The Influence of the Abduction Joints of Four Fingers to Grasp: Experimental and Simulated Verification

2021 ◽  
Vol 11 (24) ◽  
pp. 11960
Author(s):  
Yadong Yan ◽  
Chang Cheng ◽  
Mingjun Guan ◽  
Jianan Zhang ◽  
Yu Wang
Keyword(s):  
Success Rate ◽  
Hand Function ◽  
Great Influence ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Robotic Hand ◽  
Metacarpophalangeal Joints ◽  
Flexion Extension ◽  
Grasp Force ◽  
Grasp Quality

The thumb is the most important finger of the human hand and has a great influence on grasp manipulations. However, the extent to which joints other than the thumb joints affect the grasp, and thus, which joints should be included in a prosthetic hand, remains an open issue. In this paper, we focus on the metacarpophalangeal joints of the four fingers, except the thumb, which can generate flexion/extension and abduction/adduction motions. The contribution of these joints to grasping was evaluated in four aspects: grasp size, grasp force, grasp quality and grasp success rate. Six subjects participated in experiments with respect to the maximum grasp size and grasp force. The results show that possessing abduction mobility of the metacarpophalangeal joints can increase the grasp size by 4.67 ± 1.93 mm and the grasp force by 5.27 ± 4.25 N. Then, the grasping quality and success rate were tested in a simulation platform and using a robotic hand, respectively. The results show that grasp quality was promoted by 76.7% in the simulated environment with abduction mobility compared to without abduction mobility, whereas the grasp success rate was promoted by 68.3%. We believe that the results of this work can benefit the understanding of hand function and prosthetic hand design.

Optimal grasp force for robotic grasping and in-hand manipulation with impedance control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Xiaoqing Li ◽  
Ziyu Chen ◽  
Chao Ma
Keyword(s):  
Degrees Of Freedom ◽  
Impedance Control ◽  
Difficult Problem ◽  
Contact Forces ◽  
Design Parameters ◽  
Robotic Hand ◽  
Content Type ◽  
Cone Constraint ◽  
Grasp Force ◽  
Grasp Quality

Purpose The purpose of this paper is to achieve stable grasping and dexterous in-hand manipulation, the control of the multi-fingered robotic hand is a difficult problem as the hand has many degrees of freedom with various grasp configurations. Design/methodology/approach To achieve this goal, a novel object-level impedance control framework with optimized grasp force and grasp quality is proposed for multi-fingered robotic hand grasping and in-hand manipulation. The minimal grasp force optimization aims to achieve stable grasping satisfying friction cone constraint while keeping appropriate contact forces without damage to the object. With the optimized grasp quality function, optimal grasp quality can be obtained by dynamically sliding on the object from initial grasp configuration to final grasp configuration. By the proposed controller, the in-hand manipulation of the grasped object can be achieved with compliance to the environment force. The control performance of the closed-loop robotic system is guaranteed by appropriately choosing the design parameters as proved by a Lyapunove function. Findings Simulations are conducted to validate the efficiency and performance of the proposed controller with a three-fingered robotic hand. Originality/value This paper presents a method for robotic optimal grasping and in-hand manipulation with a compliant controller. It may inspire other related researchers and has great potential for practical usage in a widespread of robot applications.

On the design of robotic hands for brain–machine interface

2006 ◽  
Vol 20 (5) ◽  
pp. 1-9 ◽  
Author(s):  
Yoky Matsuoka ◽  
Pedram Afshar ◽  
Michael Oh
Keyword(s):  
Brain Machine Interface ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Robotic Hand ◽  
Neural Signals ◽  
Robotic Hands ◽  
Intimate Contact ◽  
Machine Interface ◽  
Optimal Approach ◽  
And Control

