Multifingered robotic hands are attempts to approximate human hand characteristics and functionality, and it is reasonable to consider their possible adaptation and use in prosthetics and rehabilitation. The Belgrade/USC robot hand is used as a prototype prosthetic hand in order to evaluate a system that translates task-level commands into motor commands. Our system, PRESHAPE, uses the virtual ...

The evolution of the prehensile tail illustrates the impact habitat can have on structural traits. Prehensile primates are able to support their entire body weight using only their tail, which opens up new feeding opportunities in their arboreal environments. This trait evolved separately in two families of New World monkeys. A transitional behaviour in its proposed evolutionary mechanism is ta...

Ideomotor apraxia (IM) is a disorder of skilled action characterized by spatiotemporal errors in pantomiming object use and in using objects. Recent evidence suggests that at least some patients with IM may exhibit particular deficits in forming hand configurations appropriate for object use. Sirigu et al. [Cortex 31 (1995) 41] reported an apraxic who positioned her hand inappropriately when at...

We present a method for fast and accurate physics-based predictions during non-prehensile manipulation planning control. Given an initial state sequence of controls, the problem predicting resulting states is key component variety model-based control algorithms. propose combining coarse (i.e. computationally cheap but not very accurate) predictive physics model, with fine expensive to generate ...

The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered this paper. main motivation comes from the problem ensuring convergence to so-called point-to-point maneuver underactuated mechanical system. Namely, smooth curve its state--control space, which consistent with dynamics and connects two (lin...

In automated assembly, before parts can be put together, they often have to be appropriately oriented and positioned. The device performing this task is generally referred to as a part feeder. A new class of devices for non-prehensile distributed manipulation, such as MEMS actuator arrays, vibrating plates, etc., provide an alternative to traditional mechanical platforms for part feeding. These...

We introduce a reconfigurable underactuated robot hand able to perform systematic prehensile in-hand manipulations regardless of object size or shape. The utilizes two-degree-of-freedom five-bar linkage as the palm gripper, with three three-phalanx fingers, jointly controlled by single actuator, connected mobile revolute joints palm. Three actuators are used in system total, one for controlling...

Prehensile tails, capable of suspending the entire body weight of an animal, have evolved in parallel in New World monkeys (Platyrrhini): once in the Atelinae (Alouatta, Ateles, Brachyteles, Lagothrix), and once in the Cebinae (Cebus, Sapajus). Structurally, the prehensile tails of atelines and cebines share morphological features that distinguish them from nonprehensile tails, including longer...

This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation is derived using declutter graph (DG) which describes the relationship among decluttering by leveraging semantic segmentation and grasp affordances networks. formulation allows robots efficiently workspace autonomous...