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.

Conformal Optimization Algorithm for Undevelopable Surfaces and its Application

2014 ◽  
Vol 602-605 ◽  
pp. 3570-3574
Author(s):  
Zhen Hua Luo ◽  
Fen Jiang
Keyword(s):  
Approximation Algorithms ◽  
Optimization Algorithm ◽  
Manufacturing Process ◽  
Research Topic ◽  
Important Research ◽  
Computer Aided Geometric Design ◽  
Industrial Manufacturing ◽  
Important Research Topic ◽  
Computer Aided ◽  
Planar Materials

In the industrial manufacturing process, most kinds of surfaces are processed by planar materials, but undevelopable surfaces are difficult develop to the plane. The approximation algorithms to develop a undevelopable surface is an important research topic in Computer Aided Geometric Design (CAGD). In this paper, we propose a new approximation algorithms based optimization algorithm. We guarantee the deformation vector make the minimum changes during the developing process. In the paper, some numerical example are given and the can illustrate the our method is effective.

UPPER LIMB POWERED EXOSKELETON

2007 ◽  
Vol 04 (03) ◽  
pp. 529-548 ◽  
Author(s):  
JACOB ROSEN ◽  
JOEL C. PERRY
Keyword(s):  
Virtual Reality ◽  
Upper Limb ◽  
Wrist Joint ◽  
Rehabilitation Medicine ◽  
Assistive Device ◽  
Virtual Reality Simulation ◽  
Wearable Robot ◽  
Human Power ◽  
Potential Applications ◽  
Powered Exoskeleton

An exoskeleton is a wearable robot with joints and links corresponding to those of the human body. With applications in rehabilitation medicine, virtual reality simulation, and teleoperation, exoskeletons offer benefits for both disabled and healthy populations. Analytical and experimental approaches were used to develop, integrate, and study a powered exoskeleton for the upper limb and its application as an assistive device. The kinematic and dynamic dataset of the upper limb during daily living activities was one among several factors guiding the development of an anthropomorphic, seven degree-of-freedom, powered arm exoskeleton. Additional design inputs include anatomical and physiological considerations, workspace analyses, and upper limb joint ranges of motion. Proximal placement of motors and distal placement of cable-pulley reductions were incorporated into the design, leading to low inertia, high-stiffness links, and back-drivable transmissions with zero backlash. The design enables full glenohumeral, elbow, and wrist joint functionality. Establishing the human-machine interface at the neural level was facilitated by the development of a Hill-based muscle model (myoprocessor) that enables intuitive interaction between the operator and the wearable robot. Potential applications of the exoskeleton as a wearable robot include (i) an assistive (orthotic) device for human power amplifications, (ii) a therapeutic and diagnostics device for physiotherapy, (iii) a haptic device in virtual reality simulation, and (iv) a master device for teleoperation.

Study on Roll Forming of Reel Mower Helical Blades

2016 ◽  
Vol 703 ◽  
pp. 39-43
Author(s):  
Chung Ming Tan ◽  
Gin Yei Lin
Keyword(s):  
Manufacturing Process ◽  
Roll Forming ◽  
Forming Process ◽  
Simulation Process ◽  
Computer Aided ◽  
Potential Applications ◽  
Actual Design ◽  
Computerized Simulation ◽  
Roll Forming Process ◽  
Deform 3D

This research is focused on the helical blades used in the reel mower machine which uses 5 to 10 helical blades. These blades are normally manufactured using the roll forming process which has certain tolerance. This research is to develop an iterative methodology to optimize the manufacture of blades using roll forming. To save cost, time and waste of material the computerized simulation process is being used. The design of the blade and the die for the roll forming and modification are done using software SolidWorks. Simulation is performed using software DEFORM-3D. The simulation result and the actual design are compared using software Geomagic. This study also shows the potential applications of computer aided engineering and its benefits in verifying and reinventing the part manufacturing process.

