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This paper presents a highly integrated underactuated anthropomorphic finger with three joints and two DOFs using a novel coupled-adaptive linkage mechanism. The finger has two main motion modes: coupled motion in free space and self-adaptive motion when contacting with the object. Compared with conventional prosthetic finger, the combination of these two motion modes improves the anthropomorphic...
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,...
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...
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...
Developing autonomous mobile robot system has been a hot topic in AI area. With recent advances in technology, autonomous robots are attracting more and more attention worldwide, and there are a lot of ongoing research and development activities in both industry and academia. In complex ground environment, obstacles positions are uncertain. Path finding for robots in such environment is very hot issues...
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...
An easily prepared “turn‐on”‐type fluorescent chemosensor for mercury based on Rhodamine‐B, which exhibits high sensitivity and selectivity over other metal ions in aqueous systems, was obtained. The distinctive wavelengths in the UV/Vis absorption range can sense Hg2+, Cu2+, and Fe3+ separately. Furthermore, this “turn‐on”‐type fluorescent sensor, upon the addition of Hg2+ over other competitive...
A physics-based lumped-parameter model for the cylinder pressure evolution during the compression stroke in Flex-Fuel Direct-Injection (DI) engines is developed in this paper. The proposed model captures the fuel vaporization process for ethanol-gasoline fuel blends and the associated charge cooling effect. In addition, a detection residue is introduced to process cylinder pressure measurements under...
A sensitive biosensor based on localized surface plasmon resonance of gold nanorods is fabricated to detect streptavidin. Gold nanorods are immobilized on glass through BSA-biotin instead of chemisorbed method. The detection limit is 1 muM.
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