Search Results (96)

Camellia oleifera is one of the four largest woody oil species in the world, with more than 5 million hectares planted in China alone. Reducing bud damage and improving harvesting net rate and efficiency have become the key challenges to mechanized harvesting of Camellia oleifera fruits. This paper presents a novel comb-spiral impact harvesting device primarily composed of four parts, which are lifting mechanism, picking mechanism, rotating mechanism, and tracked chassis. The workspace of the four-degree-of-freedom lifting mechanism was simulated, and the harvesting reachable area was maximized using MATLAB R2021a software. The picking mechanism, which includes dozens of spirally arranged impact pillars, achieves high harvesting efficiency through impacting, brushing, and dragging, while maintaining a low bud shedding rate. The rotary mechanism provides effective harvesting actions, and the tracked chassis guarantees free movement of the equipment. Simulation experiments and field validation experiments indicate that optimal performance can be achieved when the brushing speed is set to 21.45 r/min, the picking finger speed is set to 341.27 r/min, and the picking device tilt angle is set to 1.0°. With these parameters, the harvesting quantity of Camellia oleifera fruits is 119.75 kg/h, fruit shedding rate 92.30%, and bud shedding rate as low as 9.16%. This new model for fruit shedding and the comb-spiral impact harvesting principle shows promise as a mechanized harvesting solution for nut-like fruits. Full article

The advent of mixed reality (MR) systems has revolutionized human–computer interactions by seamlessly integrating virtual elements with the real world. Devices like the HoloLens 2 (HL2) enable intuitive, hands-free interactions through advanced hand-tracking technology, making them valuable in fields such as education, healthcare, engineering, and training simulations. However, despite the growing adoption of MR, there is a noticeable lack of comprehensive comparisons between the hand-tracking accuracy of the HL2 and high-precision benchmarks like motion capture systems. Such evaluations are essential to assess the reliability of MR interactions, identify potential tracking limitations, and improve the overall precision of hand-based input in immersive applications. This study aims to assess the accuracy of HL2 in tracking hand position and measuring kinematic hand parameters, including joint angles and lateral pinch span (distance between thumb and index fingertips), using its tracking data. To achieve this, the Vicon motion capture system (VM) was used as a gold-standard reference. Three tasks were designed: (1) finger tracing of a 2D pattern in 3D space, (2) grasping various common objects, and (3) lateral pinching of objects with varying sizes. Task 1 tests fingertip tracking, Task 2 evaluates joint angle accuracy, and Task 3 examines the accuracy of pinch span measurement. In all tasks, HL2 and VM simultaneously recorded hand positions and movements. The data captured in Task 1 were analyzed to evaluate HL2’s hand-tracking capabilities against VM. Finger rotation angles from Task 2 and lateral pinch span from Task 3 were then used to assess HL2’s accuracy compared to VM. The results indicate that the HL2 exhibits millimeter-level errors compared to Vicon’s tracking system in Task 1, spanning in a range from 2 mm to 4 mm, suggesting that HL2’s hand-tracking system demonstrates good accuracy. Additionally, the reconstructed grasping positions in Task 2 from both systems show a strong correlation and an average error of 5°, while in Task 3, the accuracy of the HL2 is comparable to that of VM, improving performance as the object thickness increases. Full article

The application of citrus-picking robotic hands in orchard environments is constrained by the diversity in fruit size and shape, as well as the need to control fruit damage during harvesting. To address this issue, this study proposes a passively compliant citrus-picking robotic hand and experimentally evaluates its performance. The robotic hand employs a spring-assisted grasping mechanism, optimizing the gripping force range and adjusting spring parameters to achieve passive, compliant encapsulation of citrus fruits of varying sizes while preventing damage. Furthermore, to accommodate citrus fruits with varying ellipticity, the robotic hand incorporates a floating linkage mechanism, enabling each finger to move independently under the control of a single stepper motor, thereby enhancing adaptability to morphological variations. Experimental results indicate that the robotic hand can reliably grasp citrus fruits of various sizes and ellipticities, and complete the harvesting process by rotating four times without applying tensile force, with a damage rate of only 2.6%. The proposed passively compliant robotic hand features a simple structure and strong adaptability, offering a reference for enhancing the applicability of citrus-picking robots in complex orchard environments. Future research will focus on further optimizing the robotic hand’s structure, improving harvesting efficiency, and exploring its adaptability in various operational environments. Full article

