相关论文: Continuous Wrist Control on the Hannes Prosthesis:…
The control of multi-fingered dexterous prosthetics hand remains challenging due to the lack of an intuitive and efficient Grasp-type Switching Interface (GSI). We propose a new GSI (i-GSI) t hat integrates the manifold power of…
Dexterous prosthetic hands have better grasp performance than traditional ones. However, patients still find it difficult to use these hands without a suitable control system. A new hybrid myoelectric control system, termed i-MYO, is…
Natural muscles provide mobility in response to nerve impulses. Electromyography (EMG) measures the electrical activity of muscles in response to a nerve's stimulation. In the past few decades, EMG signals have been used extensively in the…
For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with slipping and singular hand configurations, excessive…
This paper builds on our previous work by exploiting Artificial Intelligence to predict individual grip force variability in manual robot control. Grip forces were recorded from various loci in the dominant and non dominant hands of…
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…
In the world of upper limb prostheses, few companies dominate the majority of the market. They propose different kinds of hand, wrist and elbow prostheses but their control is often difficult to understand by the patients. We have decided…
Individuals with hand paralysis resulting from C6-C7 spinal cord injuries frequently rely on tenodesis for grasping. However, tenodesis generates limited grasping force and demands constant exertion to maintain a grasp, leading to fatigue…
An overview of the applications of control theory to prosthetic sense organs including the senses of vision, taste and odor is being presented in this paper. Simulation aspect nowadays has been the centre of research in the field of…
In Physical Human--Robot Interaction (pHRI) grippers, humans and robots may contribute simultaneously to actions, so it is necessary to determine how to combine their commands. Control may be swapped from one to the other within certain…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
An arm amputation is extremely invalidating since many of our daily tasks require bi-manual and precise control of hand movements. Perfect hand prostheses should therefore offer a natural, intuitive and cognitively simple control over their…
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…
Restoration of hand function is one of the highest priorities for SCI populations. In this work, we present a prototype of a robotic assistive orthosis capable of implementing tenodesis user control. The underactuated device provides active…
Drones are conventionally controlled using joysticks, remote controllers, mobile applications, and embedded computers. A few significant issues with these approaches are that drone control is limited by the range of electromagnetic…
Noninvasive human-machine interfaces such as surface electromyography (sEMG) have long been employed for controlling robotic prostheses. However, classical controllers are limited to few degrees of freedom (DoF). More recently, machine…
The presence of post-stroke grasping deficiencies highlights the critical need for the development and implementation of advanced compensatory strategies. This paper introduces a novel system to aid chronic stroke survivors through the…
A novel concept of vision-based intelligent control of robotic arms is developed here in this work. This work enables the controlling of robotic arms motion only with visual inputs, that is, controlling by showing the videos of correct…