes the finger and its back during grasping, which can improve the safety of hand grasping and manipulation. Furthermore, ultrasound echo sensing can assist the measurement of the relative position and orientation of the two grasping fingers.
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