In order to effectively develop the control methods of an anthropomorphic robotic hand, it is important for researchers to have fast and easy access to modify any design parameters. To this end, we detail the process of designing a 20 degrees of freedom, cable-driven, anthropomorphic robotic hand. The prototyping process makes the most of 3D printing technology, and takes important factors such...

This paper presents a complete processing chain for decoding intracranial data recorded in the cortex of a monkey and replicates the associated movements on a JACO robotic arm by Kinova. We developed specific modules inside the OpenViBE platform in order to build a Brain-Machine Interface able to read the data, compute the position of the robotic finger and send this position to the robotic arm...

This paper presents an anthropomorphic robotic finger that is composed of three biomimetic joints whose biomechanics and dynamic properties are close to their human counterparts. By using five pneumatic cylinders, the robotic finger is actuated through a series of simplified antagonistic tendons whose insertion points and moment arms at each joint are inherited from the anatomy of the human fin...

Commercially available robotic grippers are often expensive and not easy to modify for specific purposes of robotics research and education. To extend the choice of robotic end effectors available to researchers, this paper presents the preliminary work on prototype design and analysis of a three-finger underactuated robotic end effector with a breakaway clutch mechanism suitable for research i...

This paper presents the implementation of a robust grasp mapping between a 3-finger haptic device (master) and a robotic hand (slave). Mapping is based on a grasp equivalence defined considering the manipulation capabilities of the master and slave devices. The metrics that translate the human hand gesture to the robotic hand workspace are obtained through an analytical user study. This allows ...

Humanoid robotic mechanisms are widely utilized to improve the efficiency and speed of industrial applications. The field is improving with the current tendency towards custom 3D printing and advancements in wearable technology. A method and an implementation to replicate the human finger movements in a vertical plane, using a robotic hand is presented in this paper. A wearable remote controlle...

A novel category of humanoid robotic hands: COSA (Coupled and Self-Adaptive) hand is introduced in this paper. If a hand is called the COSA hand, which means that the fingers of the hand grasps objects with a special COSA grasping mode, which includes two processes, first is a coupled grasping process, then the second is a self-adaptive grasping process. The COSA grasping mode can take many adv...

The purpose of this paper is to design and optimize an intelligent fuzzy-logic controller for a three-degree of freedom (3DOF) artificial finger with shape-memory alloy (SMA) wire actuators. The robotic finger is constructed using three SMA wires as tendons to bend each phalanx of the finger around its revolute joint and three torsion springs which return the phalanxes to their original positio...

A number of robotic exoskeletons are being developed to provide rehabilitation interventions for those with movement disabilities. We present a systematic framework that allows for virtual prototyping (i.e., design, control, and experimentation (i.e. design, control, and experimentation) of robotic exoskeletons. The framework merges computational musculoskeletal analyses with simulation-based d...