Control philosophy and simulation of a robotic hand as a model for prosthetic hands

2002 ◽  
Author(s):  
T. Iberall ◽  
G. Sukhatme ◽  
D. Beattie ◽  
G. Bekey
Keyword(s):  
Robotic Hand ◽  
Prosthetic Hands

A simplified model of a multi-jointed mechanical finger calibrated with experimental data by vision system

2021 ◽  
Vol 235 (1) ◽  
pp. 164-175
Author(s):  
C Cosenza ◽  
V Niola ◽  
S Savino
Keyword(s):  
Experimental Data ◽  
Vision System ◽  
Control Strategies ◽  
Image Correlation ◽  
Robotic Hand ◽  
Prosthetic Device ◽  
Prosthetic Hands ◽  
Mechanical Hand ◽  
Free Mode ◽  
Mechanical Finger

The development of suitable models for mechanical fingers, whether they are part of prosthetic device or of a robotic hand, is a powerful tool to predict the behaviour of their components since the early stages of design, especially for underactuated mechanisms. Experimental data can improve the reliability of such models and promote their application to build proper control strategies especially for prosthetic hands. Here, we have developed a multi-jointed model of a mechanical finger. The finger is part of the Federica hand: an underactuated mechanical hand that was conceived for prosthetic purpose. The model accounts for friction phenomena in the finger and it is tuned with experimental data acquired through a digital image correlation device. The model allowed us to write kinematics relations of the phalanges and evaluate finger configurations in relation to the closure velocity. Moreover, it was possible to estimate the tendon force and the work analysis occurring during the closure tasks, both in free mode and in presence of objects.

Development of Myoelectric Robotic/Prosthetic Hands with Cybernetic Control at the Biological Systems Engineering Laboratory, Hiroshima University

2019 ◽  
Vol 31 (1) ◽  
pp. 27-34 ◽  
Author(s):  
Toshio Tsuji ◽  
Taro Shibanoki ◽  
Go Nakamura ◽  
Akira Furui ◽  
◽  
...  
Keyword(s):  
Systems Engineering ◽  
Muscle Synergy ◽  
Robotic Hand ◽  
Generation Model ◽  
Motion Generation ◽  
Engineering Technology ◽  
Living Body ◽  
Prosthetic Hands ◽  
Complementary Approach ◽  
Cybernetic Control

This review introduces our developed robotic/prosthetic hands and explains the myoelectric control of the robotic hand with five fingers, which is based on muscle synergy and a motion generation model. To realize a “human-like” robotic hand, it is necessary to fully understand the inherent features of human as well as machine and take a complementary approach with hardware that incorporates advanced engineering technology and software that is compatible with a living body.

scholarly journals Design of a Robotic Hand With a Biologically-Inspired Parallel Actuation System for Prosthetic Applications

2010 ◽  
Author(s):  
Anthony L. Crawford ◽  
Alba Perez-Gracia
Keyword(s):  
Flexor Digitorum Profundus ◽  
Human Hand ◽  
Robotic Hand ◽  
Direct Relation ◽  
Task Execution ◽  
Biologically Inspired ◽  
Prosthetic Hands ◽  
Actuation System ◽  
Flexor Digitorum ◽  
Behavior Strength

This paper presents the design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the behavior/strength space of the Flexor Digitorum Profundus (FDP) and the Flexor Digitorum Superficialis (FDS) muscles. The design separates the strength space of the FDS and FDP muscles into a lighter strength region where finer manipulation and general approach tasks are executed, and a higher strength region where the more robust grasps are achieved. Two parallel actuator types and kinematic structures are designed to complement the requirements of both strength space regions. This unique structure is intended to be driven by electromyographical (EMG) signals captured at the surface of the skin. The direct relation between signal and actuation system lends itself well to interpreting the EMG signals from the FDP and FDS muscles into effective task execution, with the goal of helping the user to achieve a good approximation of the full capabilities associated with the human hand, without compromising strength, dexterity, appearance, or weight; which are common issues associated with prosthetic hands.

Technical and economic analysis of certain types of service robots

2020 ◽  
Vol 19 (10) ◽  
pp. 1965-1986
Author(s):  
T.A. Komkina ◽  
M.A. Nikonova ◽  
M.G. Dubinina
Keyword(s):  
Dynamic Models ◽  
Unit Price ◽  
Service Robots ◽  
Technical Level ◽  
Positive Correlation ◽  
Technical Indicators ◽  
Technical Parameters ◽  
Prosthetic Hands ◽  
Remotely Piloted Aircraft ◽  
Aircraft System

Subject. The article analyzes development trends in certain types of service robots, namely, hybrid UAVs, bionic prosthetic hands, robotic vacuum cleaners. Objectives. We focus on identifying the main trends in the development of certain types of service robots, building dynamic models of their technical indicators and models of dependence of their price and weight on absolute characteristics and technical parameters. Methods. The study employs methods of correlation and multiple regression analysis. The data of the IFR, the Remotely Piloted Aircraft System, and websites of robot manufacturers serve as the informational basis of the paper. Results. The modeling unveils positive correlation between the integrated indicator of the technical level of hybrid UAVs of convertiplane type and the wingspan. The analysis of modern bionic prosthetic hands shows that the developers focus on optimizing the structure of the prosthetic, however, as the functions of the hand improve, the weight of bionic hand increases. The main factors influencing the price of robot vacuum cleaners are their power, weight, and operating hours. Conclusions. The unit price of a complex indicator of the technical level of hybrid UAVs is lower than the corresponding indicator of fixed-wing UAVs, reflecting a greater efficiency of hybrid UAVs. The analysis of technical indicators of robotic prosthetics (using the case of bionic hands) shows that any improvement of functional characteristics leads to deterioration of weight. The analysis of technical and economic indicators of robotic vacuum cleaners reveals a positive correlation between the price and weight, operating hours and power.

Bone Fracture Reduction Surgery-aimed Bone Connection Robotic Hand

2021 ◽  
Vol 18 (2) ◽  
pp. 333-345
Author(s):  
Jianxing Yang ◽  
Yan Xiong ◽  
Xiaohong Chen ◽  
Yuanxi Sun ◽  
Wensheng Hou ◽  
...  
Keyword(s):  
Bone Fracture ◽  
Fracture Reduction ◽  
Robotic Hand

Design of an Underactuated Robotic Hand

2020 ◽  
Author(s):  
Yingchong Zhao ◽  
Qujiang Lei ◽  
Jiaxun Liu ◽  
Yukai Qiao ◽  
Xiuhao Li ◽  
...  
Keyword(s):  
Robotic Hand
Sign in / Sign up

Export Citation Format

Share Document