A novel metamorphic anthropomorphic hand is for the first time introduced in this paper. This robotic hand has a reconfigurable palm that generates changeable topology and augments dexterity and versatility of the hand. Structure design of the robotic hand is presented and based on mechanism decomposition kinematics of the metamorphic anthropomorphic hand is characterized with closed-form solut...

The growing interest in the use of parallel kinematic machines (PKM) in machining applications requires clear determination of the workspace, dexterity and stiffness. This paper deals with the issues regarding the use of PKM as micro machine tools. Comparison criteria are set and a quantitative analysis is made to compare the characteristics of serial and parallel kinematics with respect to the...

In this paper, we introduce DA$^2$, the first large-scale dual-arm dexterity-aware dataset for generation of optimal bimanual grasping pairs arbitrary large objects. The contains about 9M parallel-jaw grasps, generated from more than 6000 objects and each labeled with various grasp dexterity measures. addition, propose an end-to-end evaluation model trained on rendered scenes dataset. We utiliz...

Comorbidity and medication adherence Poor adherence to the prescribed therapy is highly prevalent in older patients. Prevailing evidence suggests that age per se should not be considered as a risk factor for poor adherence [2]. Lower educational level, less affluent economic status, cognitive/physical impairment, being assisted by foreign caregivers, and some chronic diseases, such as chronic r...