✓ Brain–machine interface (BMI) is the latest solution to a lack of control for paralyzed or prosthetic limbs. In this paper the authors focus on the design of anatomical robotic hands that use BMI as a critical intervention in restorative neurosurgery and they justify the requirement for lower-level neuromusculoskeletal details (relating to biomechanics, muscles, peripheral nerves, and some aspects of the spinal cord) in both mechanical and control systems. A person uses his or her hands for intimate contact and dexterous interactions with objects that require the user to control not only the finger endpoint locations but also the forces and the stiffness of the fingers. To recreate all of these human properties in a robotic hand, the most direct and perhaps the optimal approach is to duplicate the anatomical musculoskeletal structure. When a prosthetic hand is anatomically correct, the input to the device can come from the same neural signals that used to arrive at the muscles in the original hand. The more similar the mechanical structure of a prosthetic hand is to a human hand, the less learning time is required for the user to recreate dexterous behavior. In addition, removing some of the nonlinearity from the relationship between the cortical signals and the finger movements into the peripheral controls and hardware vastly simplifies the needed BMI algorithms. (Nonlinearity refers to a system of equations in which effects are not proportional to their causes. Such a system could be difficult or impossible to model.) Finally, if a prosthetic hand can be built so that it is anatomically correct, subcomponents could be integrated back into remaining portions of the user's hand at any transitional locations. In the near future, anatomically correct prosthetic hands could be used in restorative neurosurgery to satisfy the user's needs for both aesthetics and ease of control while also providing the highest possible degree of dexterity.

Design of a myoelectric prosthetic hand implementing postural synergy mechanically

2014 ◽  
Vol 41 (5) ◽  
pp. 447-455 ◽  
Author(s):  
Shunchong Li ◽  
Xinjun Sheng ◽  
Honghai Liu ◽  
Xiangyang Zhu
Keyword(s):  
Principal Component ◽  
Human Hand ◽  
Mechanical Transmission ◽  
Prosthetic Hand ◽  
Robotic Hand ◽  
Two Dimensional ◽  
Semg Signal ◽  
Content Type ◽  
Transmission Unit ◽  
Postural Synergies

Purpose – This paper aims to describe the design of a multi-degree of freedom (DOF) prosthetic hand prototype implementing postural synergy mechanically, which is actuated by two motors via a transmission unit, and is controlled using surface electromyography (sEMG) signal. Design/methodology/approach – First, an anthropomorphic robotic hand is designed to imitate the human hand. The robotic hand has 18 DOF, 12 of which are actively driven by Bowden cables. Next, a set of different grasp modes are performed on a “full actuation” robotic hand, and principal component analysis (PCA) method is used to extract the first two postural synergies. Then, they are used to design a differential pulley-based transmission unit using two independent inputs to drive 12 output tendons. Finally, two control signals extracted from six channels of sEMG signals are used to proportionally control the two motors for achieving hand posture synthesis. Findings – Using a differential pulley-based mechanical transmission unit to implement the synthesis of the first two postural synergies can make the prosthetic hand achieve different grasps by two motors, such as power, precision and lateral grasps. It is also feasible to control this “two actuation” prosthetic hand by relating the two-dimensional sEMG inputs with the first two postural synergies. Originality/value – Mechanical implantation of postural synergies reduces the number of independent actuators without sacrificing the prosthetic hand’s versatility and simplifies its controller. Two-dimensional control extracted from sEMG is mapped into the combination coefficients of postural synergy synthesis. It shows potential application in the practical prosthetic hand.

scholarly journals Design and Development of Prosthetic Hand Controlled by Wireless Gestures for Differently-Able People

2020 ◽  
Vol 9 (4) ◽  
pp. 1132-1135
Keyword(s):  
Human Hand ◽  
Prosthetic Hand ◽  
Robotic Hand ◽  
Servo Motor ◽  
Design And Development ◽  
Similar Action ◽  
Analog Signals ◽  
3D Printed ◽  
Arduino Microcontroller ◽  
Flex Sensors

