Development of Joint Flexion Mechanism with Myoelectric Prosthetic Hand for Stable Grasp in Power Grasp and Precision Grasp

Grasp Recognition From Myoelectric Signals

Current myoelectric prosthetic hands enable the user to enact a simple grasp with a strength proportional to the contraction of certain muscle groups. This paper discusses the development of a system that will allow complex grasp shapes to be identified based on natural muscle movement. The application of this system can be extended to a general device controller where input is obtained from fo...

Grasp Planning for Precision Manipulation by Multifingered Robotic Hand

This paper describes a model-based grasp planner for an articulated multi-fingered robotic hand. The planner searches for an initial grasp from which a required continuous motion of an object is achieved using fingertips alone while keeping rolling contact with the object. An adaptive search strategy has been developed and implemented : the error analysis of the failed grasp is made to find the...

Crossed four-bar mechanism for improved prosthetic grasp.

Passive linkages were developed to improve grasp functionality and minimize a prosthetic terminal device's number of user-controlled inputs. The linkages act to stabilize grasped objects and substitute for the palp of normal anatomical fingers. The Southampton Hand Assessment Procedure was used to compare the normal anatomical hand, this prototype, and a commercially available (Hosmer) hook. In...

Grasp Planning for a Humanoid Hand

We focus on grasp planning for a humanoid multi-fingered hand attached at the tip of a humanoid robot’s arm. The hand has potential possibility to grasp various objects under several situations. Since the multi-fingered hand can use several grasp types such as fingertip grasp, and envelope grasp with taking the advantage of degrees of freedom. We develop grasp planner which selects a feasible g...

Grasp.