Anthropological, behavioural, and cultural characteristics of the human hand

2021 ◽  
pp. 339-344
Author(s):  
James Haeney
Keyword(s):  
Upper Limb ◽  
Verbal Communication ◽  
Human Hand ◽  
Cultural Characteristics ◽  
Early Vertebrates

The evolution of the form of the hand and upper limb from the early vertebrates to the mammalian limb and human hand is described. In addition to the functions of grasp, pinch, and sensibility, the hand has an important role in non-verbal communication and development.

Design and experiment of a modular multisensory hand for prosthetic applications

2017 ◽  
Vol 44 (1) ◽  
pp. 104-113 ◽  
Author(s):  
Bo Zeng ◽  
Shaowei Fan ◽  
Li Jiang ◽  
Hong Liu
Keyword(s):  
Contact Force ◽  
Upper Limb ◽  
Impedance Control ◽  
Transmission Mechanism ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Control Performance ◽  
Content Type ◽  
Multiple Sensors ◽  
Modular Unit

Purpose This paper aims to present the design and experiment of a modular multisensory prosthetic hand for applications. Design and experiment of a modular multisensory hand for prosthetic applications. Design/methodology/approach This paper reveals more details focusing on the appearance, mechanism design, electrical design and control of the prosthetic hand considering anthropomorphism, dexterity, sensing and controllability. The finger is internally integrated with the actuator, the transmission mechanism, the sensors and the controller as a modular unit. Integrated with multiple sensors, the prosthetic hand can not only perceive the position, the contact force and the temperature of the environment like a human hand but also provide the foundation for the practical control. Findings The experiments show that the prosthetic hand can accurately control the contact force to achieve stable grasps based on the sensors feedback and a simple and effective force-tracking impedance control algorithm. In addition, the experiments based on the cosmesis validate not only the cosmesis functionality but also the control performance for a prosthesis–cosmesis system. Practical implications Because of the small size, low weight, high integration, modularity and controllability, the prosthetic hand is easily applied to upper-limb amputees. Meanwhile, the finger as a modular unit is easy to be fixed, maintained and applied to a partial upper-limb amputee. Originality/value Each modular finger of the prosthetic hand integrated with the actuator, the transmission mechanism, the sensors and the controller as a whole can independently control the position and the force. The cosmetic glove design can provide pretty appearance without compromising the control performance.

scholarly journals Design of Multiple Wearable Robotic Extra Fingers for Human Hand Augmentation

Robotics ◽  
2019 ◽  
Vol 8 (4) ◽  
pp. 102 ◽  
Author(s):  
Monica Malvezzi ◽  
Zubair Iqbal ◽  
Maria Cristina Valigi ◽  
Maria Pozzi ◽  
Domenico Prattichizzo ◽  
...  
Keyword(s):  
Upper Limb ◽  
Manufacturing Process ◽  
Research Topic ◽  
Human Hand ◽  
Mechanical Resistance ◽  
External Disturbances ◽  
Passive Element ◽  
Single Finger ◽  
Differential Mechanism ◽  
Potential Applications

Augmenting the human hand with robotic extra fingers is a cutting-edge research topic and has many potential applications, in particular as a compensatory and rehabilitation tool for patients with upper limb impairments. Devices composed of two extra fingers are preferred with respect to single finger devices when reliable grasps, resistance to external disturbances, and higher payloads are required. Underactuation and compliance are design choices that can reduce the device complexity and weight, maintaining the adaptability to different grasped objects. When only one motor is adopted to actuate multiple fingers, a differential mechanism is necessary to decouple finger movements and distribute forces. In this paper, the main features of a wearable device composed of two robotic extra fingers are described and analyzed in terms of kinematics, statics, and mechanical resistance. Each finger is composed of modular phalanges and is actuated with a single tendon. Interphalangeal joints include a passive elastic element that allows restoring the initial reference configuration when the tendon is released. The stiffness of each passive element can be customized in the manufacturing process and can be chosen according to a desired closure movement of the fingers. Another key aspect of the device is the differential system connecting the actuator to the fingers.

