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This paper presents the latest results in developing an anthropomorphic dextrous hand for a 2-years-old humanoid. As this robot is aimed to be a physical platform for cognition, the number of degrees of freedom of the upper part of the body has been maximized. The robotic hand has 20 DoFs and 9 motors to accomplish optimal grasping and manipulation. Based(More)
—An anthropomorphic underactuated prosthetic hand, endowed with position and force sensors and controlled by means of myoelectric commands, is used to perform experiments of hierarchical shared control. Three different hierarchical control strategies combined with a vibrotactile feedback system have been developed and tested by able-bodied subjects through(More)
An anthropomorphic underactuated prosthetic hand, endowed with position and force sensors and controlled by means of myoelectric commands, is used to perform experiments of hierarchical shared control. Three different hierarchical control strategies combined with a vibrotactile feedback system have been developed and tested by able-bodied subjects through(More)
The aim of this paper was to analyse the feasibility of using a sensorised glove as a tool for the assessment of hand function in persons with orthopedic disorders such as rhizoarthrosis. A glove embedding 20 Hall-effect sensors was used for this purpose. Its performance in terms of repeatability were preliminary investigated in order to define an effective(More)
In this paper, we presented a sensorized thumb based on a matrix of piezoresistive force sensors, with an acquisition unit and a special wearing support. The sensor was calibrated and then the device was tested during different tasks simulating activities of daily living performed by seven able-bodied subjects. By means of these experiments, we verified(More)
In this paper, some recent results about the experimental trials we are performing on a functional prosthetic hand characterized by an EMG-control and by a simple and low cost fabrication technology are shown. The innovation described in this paper is the fabrication of a compliant under-actuated prosthetic hand. The structure of the hand (both palm and(More)
This paper presents recent results aimed at developing a functional prosthetic hand characterized by an EMG-control and by a simple and low cost fabrication technology. In order to overcome some limitations of current prosthetic hands mainly related to the poor functionality and controllability, the prosthetic hand has been designed following a(More)
The paper presents a controller for a multi-fingered underactuated prosthetic hand based on tendon transmission. The control architecture is implemented in two subsequent and different phases. The first one is the pre-shaping of the hand, based on the grasp type is implemented by stand-alone motion controllers using PID position control algorithms. The(More)
In the recent past, several researchers have shown that important variables in relearning motor skills and in changing the underlying neural architecture after stroke are the quantity, duration, content, and intensity of training sessions. Unfortunately, when traditional therapy is provided in a hospital or rehabilitation center, the patient is usually seen(More)
This paper presents the design methods followed in order to overcome the limits of the current prosthetic hands. The prosthesis biomechatronic approach arises from the knowledge of the biological system, assumed validated by its natural evolution. Nevertheless, the state of the art of technology, actuators, sensors, electronics and software, forces some(More)