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Human level of dexterity has not been duplicated in a robotic form to date. Dexterity is achieved in part due to the biomechanical structure of the human body and in part due to the neural control of movement. We have developed an anatomically correct testbed (ACT) hand to investigate the importance and behavioral consequences of anatomical features and neural control strategies of the human hand...
In this paper we present our low-level software framework that allows human neuromuscular properties and behaviors to be programmed modularly onto biologically inspired prosthetic devices. Specifically this software framework is used at the lowest level of the anatomically correct testbed (ACT) hand. It abstracts away from the robotic details and allows users including biologists to program individual...
With the goal of developing biologically inspired manipulation strategies for an anthropomorphic hand, we investigated how the human central nervous system utilizes the hands redundant neuromusculoskeletal biomechanics to transition between conditions. Using a experiment protocol where subjects were asked to transit between control states with equal end-effector force but different stiffness requirements,...
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