scholarly journals Developing a Prosthesis Design using A Gearbox to Replicate the Human Hand Mechanism

2020 ◽  
Vol 16 (2) ◽  
pp. 24-33
Author(s):  
Haneen Mahdi Jaber ◽  
Muhammed Abdul -Sattar ◽  
Nabel Kadhim Abd al-Sahib
Keyword(s):  
Polylactic Acid ◽  
Upper Limb ◽  
High Power ◽  
Manufacturing Process ◽  
Degrees Of Freedom ◽  
Gear Ratio ◽  
Human Hand ◽  
3D Printer ◽  
Research Activities ◽  
Artificial Hand

Prosthetic is an artificial tool that replaces a member of the human frame that is  absent because of ailment, damage, or distortion. The current research activities in Iraq draw interest to the upper limb discipline because of the growth in the number  of amputees. Thus, it becomes necessary to increase researches in this subject to help in reducing the struggling patients.  This paper describes the design and development of a prosthesis for people able and wear them from persons who have amputation in the hands. This design is composed of a hand with five fingers moving by means of a gearbox ism mechanism. The design of this artificial hand has 5 degrees of freedom. This artificial hand works based on the principle of  under actuated system. The used motor is 6V Polulu high-power carbon brush micro metal gearmotor with gear ratio equal to 50:1. The motor was chosen due to its compactness and cheapness. The hand manufacturing process was done using  a 3D printer and using polylactic acid material. Numbers of experiments were accomplished using the designed hand for gripping objects. Initially, the electromyography signal (EMG) was recorded when the muscle contracted in one second, two seconds, three seconds. The synthetic hand was able to produce a range of gestures and grasping for objects.

scholarly journals Smart Materials and Their Application in Robotic Hand Systems: A State of the Art

2021 ◽  
Vol 6 (2) ◽  
pp. 401-426
Author(s):  
Paola Andrea Castiblanco ◽  
José Luis Ramirez ◽  
Astrid Rubiano
Keyword(s):  
Upper Limb ◽  
Human Body ◽  
Smart Materials ◽  
State Of The Art ◽  
The State ◽  
Soft Robotics ◽  
Human Hand ◽  
Artificial Muscles ◽  
Robotic Hand ◽  
Robotic Devices

The use of soft robotics and smart materials for the design of devices that help the population in different tasks has gained a rising interest. Medicine is one of the fields where its implementation has shown significant advances. However, there are works related to applications, directed to the human body especially in replacement of devices for the upper limb. This document aims to explore the state of the art relating to the study of soft robotics, the implementation of smart materials, and the artificial muscles in the design or construction of hand prostheses or robotic devices analogous to the human hand.

scholarly journals Engenharia de Reabilitação: Mão Antropomórfica Controlada por Sinais Eletromiográficos

2016 ◽  
Author(s):  
Gerson Jorge S. Suzart
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Upper Limb ◽  
Human Hand ◽  
Robotic Device ◽  
Hand Amputation ◽  
Artificial Neural

This article proposes to initiate studies to create a robotic device for people with hand amputation, to a certain degree of the upper limb at the level of the elbow, controlled by muscle stimuli captured by electromyographic sensors. The main objective of this study was to collect the characteristics of the EMG signals for pre stipulated movements, recognizing the patterns of these movements by Artificial Neural Network, to develop a prosthetic model that intentionally involves the anthropomorphism of the hand, with respect to functional, that is, able to move So that if similar or close to the human hand.

scholarly journals Concept, Design, Initial Tests and Prototype of Customized Upper Limb Prosthesis

