The concept of dexterity and its dimensions have been difficult to define through the years, and various research communities have different definitions of dexterity. In this paper, we present a novel approach to understand people’s perception of dexterity and its different dimensions in daily tasks. The approach entails a video-based survey where people score different tasks along pre-specifie...

In this paper, three translational parallel manipulators, i.e., the RAF, the 3UPU and the Delta, are analyzed for dexterity and workspace. First, the geometric models for these three robots were investigated to determine their respective workspaces. The kinematic models are also derived to calculate the global dexterity of each robot. A multi-objective optimization, where the global dexterity i...

The dexterity of a manipulator with passive joints, also known as an underactuated manipulator, differs from the dexterity of a fully actuated one, even if their mechanical structures are identical. Therefore, for fault tolerance and energy saving purposes, it is important to study the dexterity of underactuated manipulators. The purpose of this work is to quantify the dexterity of underactuate...

In the scientific literature, there is much evidence of a relationship between age and dexterity, where increased age is related to slower, less nimble and less smooth, less coordinated and less controlled performances. While some suggest that the relationship is a direct consequence of reduced muscle strength associated to increased age, there is a lack of research that has systematically inve...

BACKGROUND Clinical features of Charcot-Marie-Tooth disease type 1A (CMT1A) include slowly progressive distal muscle weakness, atrophy and sensory loss. Upper-limb involvement results in reduced manual dexterity interfering with the execution of daily activities. OBJECTIVE To identify which hand function impairments are determinants of manual dexterity in CMT1A. METHODS In a cross-sectional...

STUDY DESIGN Review paper. INTRODUCTION Hand dexterity is multifaceted and essential to the performance of daily tasks. Timed performance and precision demands are the most common features of quantitative dexterity testing. Measurement concepts such as rate of completion, in-hand manipulation and dynamic force control of instabilities are being integrated into assessment tools for the pediatr...