Study on the Combination of SOM and K-Means Algorithms in Manufacturing Process Quality Control

2013 ◽  
Vol 427-429 ◽  
pp. 1315-1318 ◽  
Author(s):  
Yi Bing Li ◽  
Fei Pan
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Quality Control ◽  
Manufacturing Process ◽  
Low Cost ◽  
Research Topic ◽  
High Quality ◽  
Neural Network Algorithm ◽  
Som Neural Network

Nowadays, customers are seeking products of high quality and low cost. The use of neural networks in quality control has been a popular research topic over the last decade. An adaptive self-organizing mapping (SOM) neural network algorithm is proposed to overcome the shortages of traditional neural networks in this paper. In order to improve the classification effectiveness of SOM neural network, this paper designs an improved SOM neural network, which combined the SOM and K-means algorithms. The flow of combination of SOM and K-means algorithms was analyzed in this paper. And the case study of cement slide shoe bearing in manufacturing process was also given to illustrate the feasible and effective.

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 Size-Controlled Transformation of Cu2O into Zero Valent Copper within the Matrix of Anion Exchangers via Green Chemical Reduction

Polymers ◽  
2020 ◽  
Vol 12 (11) ◽  
pp. 2629
Author(s):  
Irena Jacukowicz-Sobala ◽  
Ewa Stanisławska ◽  
Agnieszka Baszczuk ◽  
Marek Jasiorski ◽  
Elżbieta Kociołek-Balawejder
Keyword(s):  
Chemical Reduction ◽  
Microscopy Study ◽  
Electron Microscopy Study ◽  
Mechanical Resistance ◽  
Anion Exchangers ◽  
Design And Synthesis ◽  
The Matrix ◽  
Potential Applications ◽  
Great Possibility ◽  
Basic Anion

Composite materials containing zero valent copper (ZVC) dispersed in the matrix of two commercially available strongly basic anion exchangers with a macroreticular (Amberlite IRA 900Cl) and gel-like (Amberlite IRA 402OH) structure were obtained. Cu0 particles appeared in the resin phase as the product of the reduction of the precursor, i.e., copper oxide(I) particles previously deposited in the two supporting materials. As a result of a one-step transformation of preformed Cu2O particles as templates conducted using green reductant ascorbic acid and under mild conditions, macroporous and gel-type hybrid products containing ZVC were obtained with a total copper content of 7.7 and 5.3 wt%, respectively. X-ray diffraction and FTIR spectroscopy confirmed the successful transformation of the starting oxide particles into a metallic deposit. A scanning electron microscopy study showed that the morphology of the deposit is mainly influenced by the type of matrix exchanger. In turn, the drying steps were crucial to its porosity and mechanical resistance. Because both the shape and size of copper particles and the internal structure of the supporting solid materials can have a decisive impact on the potential applications of the obtained materials, the results presented here reveal a great possibility for the design and synthesis of functional nanocrystalline solids.

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.

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.

Template-Based Synthesis of Integrated Carbon Micro- and Nanostructures

2017 ◽  
Author(s):  
Olivia V. Scheibel ◽  
David Lanza ◽  
Michael G. Schrlau
Keyword(s):  
Vapor Deposition ◽  
Manufacturing Process ◽  
Low Cost ◽  
Chemical Vapor ◽  
Standard Laboratory ◽  
Laboratory Equipment ◽  
Carbon Structures ◽  
Nanofluidic Devices ◽  
Potential Applications ◽  
Carbon Based

This work demonstrates the manufacturing process of micro- and nanofluidic devices consisting of independent, aligned carbon pipes with potential applications as micro- and nanoscale dispensing systems, electrodes, and tools with which to study fundamental micro- and nanofluidics. A low-cost, high-throughput chemical vapor deposition (CVD) process was utilized to deposit carbon within novel silica-based templates. This simple template-based manufacturing process allows the carbon devices to be integrated into millimeter scale silica-based templates without micro- or nanoassembly, facilitating commercialization. Furthermore, the carbon-based devices were designed to readily integrate into standard laboratory equipment, promoting broad utilization. Herein, a repeatable methodology for fabricating multifunctional, carbon-based micro- and nanofluidic devices as well as establishing relationships between parameters at each stage of fabrication and the final geometry, including diameter and wall thickness of the carbon structures, of the device is presented.

Sign in / Sign up

Export Citation Format

Share Document