Thing is a robotic hand with three digits, a pronating opposable thumb, and a 2 D.O.F. wrist. Designed to more accurately model human hand positioning and grasping capabilities than previous models, Thing is controlled by a flex-sensor-equipped glove which relays the user’s finger positions by means of flex sensors. It will also, by time of publication, incorporate an image-processing system fo...

This paper presents a proposal for a twelve degrees of freedom robotic hand system controlled via haptic technology with force control and force feedback. This robotic hand can be used in hazardous environment, deserted places, or aerospace. To achieve this goal, an experimental set up in addition to a computer simulation of this robotic hand system have been carefully designed and built. The e...

Humans, many animals, and certain robotic hands have deformable fingertip pads [1, 2]. Deformable pads have the advantage of conforming to the objects that are being touched, ensuring a stable grasp for a large range of forces and shapes. Pad deformations change with finger displacements during touch. Pushing a finger against an external surface typically provokes an increase of the gross conta...

The adaption of robotic assembly lines to new products is generally slow and costly, binding the economical usage a single line few manufactured in masses. An important time factor robot's gripper fingers product components - since finger design, production, mounting done manually. In this letter, we introduce an approach for automatic task-specific fingertip production application. Our system ...

It is difficult to generate the action of stably pinching paper or needle, etc. with the finger tips, which is one of the important functions to be realized by humanoid robot hands. In this paper, therefore, the authors firstly propose a small-sized and light-weight robotic hand designed according to the concept of extracting required minimum motor functions and implementing them to the robot, ...

Rehabilitation of the hands is critical for the restoration of independence in activities of daily living for individuals exhibiting disabilities of the upper extremities. There is initial evidence that robotic devices with force-control-based strategies can help in effective rehabilitation of human limbs. However, to the best of our knowledge, none of the existing hand exoskeletons allow for a...

This thesis presents the preliminary work in the development of a biomimetic actuation mechanism for prosthetic and wearable robotic hand applications. This work investigates the use of novel artificial muscle technology, namely, shape memory alloys. The mechanism developed is based on the combination of compliant tendon cables and one-way shape memory alloy wires that form a set of agonist–ant...

Stable myoelectric control of hand prostheses remains an open problem. The only successful human-machine interface is surface electromyography, typically allowing control of a few degrees of freedom. Machine learning techniques may have the potential to remove these limitations, but their performance is thus far inadequate: myoelectric signals change over time under the influence of various fac...

The design and realization of multifingered hands is an important research topic in the robotic community and it has been widely studied since the mid 80s. Despite the initial purpose in developing such devices was to overcome the lack of flexibility of traditional end-effectors, nowadays one of the driving issues is to mimic the humans hand capabilities and, more in general, to improve their l...

Stroke is a significant contributor to global mortality and disability, it typically classified as neurological disorder. A key component of stroke rehabilitation improving upper limb function reduce impairments disabilities their impact on activities daily living. In the last few years, robot-assisted therapy (RT) arises novel expanding approach in poststroke rehabilitation, which utilizes rob...