This letter presents the design, prototype and kinematic model of a new adaptive underactuated finger with an articulated skin/surface that is able to bend and, at same time, provides active rolling motion along its central axis while keeping configuration (see Fig. 1). The design based on planar chain overlapping spherical phalanxes are tendon-driven. has surface made external hollow universal...

Hand-harvesting parameters and postharvest marketability attributes of fresh-market blackberries ( Rubus L. subgenus Watson) were characterized to develop a prototype for soft-robotic gripper robotic harvesting. A custom-made, force-sensing apparatus attached the thumb fingers person hand-harvesting was developed quantify forces used harvest identify appendages Four cultivars grown in Arkansas ...

Abstract. The characterization of flexible joints robotic underactuated fingers allows the investigation finger flexion trajectories using a tendon-driven actuation. In this paper, TPU 3D printed used in fingers, is experimentally and numerically performed. Since mechanical properties materials are uncertain, research helps to define characteristics terms stiffness. role stiffness for control f...

The neural-based control of a robotic hand has many clinical and engineering applications. Current approaches to this problem have been limited due to a lack of understanding of the relationship between neural signals and dynamic finger movements. Here, we present a technique to predict index finger joint angles from neural signals recorded from the associated muscles. The neural signals are co...

Robotic prosthetic hands can help perform the intended sophisticated movements of upper limb, which assist amputees to their daily activities. Although a robotic hand be controlled in real-time using user’s electromyography (EMG), directly reflects motion intention, some important EMG signals are usually lost owing muscle deficiency. This study proposes activity estimator that is inspired by sy...

The design of robotic gripper fingers is a complex process and often requires significant effort time. This paper investigates method to automatically generate new iterations the finger as well validate its performance in simulation environment. A Computer-Aided Design (CAD) software platform physics-based framework are deployed work tandem redesign an initial aiming at reducing overall time co...

This letter proposes a novel pneumatic soft robotic hand that incorporates mechanism can switch the airflow path using single control. The developed control finger motion and operate surface friction variable mechanism. In mechanism, lubricant is injected onto high-friction to reduce friction. To inject lubrication positive-pressure airflow, Venturi effect applied. design evaluation of airflow-...

The human hand has a fantastic ability to interact with various objects in the dynamic unstructured environment of our daily activities. We believe that this outstanding performance benefits lot from unique biological features musculoskeletal system. In Part I article, bio-inspired anthropomorphic robotic finger was developed, based on which two human-finger-like biomechanical advantages were e...