An anthropomorphic prosthetic hand for wrist or forearm amputees is developed herein. The prosthetic hand was designed with an underactuated mechanism, which makes self-adaptive grasping possible, as well as natural motions such as flexion and extens...
Teaching robotics requires interdisciplinary skills and a good creativity, providing instructions and hands-on experiences, exploiting different kinds of learning. Two kinds of learning methods are commonly used: the ‘visual learning’ and the ‘audito...
Bionic hands have been employed in a wide range of applications, including prosthetics, robotic grasping, and human–robot interaction. However, considering the underactuated and nonlinear characteristics, as well as the mechanical structure&rsq...
This paper presents the development of an intelligent soft-sensor system to add haptic perception to the underactuated hand prosthesis PrHand. Two sensors based on optical fiber were constructed, one for finger joint angles and the other for fingerti...
This paper proposes an underactuated dexterous hand with novel bidirectional self-locking joints (BSJs) that enable multiple fingertip motion trajectories. The BSJ design integrates a locking wheel, rack, finger side walls, and a self-holding electro...
Robotic exoskeletons are a trending topic in both robotics and rehabilitation therapy. The research presented in this paper is a summary of robotic exoskeleton development and testing for a human hand, having application in motor rehabilitation treat...
Human muscles can generate force and stiffness during contraction. When in contact with objects, human hands can achieve compliant grasping by adjusting the grasping force and the muscle stiffness based on the object’s characteristics. To reali...
Soft and flexible strain sensors are becoming popular for many robotic applications. This article presents a stretchable capacitive sensor by combining a conductive filler of carbon black with elastomers and implementing shielding to reduce parasitic...
Underactuated hands are useful tools for robotic in-hand manipulation tasks due to their capability to seamlessly adapt to unknown objects. To enable robots using such hands to achieve and maintain stable grasping conditions even under external distu...
In the design of humanoid robotic hands, it is important to evaluate the grasp stability, especially when the concept of underactuation is involved. The use of a number of degrees of actuation lower than the degrees of freedom has shown some advantag...
As the end-effector of a humanoid robot, the dexterous hand plays a crucial role in the process of robot execution. However, due to the complicated and delicate structure of the human hand, it is difficult to replicate human hand functionality, balan...
In this article, the design of a five-fingered anthropomorphic gripper is presented specifically designed for the manipulation of elastic objects. The manipulator features a hybrid design, being equipped with three fully actuated fingers for precise...
The design of prosthetic hands presents inherent complexities and contradictions that require careful resolution during the initial design phase to achieve a functional solution. This study simplifies prosthetic hand design through an in-depth analys...
The advent of 3D printing technologies has enabled the development of low-cost prosthetic underactuated hands, with cables working as tendons for flexion. Despite the particular relevance to human grasp, its conception in prosthetics is based on vagu...
Developing a dexterous robotic hand that mimics natural human hand movements is challenging due to complicated hand anatomy. Such a practical design should address several requirements, which are often conflicting and force the designer to prioritize...
The current underactuated robot hands use a single actuator to drive multiple degrees of freedom, enabling them to perform grasping functions. This paper design a multi-mode compound grasping robot finger driven by linkage, called MCG hand. The MCG h...
Flexible sensors have gained popularity in recent years. This study proposes a novel structure of a resistive four-channel tactile sensor capable of distinguishing the magnitude and direction of normal forces acting on its sensing surface. The sensor...
Robot hand is the device used for robots to interact with the environments, it has many potential applications. Traditional robot hands cannot translate their finger end along a straight line, which makes them not suitable for grasping thin objects o...
This paper proposes a soft robot hand with pin-array structure and self-adaptive function, CTSA-II hand, where CTSA is the Cluster tube self-adaption. The CTSA-II hand is designed with a quite concise structure and consists of bases, a pin array, a s...
Approximately 70% of the upper extremity amputations refers to partial hand loss with the involvement of one or more fingers. Historically, this type of limb amputation has been addressed adopting simple opposition designs that use the movement of th...
With the advancement of robotic technologies, more and more tasks in industrial and commercial applications rely on the use of robots to assist or even replace humans. To fulfill the needs of grasping and handling different objects, the development o...
Parallel pinch is an important grasp method. The end phalanx of the traditional parallel pinch and self-adaptive gripper moves in an arc trajectory, which requires the auxiliary lifting motion of the industrial manipulator, which is inconvenient to u...
In this research work, a new method for solving forward and inverse dynamic problems of mechanical systems having an underactuated structure and subjected to holonomic and/or nonholonomic constraints is developed. The method devised in this paper is...
This paper focuses on the design of a three-dimensional trajectory tracking controller for underactuated quadrotor-like autonomous underwater vehicles (QAUVs) subject to actuator saturation. A hand position method with a signum function is proposed t...
The coupled-adaptive underactuated finger offers two motion modes: pre-grasping and self-adaptive grasping. It can execute anthropomorphic pre-grasp motions before the proximal phalanx contacts an object and transitions to adaptive enveloping once co...
