In this letter, we present a novel inverse kinematics (IK) solution for robotic arm-hand system to achieve precision grasp. This problem is kinematically over-constrained and address the issue solve problem, propose new approach with three key insights. First, human-inspired thumb-first strategy consider one finger of hand as “thumb” narrow down search space increase success rate our algorithm....

A two-channel, portable, battery operated, functional electrical stimulation (FES) system with surface electrodes to enhance grasping in tetraplegics was developed and tested. This system is meant for tetraplegics capable of grasping by tenodesis. Candidates for this system must retain some wrist extension, and have paralyzed but innervated finger flexors, and nearly normal shoulder and elbow c...

Manipulation planning relies on anticipatory processes, aimed at achieving the desired goal state, such as a grasp. This implies that peripersonal space is remapped to the anticipated grasp posture on the targeted object. Vibrotactile-visual interactions were probed at different times during a grasp-and-place task. Thumb or index finger were stimulated concurrently with a visual distractor on t...

We report a case of Klinefelter's syndrome owing to maternal meiotic error associated with triphalangeal thumb and delta phalanx bilaterally. There are no previous reports of similar cases and triphalangism with delta phalanx abnormalities of both thumbs might therefore be considered a further, but rare, manifestation of this aneuploidy.

INTRODUCTION In classic mechanics, degrees of freedom (DOF) are defined as the minimum number of independent coordinates needed to describe a system’s position. The human musculoskeletal system has many mechanical DOF through which countless movements are accomplished. However, natural movements are characterized by the coordination of the DOF such that few vary independently. The concept of fu...

There are three main theories on how human grasping movements are controlled. Two of them state that grip aperture and the movement of the hand are controlled. They differ in whether the wrist or the thumb of the hand is controlled. We have proposed a third theory, which states that grasping is a combination of two goal-directed single-digit movements, each directed at a specific position on th...

Mechanical and neurological couplings exist between musculotendon units of the human hand and digits. Studies have begun to understand how these muscles interact when accomplishing everyday tasks, but there are still unanswered questions regarding the control limitations of individual muscles. Using intramuscular electromyographic (EMG) electrodes, this study examined subjects' ability to indiv...