This study introduces a novel system for evaluating hand motor function through synergy-based analysis during object manipulation in virtual and mixed-reality environments. Conventional assessments of hand function are often subjective, relying on visual observation by therapists or patient-reported outcomes. To address these limitations, we developed a system that utilizes the leap motion controller (LMC) to capture finger motion data without the constraints of glove-type devices. Spatial synergies were extracted using principal component analysis (PCA) and Varimax rotation, providing insights into finger motor coordination with the sparse decomposition. Additionally, we incorporated the HoloLens 2 to create a mixed-reality object manipulation task that enhances spatial awareness for the user, improving natural interaction with virtual objects. Our results demonstrate that synergy-based analysis allows for the systematic detection of hand movement abnormalities that are not captured through traditional task performance metrics. This system demonstrates promise in advancing rehabilitation by enabling more objective and detailed evaluations of finger motor function, facilitating personalized therapy, and potentially contributing to the early detection of motor impairments in the future. Full article

Flexible and wearable electronics often rely on piezoelectric materials, and Poly(vinylidene fluoride-trifluoroethylene) (P(VDF-TrFE)) membranes are popular for this application. However, their electromechanical performance is limited due to a relatively low piezoelectric coefficient. To address this, this study investigates the incorporation of zinc oxide (ZnO) nanorods (NRs) into a P(VDF-TrFE) nanofiber membrane matrix. ZnO NRs were synthesized and doped into well-aligned P(VDF-TrFE) nanofibers using electrospinning with a high-speed rotating drum. The impact of ZnO NRs’ mass fraction on the piezoelectric properties of the membranes was evaluated. Results show that a maximum piezoelectric coefficient ($d_{33}$) of −62.4 pC/N, 9.5 times higher than neat P(VDF-TrFE), was achieved. These enhanced membranes demonstrated excellent performance in finger-tapping and bending detection, making them promising for large-scale flexible sensor applications in wearable electronics. This approach offers a simple and effective route to improve the performance of piezoelectric materials in flexible devices. Full article

Assisting patients with weakened hand and wrist strength during meals is essential. While various feeding devices have been developed, many do not utilize patients’ residual finger functions, leading to an increase in the risk of disuse syndrome and loss of joy in life. Recently, assist-as-needed support for spoon grasping by soft hand rehabilitation devices has been studied. Moreover, in our previous study, we investigated finger motions for the required scooping angle and verified them with a dummy hand driven by soft actuators. However, eating with a spoon requires not only spoon grasping and rotating but also plunging the spoon into food and lifting it afterward. The goal of this study is to achieve self-feeding with spoons using soft actuators for individuals with partial finger disabilities. To address this, we measured scooping movements using inertial measurement units, identified feasible finger motions for spoon plunging and lifting, and verified our findings through experiments with a dummy hand driven by soft actuators. As a result, we found a way to achieve the two motions by regulating the moment applied to the spoon. These results highlight the potential of soft actuators for assisting scooping movements. This study marks an important step toward feeding assistance that leverages patients’ residual finger functions. Full article

