相关论文: Biomimetic Control of Myoelectric Prosthetic Hand …

Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…

A human-shaped robotic hand offers unparalleled versatility and fine motor skills, enabling it to perform a broad spectrum of tasks with precision, power and robustness. Across the paleontological record and animal kingdom we see a wide…

This work proposes a new kinematics of a myoelectric hand prosthesis with a single actuator, allowing to realize the tridigital grip but also the lateral grip. Inspired by tridigital prostheses, which are simpler, more robust and less…

One of the main causes of long-term prosthetic abandonment is the lack of ownership over the prosthesis, caused mainly by the absence of sensory information regarding the lost limb. One strategy to overcome this problem is to provide…

Clinical myoelectric prostheses lack the sensory feedback and sufficient dexterity required to complete activities of daily living efficiently and accurately. Providing haptic feedback of relevant environmental cues to the user or imbuing…

Individuals who use myoelectric upper-limb prostheses often rely heavily on vision to complete their daily activities. They thus struggle in situations where vision is overloaded, such as multitasking, or unavailable, such as poor lighting…

For lower arm amputees, prosthetic hands promise to restore most of physical interaction capabilities. This requires to accurately predict hand gestures capable of grabbing varying objects and execute them timely as intended by the user.…

Following the recent advances in the field of robotic hand development, it can be inferred that the greatest challenge lies in restoring not just general functionality, but the delicate dexterity of the human hand. Results from studying its…

Precise and elegant coordination of a prosthesis across many degrees of freedom represents a significant challenge to efficient rehabilitation of people with limb deficiency. Processing the electrical neural signals, collected from the…

Although myoelectric prosthetic hands provide amputees with intuitive control, their reliance on many EMG sensors limits accessibility and makes them complex and expensive. To address this problem, this work presents a different perspective…

Surface electromyography is a valid tool to gather muscular contraction signals from intact and amputated subjects. Electromyographic signals can be used to control prosthetic devices in a noninvasive way distinguishing the movements…

In human-robot interactions, eye movements play an important role in non-verbal communication. However, controlling the motions of a robotic eye that display similar performance as the human oculomotor system is still a major challenge. In…

This paper presents the flexible RIM Hand, a biomimetic robotic hand that precisely replicates the carpometacarpal (CMC) joints and employs superelastic Nitinol wires throughout its skeletal framework. By modeling the full…

Tendon-driven anthropomorphic robotic hands often lack direct joint angle sensing, as the integration of joint encoders can compromise mechanical compactness and dexterity. This paper presents a computational method for estimating joint…

Enabling robots to grasp and reposition human limbs can significantly enhance their ability to provide assistive care to individuals with severe mobility impairments, particularly in tasks such as robot-assisted bed bathing and dressing.…

Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. This is achieved by coupling the motion of the prosthesis to the human command, such as the residual limb…

This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired…

Robot hands that imitate the shape of the human body have been actively studied, and various materials and mechanisms have been proposed to imitate the human body. Although the use of soft materials is advantageous in that it can imitate…

This paper presents a bionic reflex control strategy for a kinematically constrained robotic finger. Here, the bionic reflex is achieved through a force tracking impedance control strategy. The dynamic model of the finger is reduced subject…

While myoelectric control has recently become a focus of increased research as a possible flexible hands-free input modality, current control approaches are prone to inadvertent false activations in real-world conditions. In this work, a…