This paper investigates the in-hand manipulation capabilities of a compliant, underactuated planar robotic hand by treating the system as a simple, symmetric, 6-bar linkage mechanism with compliant joints. Although underactuated hands are generally not considered to be adept at dexterous tasks, we have found through past work that an underactuated manipulator can control n degrees of freedom wi...

This paper presents a tendon-driven dexterous hand capable of object manipulation. This dexterous hand is anatomically sound and mimics the musculoskeletal structure of human fingers including the passive mechanism, bone geometry, tendon network. One of the key features of this prosthetic hand is the ability to perform fine finger manipulation motions such as holding a pen with two fingers and ...

A novel concept called gesture-changeable under-actuated (GCUA) function is proposed to improve the dexterities of traditional under-actuated hands and reduce the control difficulties of dexterous hands. Based on the GCUA function, a new humanoid robot hand, GCUA Hand is designed and manufactured. The GCUA Hand can grasp different objects self-adaptively and change its initial gesture dexterous...

We propose an efficient physics-based method for dexterous ’real hand’-’virtual object’ interaction in Virtual Reality environments. Our method is based on the Coulomb friction model, and we show how to efficiently implement it in a commodity VR engine for realtime performance. This model enables very convincing simulations of many types of actions such as pushing, pulling, grasping, or even de...

This paper proposes H, an anthropomorphic prosthesis hand with 5 fingers and human hand size. It consists of the combination of direct actuated and underactuated system for a dexterous grip. The H also has modularized 2 DOF of MCP mechanism in a thumb for power grip. The adduction-abduction and antepositon-retroposition movements are generated by this structure of thumb which is the function of...

This paper presents the mechanical design for a new five fingered, twenty degree-of-freedom dexterous hand patterned after human anatomy and actuated by Shape Memory Alloy artificial muscles. Two experimental prototypes of a finger, one fabricated by traditional means and another fabricated by rapid prototyping techniques, are described and used to evaluate the design. An important aspect of th...

Novel tools for existing robotic surgical systems present opportunities for exploring improved techniques in minimally invasive surgery. Specifically, intraoperative ultrasonography is a tool that is being used with increased frequency, yet has limitations with existing laparoscopic systems. The purpose of this study was to develop and to evaluate a new ultrasound system with the da Vinci Surgi...

Dexterous hand movements can be restored with motor rehabilitative training after a lesion of the lateral corticospinal tract (l-CST) in macaque monkeys. To maximize effectiveness, the optimal time to commence such rehabilitative training must be determined. We conducted behavioral analyses and compared the recovery of dexterous hand movements between monkeys in which hand motor training was in...