The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
We present a new multi-touch touch screen which is developed by mounting a 4-DOF planar force feedback device on an ordinary PC monitor. The new touch screen, FingViewer, enables users to operate virtual objects intuitively on the screen with their fingers as well as obtain 4-DOF force feedback including grasp. The force feedback effects and their potential applications to a touch screen are presented...
This research deals with computing the non-Gaussianity in Surface Electromyogram signal (sEMG) using Negative entropy and Kurtosis values. The signal was acquired from three different finger and wrist actions at four different levels of Maximum Voluntary Contractions (MVCs). Our experimental analysis shows that at constant force and for non-fatiguing contractions, probability density function (pdf)...
Nowadays, the developments are very essential, which allow to replace the human work by automation means. Devices, their properties and features, investigated here, are capable to lighten the human work, secure it and release human resources.
This paper presents a new design of an arm exoskeleton using shape memory alloy wires and springs embedded in fabric and taking the form of a sleeve. The device is intended to facilitate everyday life tasks by providing the user with an easily operated lift aiding device. The “SMA Aiding Sleeve” will bring extra lifting power to various classes of users (medical and non-medical). This paper presents...
Design of a novel under-actuated finger was proposed in this paper. The coupled gesture-changeable finger overcomes disadvantages of two convenient kinds of under-actuated finger: coupled finger and self-adaptive finger. Decided by different grasping targets, the finger's operation process is divided into three kinds: coupled only process, self-adaptive only process and coupled self-adaptive process...
This paper proposes a novel design of a hand exoskeleton System. The optimisation of the exoskeleton device (link lengths, actuation) was achieved through the procedure targeting the natural finger workspace and capabilities. To define the design requirements of the hand exoskeleton device, an analysis of the hand daily life common activities has been carried out. Range of motion, maximum and average...
A methodology for setting the reference value of a grasping force when a multi-finger robotic hand grasps and lifts up an object without knowing its characteristic weight, coefficient of static friction, and stiffness was devised. The grasping force must be set to avoid dropping or deforming the object. To fulfill this requirement, the methodology measures object characteristics by detecting the moment...
Stroke patients and so on can't use their hands because of the paralysis of their fingers. Their fingers can be recovered by rehabilitating training, and the rehabilitating extent can be judged by grasping a spherical object. At present, the used the object in hospital is only a spherical object, and can't measure the force of fingers. Therefore, doctors judge the rehabilitating extent by touching...
This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which accomplishes both active and passive rehabilitation training. In the passive mode control the PID control algorithm is executed in the velocity mode of the driver. In the active mode control, control architecture is proposed to deal with in both free space and constraint space. A resistance compensation...
In this paper we investigate the key factors associated with the realization of a hand exoskeleton that could be embedded in an astronaut glove for EVA (Extra Vehicular Activities). Such a project poses several and varied problems, mainly due to the complex structure of the human hand and to the extreme environment in which the glove operates. This work provides an overview of existing exoskeletons...
We have already developed a haptic device using flexible sheet such as rubber. This device varies sheet compliance by controlling tension applied to the sheet: stretched sheet feels hard, and loose sheet feels soft. Hence a user can feel different compliance of virtual objects when he pushes the sheet directly with his finger. In the present study we propose a new haptic device which can move, expand...
A new dexterous hand is designed and produced. The shape and structure of the dexterous hand is described, focused on analyzing the layout of tendons and the optimization of the joint radius. Furthermore, a single finger is controlled by Fuzz-PID with model compensation and the good control precision is achieved. Through the study on the single finger control, the master-slave control of the dextrous...
This paper reports the preliminary development of a capacitive accelerometer that possesses high sensitivity and broad dynamic range simultaneously. Our idea of improving these two conflicting requirements is to incorporate positive and negative feedbacks into the system, inspired by the operation mechanisms of the inner ear hair cells. The positive feedback selectively amplifies small inputs but...
Haptic modality is one of the most important issues in man-machine communication. This paper introduces a personal identification technique based on force information of finger tracing that can be used for advanced man-machine communication systems. Compared to other biometric methods, the proposed method has an advantage of high security due to the invisible feature of force information. Experimental...
The combination between stereo visualization and force feedback will have great application field. The accuracy of hand space position is a serious important question. A virtual environment systems, with string based haptic and immersive visualization, are constructed. An iterative method for calculating hand space position is proposed. This method has the higher accuracy than the elimination method...
Research on grasping force optimization of dexterous robot hand is an important topic in manipulation planning, it is an effective way to improve the grasping precision and save energy. Based on the force manipulability ellipsoid of manipulator, this paper defines force directional manipulability of multi-fingered dexterous hand. On the condition that the operational configuration is known, and taking...
The purpose of this paper was to provide additional information about the use of force in a fingerprint recognition system. Instead of looking just at the relationship between force and performance, this paper examines not only that relationship, but also examines image quality, biometric sub-system processing time, as well as subjects comfort levels. The results of this paper show that for this particular...
Gripping is a very important function in daily life and there will be a best form for gripping for each person. If the form is best, then it will contain some information about the physical and mental condition of the person, and there might be some common mathematical formulas by which we can describe the best form to each person. Such concept as to best fit everybody may be the concept of universal...
This design presents a low cost implementation of an integrated polyfinger robotic arm equipped with a feedback sensor mechanism through strain gauge that is governed by discrete fuzzy algorithm. This work seeks to develop a robotic hand which can be combined with a high fidelity data glove interface to allow teleoperation tasks to be performed via wireless channel. So far we have successfully implemented...
This paper introduces a study aimed to help quantify the benefits of limited-performance force-feedback user input devices for space telemanipulation with a dexterous robotic arm. A teleoperated robotic hand has been developed for the European Space Agency by the German Aerospace Center (DLR) for a lunar rover prototype. Studies carried out on this telerobotic system investigated several criteria...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.