This paper focuses on the design and development of Prosthetic hand to help differently-able people who lost their hands due to accidents and diseases. Our research purpose is to develop a master and slave robotic system that will be a substitute for the lost hand to do the day-to-day activities of a person. The person has to wear smart gloves in the hand to do gesture action. The gloves will able to transfer the hand gestures of differently-able people to react suitably and move the hand gripper (which contains spring coils similar to bones in human hand) based on the data from smart gloves. The methodology behind this research is that the analog signals produced in the flex sensor due to the gesture action are transferred to the servo motors to do a similar action in the 3D printed prosthetic hand through the Wi-Fi module. This research project involves two Arduino microcontrollers for communicating and controlling applications in both master and slave sections. A number of flex sensors are placed in the glove to get readings of the motion of human fingers and it is transmitted through the Wi-Fi module by using the Arduino microcontroller. The transmitted signals are received by the Wi-Fi module in the slave section through the Arduino microcontroller and further uses this signal to control various servo motors and it controls the slave robotic hand by using the ropes attached between the servo motor and 3D printed parts. Not only for differently-able people, but the enlarged model of this project can also be used in industries to handle hazardous, harmful, high temperatures and harmful things.

Biomechatronic design and control of an anthropomorphic artificial hand for prosthetic applications

Robotica ◽  
2015 ◽  
Vol 34 (10) ◽  
pp. 2291-2308 ◽  
Author(s):  
Ting Zhang ◽  
Xin Qing Wang ◽  
Li Jiang ◽  
Xinyu Wu ◽  
Wei Feng ◽  
...  
Keyword(s):  
Low Cost ◽  
Feedback System ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Natural Motion ◽  
Flexion Extension ◽  
Artificial Hand ◽  
Human Finger ◽  
Electrical Stimulator ◽  
And Control

SUMMARYIn this paper, we propose a biomechatronic design of an anthropomorphic artificial hand that is able to mimic the natural motion of human fingers. The prosthetic hand has 5 fingers and 15 joints, which are actuated by 5 embedded motors. Each finger has three phalanges that can fulfill flexion-extension movements independently. The thumb is specially designed to move along a cone surface when grasping, and the other four fingers are well developed based on the four-bar link mechanism to imitate the motion of the human finger. To accomplish the sophisticated control schemes, the fingers are equipped with numerous torque and position sensors. The mechanical parts, sensors, and motion control systems are integrated in the hand structure, and the motion of the hand can be controlled through electromyography (EMG) signals in real-time. A new concept for the sensory feedback system based on an electrical stimulator is also taken into account. The low-cost prosthetic hand is small in size (85% of the human hand), of low weight (420 g) and has a large grasp power (10 N on the fingertips), hence it has a dexterous and humanlike appearance. The performance of the prosthetic hand is validated in a clinical evaluation on transradial amputees.

scholarly journals Model-based control of individual finger movements for prosthetic hand function

2019 ◽  
Author(s):  
Dimitra Blana ◽  
Antonie J. van den Bogert ◽  
Wendy M. Murray ◽  
Amartya Ganguly ◽  
Agamemnon Krasoulis ◽  
...  
Keyword(s):  
Clinical Success ◽  
Hand Function ◽  
Model Performance ◽  
Prosthetic Hand ◽  
Full Potential ◽  
Robotic Hand ◽  
Real Time Control ◽  
Prosthetic Devices ◽  
Computational Performance ◽  
Prosthesis Control

AbstractProsthetic devices for hand difference have advanced considerably in recent years, to the point where the mechanical dexterity of a state-of-the-art prosthetic hand approaches that of the natural hand. Control options for users, however, have not kept pace, meaning that the new devices are not used to their full potential. Promising developments in control technology reported in the literature have met with limited commercial and clinical success. We have previously described a biomechanical model of the hand that could be used for prosthesis control. In this study, we report on three key elements of the biomechanical simulations relevant to prosthesis control: we show the performance of the model in replicating recorded hand kinematics and find average correlations of 0.89 between modelled and recorded motions; we show that the computational performance of the simulations is fast enough to achieve real-time control with a robotic hand in the loop; and we describe the use of the model for controlling object gripping. Despite some limitations in accessing sufficient driving signals, the model performance shows promise as a controller for prosthetic hands when driven with recorded EMG signals. We identify areas for future work to address these limitations.