Wearable motion capture gloves enable the precise analysis of hand and finger movements for a variety of uses, including robotic surgery, rehabilitation, and most commonly, virtual augmentation. However, many motion capture gloves restrict natural hand movement with a closed-palm design, including fabric over the palm and fingers. In order to alleviate slippage, improve comfort, reduce sizing issues, and eliminate movement restrictions, this paper presents a new low-cost data glove with an innovative open-palm and finger-free design. The new design improves usability and overall functionality by addressing the limitations of traditional closed-palm designs. It is especially beneficial in capturing movements in fields such as physical therapy and robotic surgery. The new glove incorporates resistive flex sensors (RFSs) at each finger and an inertial measurement unit (IMU) at the wrist joint to measure wrist flexion, extension, ulnar and radial deviation, and rotation. Initially the sensors were tested individually for drift, synchronisation delays, and linearity. The results show a drift of 6.60°/h in the IMU and no drift in the RFSs. There was a 0.06 s delay in the data captured by the IMU compared to the RFSs. The glove’s performance was tested with a collaborate robot testing setup. In static conditions, it was found that the IMU had a worst case error across three trials of 7.01° and a mean absolute error (MAE) averaged over three trials of 4.85°, while RFSs had a worst case error of 3.77° and a MAE of 1.25° averaged over all five RFSs used. There was no clear correlation between measurement error and speed. Overall, the new glove design proved to accurately measure joint angles. Full article

ORF2p (open reading frame 2 protein) is a multifunctional multidomain enzyme that demonstrates both reverse transcriptase and endonuclease activities and is associated with the pathophysiology of cancer. The 3D structure of the entire seven-domain ORF2p complex was revealed with the recent achievements in structural studies. The different arrangements of the CTD (carboxy-terminal domain) and tower domains were identified as the “closed-ring” and “open-ring” conformations, which differed by the hairpin position of the tower domain, but the structural diversity of these complexes has the potential to be more extensive. To study this, we performed sub-microsecond all-atom molecular dynamics simulations of the entire ORF2p complex with different starting configurations. The obtained molecular dynamic trajectories frames were assigned to several clusters following the dimension reduction to three principal components of the 1275 distances feature matrix. Five and six clusters were obtained for the “open” and “closed” ring models, respectively. While the fingers–palm–thumb core retains its rigid configuration during the MD (molecular dynamics) simulations, all other domains display the complicated dynamic behavior not observed in the experimental structures. The EN (endonuclease) and CTD domains display significant translations and rotations while their internal structures stay rigid. The CTD domain can either form strong contacts with the tower or be far apart from it for both formal “open” and “closed” ring states because the tower hairpin position is not the only determining factor of the protein complex configuration. While only the “thumb up” conformation is observed in all the trajectories, the active site can be obstructed by the movement of the CTD domain. Thus, molecular modeling and machine learning techniques provide valuable insights into the dynamical behavior of the ORF2p complex, which is hard to uncover with experimental methods, given the complexity and size of the object. Full article

Human hands have over 20 degrees of freedom, enabled by a complex system of bones, muscles, and joints. Hand differences can significantly impair dexterity and independence in daily activities. Accurate assessment of hand function, particularly digit movement, is vital for effective intervention and rehabilitation. However, current clinical methods rely on subjective observations and limited tests. Smart gloves with inertial measurement unit (IMU) sensors have emerged as tools for capturing digit movements, yet their sensor accuracy remains underexplored. This study developed and validated an IMU-based smart glove system for measuring finger joint movements in individuals with hand differences. The glove measured 3D digit rotations and was evaluated against an industrial robotic arm. Tests included rotations around three axes at 1°, 10°, and 90°, simulating extension/flexion, supination/pronation, and abduction/adduction. The IMU sensors demonstrated high accuracy and reliability, with minimal systematic bias and strong positive correlations (p > 0.95 across all tests). Agreement matrices revealed high agreement (<1°) in 24 trials, moderate (1–10°) in 12 trials, and low (>10°) in only 4 trials. The Root Mean Square Error (RMSE) ranged from 1.357 to 5.262 for the 90° tests, 0.094 to 0.538 for the 10° tests, and 0.129 to 0.36 for the 1° tests. Likewise, mean absolute error (MAE) ranged from 0.967 to 4.679 for the 90° tests, 0.073 to 0.386 for the 10° tests, and 0.102 to 0.309 for the 1° tests. The sensor provided precise measurements of digit angles across 0–90° in multiple directions, enabling reliable clinical assessment, remote monitoring, and improved diagnosis, treatment, and rehabilitation for individuals with hand differences. Full article

