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A novel biped robot that can climb poles, trusses and trees for high-rise missions has been recently developed. Consisting of an arm as the main body and two grippers mounted at the two ends as the end-effectors, the robot has both climbing function and manipulating function. One key issue with the robot is that its gripper must grasp the object firmly to support the whole robot when it performs climbing...
A five-fingered, multi-sensory biomechatronic hand with sEMG interface is presented. The cambered palm is specially designed to enhance the stability while grasping. The location of the thumb is designed by maximizing interaction area between the thumb and other fingers. The opposite thumb could grasp along a cone surface, while maintaining its function. By taken the advantage of coupling linkage...
This paper presents a method for object shape recognition and the real-time grasping of unknown plane objects only using the positions information of robotic hand fingers. We aim to recover the shape, position and orientation of the grasped object by random five grasping points and the vision system in Cartesian space. A highly intelligent information fusion model which is combined with the expert...
This paper presents a novel approach toward the inverse kinematics solution of the humanoid robot fingers with nonlinearly coupled joints, a challenging problem existing for years. Under an assumption that the coupled joint angles of the finger are the same, we first derive an approximate closed-form solution of the finger's inverse kinematics. Then, utilizing the approximate solution as the ancillary...
Designed based on the underactuated mechanism, HIT/DLR Prosthetic Hand is a multi-sensory flve-flngered bio- prosthetic hand. Similarly with adult's hand, it is simple constructed and comprises 13 joints. Three motors actuate the thumb, index finger and the other three fingers each. Actuated by a motor, the thumb can move along cone surface, which resembles human thumb and is superior in the appearance...
A five-fingered underactuated prosthetic hand controlled by surface EMG (electromyographic) signals is presented in this paper. The prosthetic hand is designed with simplicity, lightweight and dexterity on the requirement of anthropomorphic hands. Underactuated self-adaptive theory is adopted to decrease the number of motors and weight. The fingers of the hand with multi phalanges have the same size...
This paper presents a five-fingered underactuated prosthetic hand controlled by surface electromyographic (EMG) signals. The prosthetic hand control part is based on an EMG motion pattern classifier which combines variable learning rate (VLR) based neural network with parametric autoregressive (AR) model and wavelet transform. This motion pattern classifier can successfully identify flexion and extension...
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