A Single-DOF Multi-Function Prosthetic Hand Mechanism With an Automatically Variable Speed Transmission

1992 ◽  
Author(s):  
Gongliang Guo ◽  
Xikang Qian ◽  
Willim A. Gruver
Keyword(s):  
Human Hand ◽  
Prosthetic Hand ◽  
Variable Speed ◽  
Prosthetic Device ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Flexion Extension ◽  
Robotic Applications ◽  
Fingertip Forces ◽  
Human Hands

Abstract This research concerns the design of a new three-fingered anthropomorphic hand mechanism for prosthetic and robotic applications. Based on the configuration and flexion/extension features of human hands, we develop a three-jointed finger mechanism using a gear-constrained planar five-bar linkage with a single degree of freedom (DOF). From an operational study of human hands, we also propose a multi-functional palm mechanism using a cam-groove submechanism. The hand can perform grasping, holding and pinching operations. To achieve the automatic shape adaptability of a human hand, a selfadaptable submechanism was designed within the palm based on the lever principle. An automatically variable speed transmission with selfadaptability was developed for this hand to achieve optimal flexing speed and optimal fingertip forces. This paper describes the mechanical structure and operational principles of this new prosthetic device.

scholarly journals Human Hand Anatomy-Based Prosthetic Hand

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 137
Author(s):  
Larisa Dunai ◽  
Martin Novak ◽  
Carmen García Espert
Keyword(s):  
3D Printing ◽  
Degrees Of Freedom ◽  
Use Of Force ◽  
Hand Movements ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Object Surface ◽  
Hand Phalanges ◽  
High Level

The present paper describes the development of a prosthetic hand based on human hand anatomy. The hand phalanges are printed with 3D printing with Polylactic Acid material. One of the main contributions is the investigation on the prosthetic hand joins; the proposed design enables one to create personalized joins that provide the prosthetic hand a high level of movement by increasing the degrees of freedom of the fingers. Moreover, the driven wire tendons show a progressive grasping movement, being the friction of the tendons with the phalanges very low. Another important point is the use of force sensitive resistors (FSR) for simulating the hand touch pressure. These are used for the grasping stop simulating touch pressure of the fingers. Surface Electromyogram (EMG) sensors allow the user to control the prosthetic hand-grasping start. Their use may provide the prosthetic hand the possibility of the classification of the hand movements. The practical results included in the paper prove the importance of the soft joins for the object manipulation and to get adapted to the object surface. Finally, the force sensitive sensors allow the prosthesis to actuate more naturally by adding conditions and classifications to the Electromyogram sensor.

A Goniometric Glove for Clinical Hand Assessment

2000 ◽  
Vol 25 (2) ◽  
pp. 200-207 ◽  
Author(s):  
N. W. WILLIAMS ◽  
J. M. T. PENROSE ◽  
C. M. CADDY ◽  
E. BARNES ◽  
D. R. HOSE ◽  
...  
Keyword(s):  
Hand Function ◽  
Digital Data ◽  
Human Hand ◽  
Data Output ◽  
Angular Displacements

The construction of a goniometric glove is described. Each of the sensors in the glove was calibrated over a custom built metal hand using blocks of known angles as angular references. The digital data output from each sensor of the glove were converted into angular displacements at each joint. The glove was validated for consistency of measurement and accuracy over a custom built metal jig and in the human hand. The accuracy of the glove was found to be within the limits of traditional goniometry. It is proposed that goniometric gloves could be useful in the assessment of hand function.

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