Background/Objectives: Most metacarpal fractures are isolated, simple, closed, and stable fractures and located distally. They are often caused by accidental falls, strikes by humans, by objects or traffic accidents. The majority can be treated conservatively. When unstable, angulated, malrotated or shortened, a surgical fixation of these frequent fractures is needed. To treat simple, spiral, distal or shaft fractures, intramedullary Kirschner wiring (KW) or intramedullary compression screws (ISs) are used. We wanted to compare the outcomes of those two treatments. Methods: In a retrospective study we analyzed the prospectively collected data of our hospital on the indication factors and outcome factors of selected patients with simple or spiral, distal or shaft metacarpal fractures of the second to fifth finger. Indication factors were sex, age, profession, hand dominance, comorbidities, metacarpal finger number, total active range of motion (TAM), rotation, soft tissue damage, localization, articular involvement, fracture type, dislocation and axial shortening. Outcome factors were TAM, rotation, splint time, return to work, bone healing and complications. Results: Out of 750 patients, 59 fractures could be included in this study, containing 34 in the KW Group and 25 in the IS Group. Only fracture localization and fracture type were significantly different in the two groups, with more shaft and spiral fractures in the IS Group. The primary outcome of TAM and rotation as well as the secondary outcome of splint time, return to work, bone healing and complication rates showed no significant difference. Only a difference in mean follow-up time was seen. Conclusions: Intramedullary screw fixation seems a valid alternative to KW fixation for certain fracture types regarding active range of motion and rotation after treatment, splint time, bone healing and return to work time. Only the tendency of an earlier return to work and a higher rate of full TAM after treatment was seen in favor of intramedullary screws. Full article

Monitoring the dynamic behaviors of self-aligning roller bearings (SABs) is vital to guarantee the stability of various mechanical systems. This study presents a novel self-powered, intelligent, and self-aligning roller bearing (I-SAB) with which to monitor rotational speeds and bias angles; it also has an application in fault diagnosis. The designed I-SAB is compactly embedded with a novel sweep-type triboelectric nanogenerator (TENG). The TENG is realized within the proposed I-SAB using a comb–finger electrode pair and a flannelette triboelectric layer. A floating, sweeping, and freestanding mode is utilized, which can prevent collisions and considerably enhance the operational life of the embedded TENG. Experiments are subsequently conducted to optimize the output performance and sensing sensitivity of the proposed I-SAB. The results of a speed-sensing experiment show that the characteristic frequencies of triboelectric current and voltage signals are both perfectly proportional to the rotational speed, indicating that the designed I-SAB has the self-sensing capability for rotational speed. Additionally, as both the bias angle and rotational speed of the SAB increase, the envelope amplitudes of the triboelectric voltage signals generated by the I-SAB rise at a rate of 0.0057 V·deg⁻¹·rpm⁻¹. To further demonstrate the effectiveness of the triboelectric signals emitted from the designed I-SAB in terms of self-powered fault diagnosis, a Multi-Scale Discrimination Network (MSDN), based on the ResNet18 architecture, is proposed in order to classify the various fault conditions of the SAB. Using the triboelectric voltage and current signals emitted from the designed I-SAB as inputs, the proposed MSDN model yields excellent average diagnosis accuracies of 99.8% and 99.1%, respectively, indicating its potential for self-powered fault diagnosis. Full article

