Related papers: Beyond Humanoid Prosthetic Hands: Modular Terminal…
The creation of unique control methods for a hand prosthesis is still a problem that has to be addressed. The best choice of a human-machine interface (HMI) that should be used to enable natural control is still a challenge. Surface…
Human-robot physical interaction (pHRI) is a rapidly evolving research field with significant implications for physical therapy, search and rescue, and telemedicine. However, a major challenge lies in accurately understanding human…
This paper addresses the scarcity of affordable, fully-actuated five-fingered hands for dexterous teleoperation, which is crucial for collecting large-scale real-robot data within the "Learning from Demonstrations" paradigm. We introduce…
This paper presents the SABD hand, a 16-degree-of-freedom (DoF) robotic hand that departs from purely anthropomorphic designs to achieve an expanded grasp envelope, enable manipulation poses beyond human capability, and reduce the required…
Adjusting to amputation can often time be difficult for the body. Post-surgery, amputees have to wait for up to several months before receiving a properly fitted prosthesis. In recent years, there has been a trend toward quantitative…
Autonomous grasping remains challenging as unlike humans, robots do not possess a sophisticated sensing nor delicate interaction capability with the real environment. Among other efforts that tried to close the gap between them,…
One of the most important research challenges in upper-limb prosthetics is enhancing the user-prosthesis communication to closely resemble the experience of a natural limb. As prosthetic devices become more complex, users often struggle to…
The electromyography (EMG) signal is the electrical manifestation of a neuromuscular activation that provides access to physiological processes which cause the muscle to generate force and produce movement. Non invasive prostheses use such…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
Upper-extremity amputees who use myoelectric prostheses currently lack the haptic sensory information needed to perform dexterous activities of daily living. While considerable research has focused on restoring this haptic information,…
The development of robotic grippers and hands for automation aims to emulate human dexterity without sacrificing the efficiency of industrial grippers. This study introduces Rotograb, a tendon-actuated robotic hand featuring a novel…
Intuitive control of prostheses relies on training algorithms to correlate biological recordings to motor intent. The quality of the training dataset is critical to run-time performance, but it is difficult to label hand kinematics…
The design and evaluation of a robotic prosthesis for a drummer with a transradial amputation is presented. The principal objective of the prosthesis is to simulate the role fingers play in drumming. This primarily includes controlling the…
Despite the growth of physically assistive robotics (PAR) research over the last decade, nearly half of PAR user studies do not involve participants with the target disabilities. There are several reasons for this -- recruitment challenges,…
A challenging and important problem for tendon-driven multi-fingered robotic hands is to ensure grasping adaptivity while minimizing the number of actuators needed to provide human-like functionality. Inspired by the Pisa/IIT SoftHand, this…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…
Purpose of Review: As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available…
General-purpose robotic end-effectors of limited complexity, like the parallel-jaw gripper, are appealing for their balance of simplicity and effectiveness in a wide range of manipulation tasks. However, while many such manipulators offer…
A robotic hand design suitable for dexterity should be examined using functional tests. To achieve this, we designed a mechanical glove, which is a rigid wearable glove that enables us to develop the corresponding isomorphic robotic hand…
Mobile manipulators for indoor human environments can serve as versatile devices that perform a variety of tasks, yet adoption of this technology has been limited. Reducing size, weight, and cost could facilitate adoption, but risks…