2021 ◽  
Vol 11 (7) ◽  
pp. 3077
Author(s):  
Corina Radu (Frenț) ◽  
Maria Magdalena Roșu ◽  
Lucian Matei ◽  
Liviu Marian Ungureanu ◽  
Mihaiela Iliescu
Keyword(s):  
Control System ◽  
Upper Limb ◽  
Vertical Plane ◽  
Command And Control ◽  
Human Hand ◽  
Vector Method ◽  
Upper Limb Prosthesis ◽  
Geometric Precision ◽  
And Control ◽  
Command And Control System

This paper presents aspects of the concept and design of prostheses for the upper limb. The objective of this research is that of prototyping a customized prosthesis, with EMG signals that initiate the motion. The prosthesis’ fingers’ motions (as well as that of its hand and forearm parts) are driven by micro-motors, and assisted by the individualized command and control system. The software and hardware tandem concept of this mechatronic system enables complex motion (in the horizontal and vertical plane) with accurate trajectory and different set rules (gripping pressure, object temperature, acceleration towards the object). One important idea is regarding customization via reverse engineering techniques. Due to this, the dimensions and appearance (geometric characteristics) of the prosthesis would look like the human hand itself. The trajectories and motions of the fingers, thumbs, and joints have been studied by kinematic analysis with the matrix–vector method aided by Matlab. The concept and design of the mechanical parts allow for complex finger motion—rotational motion in two planes. The command and control system is embedded, and data received from the sensors are processed by a micro-controller for managing micro-motor control. Preliminary testing of the sensors and micro-motors on a small platform, Arduino, was performed. Prototyping of the mechanical components has been a challenge because of the high accuracy needed for the geometric precision of the parts. Several techniques of rapid prototyping were considered, but only DLP (digital light processing) proved to be the right one.

In Vitro Evaluation of Human Hand Tendon Ingrowth into A Synthetic Scaffold

2017 ◽  
Vol 22 (04) ◽  
pp. 429-434
Author(s):  
Shalimar Abdullah ◽  
Fadzlina Mohtar ◽  
Nordashima Abdul Shukor ◽  
Jamari Sapuan
Keyword(s):  
Growth Medium ◽  
Upper Limb ◽  
Collagen Matrix ◽  
Growth Characteristics ◽  
Human Hand ◽  
Synthetic Scaffold ◽  
Human Tendon ◽  
Crush Injuries ◽  
Tissue Approximation

Background: Synthetic scaffold has been used for tissue approximation and reconstructing damaged and torn ligaments. This study explores the ability of tendon ingrowth into a synthetic scaffold in vitro, evaluate growth characteristics, morphology and deposition of collagen matrix into a synthetic scaffold. Methods: Upper limb tendons were harvested with consent from patients with crush injuries and non-replantable amputations. These tendons (both extensor and flexor) measuring 1 cm are sutured to either side of a 0.5 cm synthetic tendon strip and cultured in growth medium. At 2, 4, 6 and 8 weeks, samples were fixed into paraffin blocks, cut and stained with haematoxylin-eosin (H&E) and Masson’s trichrome. Results: Minimal tendon ingrowth were seen in the first 2 weeks of incubation. However at 4 weeks, the cell ingrowth were seen migrating towards the junction between the tendon and the synthetic scaffold. This ingrowth continued to expand at 6 weeks and up to 8 weeks. At this point, the demarcation between human tendon and synthetic scaffold was indistinct. Conclusions: We conclude that tendon ingrowth composed of collagen matrix were able to proliferate into a synthetic scaffold in vitro.