The type of throw of a spin bowler can be analysed in the laboratory using a motion analysis system. However, there is still no method to determine the type of throw using other means and less effort. To solve this problem, we revised the traditional classification of spin bowling throws and analysed whether spin bowling throws are separate entities or continuous concepts. We used an advanced smart cricket ball with high-speed gyroscopes to record the bowling actions and mathematically transformed the spin axis from the ball coordinate system (BCS) to the global coordinate system (GCS). We developed a visualisation method to map spin bowling throws from the yaw and pitch angles of the ball’s spin axis in the GCS. We compared the data from the smart ball with the data from the motion analysis system and profiled seven spin bowlers using the new method. The results of this study have shown that spin bowling throws are continuous concepts and that all differences between the two spin axis measurement methods were within 95% limits of agreement. The Smart Ball is sufficiently accurate to measure the direction of the ball’s spin axis in the GCS and is therefore well suited for profiling spin bowlers. Hybrid deliveries between sidespin, top/backspin, and swerve maximise the deviations of the ball in flight from the straight flight path in all three planes of the GCS. Hybrid throws between sidespin, top/backspin, and spin maximise the ball’s deviation from the straight trajectory in all three planes of the GCS. Full article

The present study aimed to develop a novel temperature and pressure-controlled hybrid system (Cent-Hydro) for large-scale nanofiber production. Nanofibers from a hydrophilic carrier matrix were prepared using the Cent-Hydro system. This study explores the effect of increasing working temperature on the surface tension and viscosity of polymer solutions. The Cent-Hydro system was calibrated through the process of jet formation, and spinning parameters were identified for the jet path. The formation of fingers in front of the thin liquid occurred due to Rayleigh–Taylor instability, and a lower concentration of polymer solution favoured the development of thinner and longer fingers. The critical angular velocity and initial velocity for jet formation were obtained when the balance between surface tension, centrifugal force, and viscous force was achieved. The effect of increasing rotational speed and working temperature on finger velocity and length was experimentally evaluated, concluding that an increase in working temperature increases finger velocity and length. Additionally, the effect of increasing rotational speed, polymer concentration, and working temperature on the diameter of the nanofiber was evaluated. Overall, the Cent-Hydro system presents a compelling proposition for large-scale nanofiber production, offering distinct advantages over conventional methods and paving the way for advancements in various applications. Full article

This paper proposes a page-turning strategy using an assistive robot that has a low-degree-of-freedom robotic hand. The robotic hand is based on human object handling characteristics, which significantly reduces the number of fingers and joints required to handle various objects. The robotic hand has right and left planar fingers that can transform their shape to handle various objects. To turn a page, the robot uses the planar fingers to push the surface of the page and then rotates the fingers. The design concept, mechanism, sensor system, strategy for page turning, and control system of the robotic hand are presented. The experimental results show that the robot can turn pages using the proposed method; however, it sometimes failed to turn the page when the robotic hand height was too low and too close to the book because the rotation of the fingers was stopped by the book. When the hand detects excessive force during page turning, the control system changes the shape of the fingers and releases the force from the book. The experimental results show the effectiveness of the control system. Full article

Background: Tremor is the most common movement disorder, with significant functional and psychosocial consequences. Oral medications have been disappointing or limited by side effects. Surgical techniques are effective but associated with risks and adverse events. Botulinum toxin (BT) represents a promising avenue but there is still no double-blind evidence of efficacy on upper limb function. A systematic review on the effects of BT in upper-limb tremor was conducted. Methods: A systematic search of the literature was conducted up to July 2023, including the keywords “botulinum toxin” and “tremor”. All randomized controlled trials (RCTs) and open-label studies were analyzed. Independent reviewers assessed their methodological quality. Results: There were only eight published RCTs and seven published open-label studies, with relatively small sample sizes. This review suggests that BT is more effective when injections are patient-tailored, with analyses based on clinical judgement or kinematics. Subjective and objective measures frequently improve but transient weakness may occur after injections, especially if wrist or fingers extensors are targeted. A number of studies had methodological limitations. Conclusions: The authors discuss how to optimize tremor assessments and effects of BT injection. Controlled evidence is still lacking but it is suggested that distal “asymmetric” BT injections (targeting flexors/pronators while sparing extensors/supinators) and proximal injections, involving shoulder rotators when indicated, may avoid excessive weakness while optimizing functional benefit. Full article