Corpus ID: 17406742

A “ Wearable ” Artificial Hand for Prosthetics and Humanoid Robotics Applications

  title={A “ Wearable ” Artificial Hand for Prosthetics and Humanoid Robotics Applications},
  author={Maria Chiara Carrozza and Bruno Massa and Silvestro Micera and Massimiliano Zecca}
An " ideal " artificial hand should match the requirements of prosthetics and humanoid robotics. It can be wearable by the user which means that it can be perceived as part of the natural body and should replicate sensory-motor capabilities of the natural hand. However, such an ideal bionic prosthesis is still far from reality. This paper describes the design and fabrication of a novel artificial hand based on a " biomechatronic " and cybernetic approach. Our approach is aimed at providing… 
Development of an anthropomorphic hand for a mobile assistive robot
In this paper the mechanism, design, and control system of a new humanoid-type hand with human-like manipulation abilities is discussed. The hand is designed for the humanoid robot which has to work
New design of one motor driven under actuated humanoid hand
The proposed hand is an under- actuated mechanism having a total number of 15 degrees of freedom (DOF) and driven by only one motor and allowing the selection of which phalanx is able to move or not.
The Mechanical Design and Experiments of HIT/DLR Prosthetic Hand
It was verified from experimentations, the hand has strong capability of self adaptation, can accomplish precise and power grasp for objects with complex shape, and has been greatly improved from HIT-ARhand.
Mutual Adaptation in a Prosthetics Application
Prosthetic care for handicapped persons requires new and reliable robotics technology. In this paper, developmental approaches for prosthetic applications are described. In addition, the challenges
The Development on a New Biomechatronic Prosthetic Hand Based on Under-actuated Mechanism
  • Hai Huang, Li Jiang, +6 authors G. Hirzinger
  • Engineering, Computer Science
    2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2006
It has been verified by experiments that the hand has strong capability of self-adaptation grasp and can accomplish precise and power grasp.
Human mimetic forearm mechanism towards bionic arm
The paper presents a mechanical forearm mechanism to extend the pronation and supination (P/S) movement of the trans-radial amputee when he/she is able to conduct the P/S motion partially with
RAMA-1 highly dexterous 48DOF robotic hand using magnetic spherical joints
This paper presents the design of a highly dexterous 48 dof robotic hand, believed to be the robotic hand with the highest degree of freedom till date.
Control of a hand prosthesis using mixed electromyography and pressure sensing
During the last years, new technologies approaches have helped to develop realistic robotic hands for prosthetic use. Even so, the strategies to control them (input signals, prediction algorithms)
Variable Stiffness Robotic Hand for Stable Grasp and Flexible Handling
The main objective of this paper is to realize an affordable, as well as durable, adaptable, and compliant gripper for industrial environments with a larger interval of stiffness variability than similar existing systems.
Towards the Rationalization of anthropomorphic Robot Hand Design: Extracting Knowledge from Constrained Human Manual Dexterity Testing
In this work, we take a new approach to the determination of the quantified contribution of various attributes of the human hand to its dexterity, with the aim of transposing this knowledge into


Design and control of a robotic finger for prosthetic hands
  • Sang-Fun Baek, Seung-Hi Lee, J. H. Chang
  • Engineering, Computer Science
    Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)
  • 1999
The results of simulation and experiment are presented to show that the proposed robotic finger is fit for a prosthetic hand.
Development of a three-fingered robotic hand-wrist for compliant motion
  • K. Nagai, Yasuomi Eto, D. Asai, M. Yazaki
  • Computer Science
    Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)
  • 1998
Discusses development of a multifingered hand-wrist mechanism for compliant motion and basic experimental results are described to investigate part of the performance of the developed mechanism and the force sensor.
MARCUS: a two degree of freedom hand prosthesis with hierarchical grip control
An important factor in the acceptance of a prosthesis is the ease with which the wearer can operate the device. Multiple degrees of freedom of a prosthesis are difficult to control independently and
The design and development of a gloveless endoskeletal prosthetic hand.
The design and development of a novel prosthetic hand that is lighter in weight, less expensive, and more functional than current hands is reported, featuring an endoskeleton embedded in self-skinning foam that provides a realistic look and feel and obviates the need for a separate cosmetic glove.
Design methodology for a multifunctional hand prosthesis.
It is noted that identical flexion angles of the finger joints were obtained for these two prehension patterns, the difference being in the inclination angle of the thumb's plane of flexion.
Functional effectiveness of a myo-electric prosthesis compared with a functional split-hook prosthesis: A single subject experiment
  • P. Agnew
  • Medicine
    Prosthetics and orthotics international
  • 1981
Clinical evidence suggested suitability of the myoelectric prosthesis with sensory feedback for some other functional tasks, and a first order autoregressive model for making inferences about the two sets of data was found to be functionally better than the myo-electric prosthesis.
Dynamic contact of the human fingerpad against a flat surface.
  • D. Pawluk, R. Howe
  • Materials Science, Medicine
    Journal of biomechanical engineering
  • 1999
A model based on the contact of a rigid plane and a linear viscoelastic sphere, modified to include a nonlinear modulus of elasticity, can account for the principal features of the distributed pressure response.
Clinical evaluation of a new, above-elbow, body-powered prosthetic arm: a final report.
The results demonstrated that the AdVAntage Arm could be fit for use by persons with transhumeral, and even with forequarter, amputation, and it was recommended for commercial production and availability, upon prescription, to appropriate veteran beneficiaries.
Robot hands and the mechanics of manipulation
  • S. Gruber
  • Engineering
    Proceedings of the IEEE
  • 1987
What do you do to start reading robot hands and the mechanics of manipulation? Searching the book that you love to read first or find an interesting book that will make you want to read? Everybody
Robotic grasping and fine manipulation
1. Introduction.- 2. Previous Investigations of Fine Manipulation and Grasping.- 2.1 Fine Motion and Control.- 2.2 Robotic Wrists.- 2.3 Applications to Assembly and Surface Finishing Tasks.- 2.3.1