Upper limb reconstructive transplantation in military recipients

2018 ◽  
Vol 104 (1) ◽  
pp. 6-11 ◽  
Author(s):  
C A Fries ◽  
H L Stark ◽  
D Tuder ◽  
S Iyer ◽  
V S Gorantla ◽  
...  
Keyword(s):  
Upper Limb ◽  
Sensory Function ◽  
Tissue Loss ◽  
Human Hand ◽  
Post Traumatic Stress ◽  
American Military ◽  
Current State ◽  
Reconstructive Transplantation ◽  
Medical Teams ◽  
Medical Advances

AbstractLessons from conflict have contributed to military medical advances which have significantly improved the survivability of critically injured servicemen and women. However, survival following such severe combat polytrauma is often associated with devastating tissue loss and functional deficits that challenge conventional reconstruction. Despite recent advances, upper extremity prosthetic alternatives lack the fidelity to restore the complex intrinsic and sensory function of the human hand. Upper Limb Reconstructive Transplantation, or Vascularised Composite Allotransplantation (VCA), is currently an experimental procedure offering superior anatomical and functional outcomes compared to prostheses.Military candidates for VCA usually enjoy high pre-morbid fitness, mental health resilience and support, and relatively rich provision of rehabilitation. However, co-morbidities of polytrauma, such as traumatic brain injury and post-traumatic stress disorder, may have an impact on outcomes.Since 1998, over 120 upper limb transplants have been performed worldwide. Of these, six have been performed on servicemen and women across three continents. The morbidity and mortality associated with the requirement for lifelong immunosuppression, however, continues to skew the risk-benefit considerations of these promising procedures when compared to prostheses. Thus, although the technical surgical feasibility of upper limb and other VCA such as face, abdominal wall, uterus and penis transplants has been established over the past decade, these procedures remain restricted to recipients fulfilling stringent inclusion criteria.We review the current state of VCA in military recipients, and summarise ongoing collaborative VCA research conducted by British and American military medical teams.

Analysis of Human Hand Kinematics: Reaching Upward Movement

2013 ◽  
Vol 432 ◽  
pp. 386-391
Author(s):  
Hisyam Abdul Rahman ◽  
Goh Chok How ◽  
Yeong Che Fai ◽  
Eileen Su Lee Ming
Keyword(s):  
Activities Of Daily Living ◽  
Upper Limb ◽  
Stroke Patient ◽  
Daily Living ◽  
Human Hand ◽  
Rehabilitation Robot ◽  
Upward Movement ◽  
Reaching Movement ◽  
Result Show ◽  
Upward Direction

Reaching movement is one of the important training for stroke patient to recover the impairment arm as this movement is critical for activities of daily living. A studied conducted to investigate the minimal requirement that a rehabilitation robot should have in order to train reaching movement in upward after the impairment arm start to overcome gravity. Result show some convex, linear and concave trajectory during reaching movement in upward direction depended on the level of the target distance. This study can be applied for designing a new simpler or improvement of the existing rehabilitation robot to train the upper limb for stroke patient.

scholarly journals Feasibility and Performance Validation of a Leap Motion Controller for Upper Limb Rehabilitation

Robotics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 130
Author(s):  
Marcus R. S. B. de Souza ◽  
Rogério S. Gonçalves ◽  
Giuseppe Carbone
Keyword(s):  
Upper Limb ◽  
Industrial Robot ◽  
Human Hand ◽  
Leap Motion ◽  
Tracking Accuracy ◽  
Motion Controller ◽  
Upper Limb Rehabilitation ◽  
Leap Motion Controller ◽  
Limb Rehabilitation ◽  
Accuracy And Repeatability

The leap motion controller is a commercial low-cost marker-less optical sensor that can track the motion of a human hand by recording various parameters. Upper limb rehabilitation therapy is the treatment of people having upper limb impairments, whose recovery is achieved through continuous motion exercises. However, the repetitive nature of these exercises can be interpreted as boring or discouraging while patient motivation plays a key role in their recovery. Thus, serious games have been widely used in therapies for motivating patients and making the therapeutic process more enjoyable. This paper explores the feasibility, accuracy, and repeatability of a leap motion controller (LMC) to be applied in combination with a serious game for upper limb rehabilitation. Experimental feasibility tests are carried out by using an industrial robot that replicates the upper limb motions and is tracked by using an LMC. The results suggest a satisfactory performance in terms of tracking accuracy although some limitations are identified and discussed in terms of measurable workspace.

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