Most prosthetic hands adopt an under-actuated mechanism to achieve dexterous motion performance with a lightweight and anthropomorphic design. Many have been verified in laboratories, and some have already been commercialized. However, a trade-off ex...
To meet daily grasping needs under lightweight, low-complexity wearable constraints, this study proposes an underactuated multi-finger prosthetic hand with transmission–control co-design to achieve predictable multi-joint synergies and stable g...
The finger workspace is crucial for performing various grasping tasks. Thus, various soft rehabilitation gloves have been developed to assist individuals with paralyzed hands in activities of daily living (ADLs) or rehabilitation training. However, m...
More daily interactions are happening in the digital world of the metaverse. Providing individuals with means to perform a handshake during these interactions can enhance the overall user experience. In this paper, we put forward the design and imple...
Soft anthropomorphic robotic grippers are attractive because of their inherent compliance, allowing them to adapt to the shape of grasped objects and the overload protection needed for safe human–robot interaction or gripping delicate objects w...
Soft pneumatic actuators/robotics have received significant interest in the medical and health fields, due to their intrinsic elasticity and simple control strategies for enabling desired interactions. However, current soft hand pneumatic exoskeleton...
In recent years, there has been a significant amount of research on tiltrotor multicopter unmanned aerial vehicles (TM-UAVs) in aerial robotics. Despite the varying frame types of TM-UAVs, they all still aim to decouple the propeller from the body, w...
Underactuated, modular and compliant hands and grippers are interesting solutions in grasping and manipulation tasks due to their robustness, versatility, and adaptability to uncertainties. However, this type of robotic hand does not usually have eno...
This study presents the design, fabrication, and clinical validation of a lightweight, body-powered prosthetic index finger actuated via metacarpophalangeal (MCP) joint motion. The proposed system incorporates an underactuated, cable-driven mechanism...
Hand−tracking systems are widely employed for telemanipulating grippers with high degrees of freedom (DOFs) such as an anthropomorphic robotic hand (ARH). However, tracking human thumb motion is challenging due to the complex motion of the carp...
Anthropomorphic dexterous hands are crucial for robotic interaction in unstructured environments, yet their performance is often constrained by traditional actuation systems, which suffer from excessive weight, complexity, and limited compliance. Twi...
This paper is devoted to the problem of prescribed performance trajectory tracking control for symmetrical underactuated unmanned surface vessels (USVs) in the presence of model uncertainties and input quantization. By combining backstepping filter m...
Voluntary hand movements are usually impaired after a cerebral stroke, affecting millions of people per year worldwide. Recently, the use of hand exoskeletons for assistance and motor rehabilitation has become increasingly widespread. This study pres...
The “Maestro Arm,” presented in this paper, is a modular wearable robotic arm with a five-fingered hand and wrist, elbow, and shoulder joints. The arm attaches to a waist belt to serve as a wearable third arm and can detach from its shoul...
An approach to controlling the three-link Robogymnast robotic gymnast and assessing stability is proposed and examined. In the study, a conventionally configured linear quadratic regulator is applied and compared with a fuzzy logic linear quadratic r...
Precision grasping is a fundamental capability for dexterous robotic manipulation, enabling robots to handle small objects, perform delicate tasks, and interact safely with complex environments. However, achieving stable and accurate fingertip contro...
Feedback linearization-based controllers are widely exploited in stabilizing a tilt rotor (eight or twelve inputs); each degree of freedom (six degrees of freedom in total) is manipulated individually to track the desired trajectory, since no singula...
Robot hands play an important role in the interaction between robots and the environment, and the precision and complexity of their tasks in work production are becoming higher and higher. However, because the traditional manipulator has too many dri...
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...
Dexterous robotic manipulation tasks depend on estimating the state of in-hand objects, particularly their orientation. Although cameras have been traditionally used to estimate the object’s pose, tactile sensors have recently been studied due...
Stroke often causes neuromotor disabilities, impacting index finger function in daily activities. Due to the role of repetitive, even passive, finger movements in neuromuscular re-education and spasticity control, this study aims to design a rehabili...
This paper is concerned with the robust collision-free guidance and control of underactuated multirotor aerial vehicles in the presence of moving obstacles capable of accelerating, linear velocity and rotor thrust constraints, and matched model uncer...
There are physical Human–Robot Interaction (pHRI) applications where the robot has to grab the human body, such as rescue or assistive robotics. Being able to precisely estimate the grasping location when grabbing a human limb is crucial to per...
This study introduces a cybernetic control and architectural framework for a robotic fish avatar operated by a human. The behavior of the robot fish is influenced by the electromyographic (EMG) signals of the human operator, triggered by stimuli from...
Defining and tracking trajectories in complex environments for nonholonomic mobile robots are challenging due to the underactuated dynamics and nonintegrable velocity constraints of these robots, which preclude smooth, time-invariant feedback stabili...