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Since it is difficult to obtain a closed-form solution of inverse-kinematics for a humanoid robot hand with coupled joints due to its nonlinearity induced by trigonometric transcendental function, most solutions achieved in early studies were numerical ones. In this paper, an inverse-kinematics algorithm based on the power series is presented, by which the nonlinear equation including trigonometric...
It is known that the muscles actuate human hand joints with a coordinated manner and the hand postures can be reconstructed by a few (usually two) inputs through postural synergies, which has been applied in robotic hand design for reproducing the human versatile grasp function. As for the mechanical implementation, in terms of the joints implemented postural synergies, due to the excessive number...
The purpose of this paper is to demonstrate the design and control performance of a modular biomechatronic prosthetic hand especially with an anthropomorphic cosmesis. The hand has a total of 11 joints actuated by six motors. Each digit (2 joints, DIP and MCP, coupled) is integrated with the actuator, the transmission mechanism, the sensors and the controller as a modular unit easily to be installed,...
Due to the hand biomechanical constrains and coordinate manner of motor control, single one joint is difficult to move independently. The aim of this paper is to have an analysis on the joint independence of hand and wrist. At first, a grasp experiment under the tolerance grasping was completed, and the hand and wrist joint angles in different grasping postures were recorded for representing the functionality...
In order to improve the prosthetic hand's design and usability, this paper presents a synthetic framework for evaluating the current prosthetic hands' anthropomorphic features with 12 quantified prosthetic hand anthropomorphism evaluation indexes (QPHAEIs). Our primary results show that a global anthropomorphic score (GAS) of the current commercial prosthetic hands is only 45.2%. The compliance, coupling...
A multi-finger dynamics model has been presented in this study, which contains a single finger dynamics model equation and a restraint equation between fingers based on Lagrangian multiplier controller. To validate the model, an EtherCAT master and slave platform has been developed based on FPGA. Meanwhile, the multi-finger dynamics algorithm has been designed in the TwinCAT. Finally, the experiments...
This paper presents a multi-DOF and multisensory prosthetic hand (HIT V prosthetic hand) with five modular fingers. The hand has a total of 11 joints, which are actuated by 6 intrinsic DC motors. Each digit (2 joints, DIP and MCP, coupled) is driven separately by a motor within the proximal phalange, while the trapeziometacarpal (TM) joint of the thumb is specially devised with an additional actuation...
This paper presents a novel hand motion recognition method to achieve the volitional control of a multi-DOF prosthetic hand. Based on the principle that the pressure distributions on the surface of forearm caused by the muscular activities are different when different hand motions are performed, a human-machine interface (HMI) composed of 32 force sensitive resistor (FSR) sensors, measurement unit...
A five-fingered, multi-sensory and biomimetic prosthetic hand is presented in this paper. The HIT-Hand is a multisensory and integrated five fingered hand with in total 11 DOFs. The hand has five fingers and each of them can be driven individually by the embedded actuation and control system fitted in the palm. Each finger has 2 DOFs and two joints, the two joints are mechanically coupled by a cable...
Dynamic grasping force control for a multi-fingered robot hand is proposed and investigated in this paper. The grasping force of the finger is dynamically adjusted according to the three-axis tactile feedback so that each fingertip force always stays inside the friction cone detected by the fingertip three-axis tactile sensor without any undesired slip nor detaching from the object while grasping...
A common source for controlling hand prosthesis is the myoelectric signal (MES, also termed electromyography, EMG) that are collected from human body. For a pattern recognition-based EMG control scheme, research has found that the classification accuracy obtained offline may deteriorate owing to signal instinct or changed environment, which results in a reduced system stability. Based on support vector...
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...
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