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In this paper, we present a hand rehabilitation system for patients suffering from paralysis or contracture. It consist of two components: a hand rehabilitation machine, which moves human finger joints using motors, and a data glove, which enables controlling the movement of the finger joints attached to the rehabilitation machine. The machine is based on the arm structure type of hand rehabilitation...
Based on the underactuated theory, a pneumatic underactuated bionic hand with five fingers is designed. Every finger of the hand is driven by a group of micro cylinders in parallel. The knuckle angle is totally decided by the shape of the grasped object. The expressions of the grab forces are stated after the static and kinematic calculations. The grasp patterns derived from force analysis show the...
The dynamics of human-machine interactions can vary from simple to complex. It spans a range that go from basic rule-based serial stimulus-response exchanges to more realistic bi-directional interactions that evolve in real-time according to (possibly) complex laws. Increasingly, a subset of such systems, those between humans and humanoid robots has been drawing more scrutiny because of their potential...
This paper describes a development of bio-mimetic robot hands and its control scheme. Each robot hand has four under-actuated fingers, which are driven by two linear actuators coupled. According to the study of the human hand, it is noted that coupled muscles (flexor and extensor muscle) generate the finger motion. Each fingertip can reach toward objects by curved surface workspace in 3D-space. The...
This work shows the accomplishment of a full integration of a biomimetic 2 ?? 2 tactile array and related electronics in an artificial fingertip. The technological approach is based on merging 3D MEMS sensors and skin-like artificial materials that are moulded mimicking human epidermal ridges. Experimental results using a mechatronic tactile stimulator for indenting periodic gratings (spatial periodicity...
The present study investigated the influence of obstacles that differed in size on a pick-and-place movement. The aim was to investigate movement constraints imposed by obstacle avoidance. The experimental results confirmed that different obstacles affected movement kinematics of the pick-and-place movement as did the direction in which the movement had to be performed. Temporal movement parameters...
This paper analyzes static grasp stability of multiple planar objects. To accomplish tasks efficiently, multiple objects are grasped and manipulated by a robot hand. In order to design stable grasp, grasp stability of multiple objects is quantitatively evaluated. Each finger is replaced with a 2D spring model, and the grasp stability is evaluated from the viewpoint of potential energy stored in the...
We present simultaneous estimation of the shape and the mechanical impedance of unknown surfaces using a robotic finger with a resonant end-effector. To effectively estimate the mechanical impedance of unknown surfaces, the resonant mechanical part is located on the last digit, which has a force sensor on its fingertip. The force sensor, which is used as a surface detector to sense the reaction force...
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...
In this paper, we have furnished our ideas about this fully Biomimetric Mars Robot i.e. it has been designed based on the creatures that are still existent or extinct. This effectively adds to the quality of the robot. This robot is capable of taking the design of three different creatures, namely: a bird, a dinosaur and a rat. This robot has the feet of a bird, leg of a dinosaur and the body of a...
This paper presents a novel approach for palmprint verification system using Moire pattern. From the collected high-resolution palmprint images in our database, we find that the ridges near the ring finger root and little finger root are similar to fingerprint, which can serve as patterns to identify person. The concept of Moire pattern is introduced to define the global features of the fingerprint,...
We have already proposed a novel method to provide human tactile sensation using surface acoustic wave (SAW). A pulse modulated driving voltage excites temporal distribution of standing SAW. The distribution generates friction shift on the surface of a SAW substrate. When the surface with burst SAW is explored, the friction shift can be perceived as tactile sensation at mechanoreceptors in the finger...
This paper aims to give some proofs validating that the new proposed 1-DOF motion-coupling anthropomorphic fingers (in reference) can imitate the human finger's motion well and to find the advantage and disadvantage of the new fingers. The geometry-based kinematics and the statics of all the four 1-DOF six-link motion-coupling fingers are deduced, the parameters of these fingers are defined through...
This paper proposed a novel concept of indirect under-actuation with tendon-slider mechanism. A mechanical finger with the mechanism was designed and integrated into a humanoid robotic hand-TH-2T Hand. The tendon-slider under-actuated finger proves simple but works well. In the design of the finger, the reaction force against a slider in the base segment produced by the grasped object was adopted...
Grasping and handling delicate objects with robotic systems could be done by force closure method which needs a sophisticated control capable of providing stable grasping of the object with minimum possible normal force. It is a common practice among researchers to simplify dynamic of system by assumpssions such as permanent contact or incipient slip condition between object and gripper. Although...
Compared with traditional dexterous humanoid robotic hands, underactuated robotic hands have the advantages of self-adaptive grasp and easy real-time control. In this paper, the development of a novel underactuated robotic hand is presented. This hand has five fingers and through using underactuation, the self-adaptability of each finger is achieved. This underactuated humanoid robotic hand can accomplish...
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