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The role of quantitative information about slip and grip force in prosthetic grasp stability
2017
Advanced Robotics
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Acknowledgment We thank Marvin Ludersdorfer for helping with the mechanical construction of our experimental setup, and Shuhei Miyashita and Konstantinos Dermitzakis for their valuable input to our study ...
This work is supported by the SNF fellowship grant PBZHP2-135917. ...
role of slip speed and grip force at slip margin in grasp stability. ...
doi:10.1080/01691864.2017.1396250
fatcat:vssmwdmsqbgahkjobxhr2ruei4
Artificial ridged skin for slippage speed detection in prosthetic hand applications
2010
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
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This approach emphasizes the importance of exploiting morphology and mechanics in structures for the design of prosthetic interfaces. ...
This approach emphasizes the importance of exploiting morphology and mechanics in structures for the design of prosthetic interfaces. 978-1-4244-6676-4/10/$25.00 ©2010 IEEE 904 ...
about grasping events and transmit it back to the user. ...
doi:10.1109/iros.2010.5652094
dblp:conf/iros/DamianMDAP10
fatcat:s6cpulvkjrdnxoastd753kkzoi
A Multi-Threshold-based Force Regulation Policy for Prosthetic Hand Preventing Slippage
2021
IEEE Access
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In this paper, a new slippage prevention strategy is proposed to improve the prosthetic hand's grasp stability. ...
The slippage occurs between the fingers and object will result in grasp failure that badly affects the prosthetic hand's operation. ...
Actually, humans may not have quantitative knowledge about gripping force, and the habitual forces using by different individuals are not identical. ...
doi:10.1109/access.2021.3049854
fatcat:epqtux5okjaqvb4txhqpxyxxe4
A Modular Adjustable Transhumeral Prosthetic Socket for Evaluating Myoelectric Control
2020
IEEE Journal of Translational Engineering in Health and Medicine
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This study aims to address this gap through the design and assessment of an inexpensive and easy-to-use 3D-printed Modular-Adjustable transhumeral Prosthetic Socket (MAPS). ...
Since prosthesis functionality is highly dependent on the physical interface between the user's prosthetic socket and residual limb, assessment of such controllers under realistic (noisy) environmental ...
Initial prototype design of the socket was adopted from a University of Alberta Mechanical Engineering capstone design project. ...
doi:10.1109/jtehm.2020.3006416
pmid:32670675
pmcid:PMC7357731
fatcat:5i4gmuas7rgf7ahcemym7t72mu
Key considerations in designing a somatosensory neuroprosthesis
2016
Journal of Physiology - Paris
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Indeed, cutaneous and proprioceptive signals carry information about the shape, weight, size, and texture of objects grasped in the hand, about their motion relative to the skin, and about the forces we ...
the forces exerted on or by the object, about its frictional properties, or about slip. ...
doi:10.1016/j.jphysparis.2016.11.001
pmid:27815182
fatcat:xg2w4gyyh5cwbcjyjlrvcnbpcy
A Systematic Approach to Evaluating and Benchmarking Robotic Hands—The FFP Index
2019
Robotics
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An evaluation on how anthropomorphic robotic hands are in basic mobility, and appearance constitutes the "Form", while features that can be read, changed and actuated for effective control of robotic hands ...
An individual score for each category is drawn and we carry out a three-pronged analysis. We also propose an additional feature in the form of price to provide context when analysing multiple hands. ...
force and magnitude of contact forces due to the motion of the hand during manipulation, • Detect tangential forces due to the weight and shape of the object to prevent slip. ...
doi:10.3390/robotics8010007
fatcat:ojnr7x4jxrgvvooehvi5ui7rri
Case-study of a user-driven prosthetic arm design: bionic hand versus customized body-powered technology in a highly demanding work environment
2018
Journal of NeuroEngineering and Rehabilitation
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reliability, grip force regulation, grip performance, center of balance, component wear down, sweat/temperature independence and skin state are good whereas the iLimb system exhibited a number of relevant ...
reliability, grip force regulation, grip performance, center of balance, component wear down, sweat/temperature independence and skin state are good whereas the iLimb system exhibited a number of relevant ...
Private interests of arm amputees may cause their prosthetic arms to also require significant reliability and stability. ...
doi:10.1186/s12984-017-0340-0
pmid:29298708
pmcid:PMC5751817
fatcat:efklhpunlfazpnfjuotpys5fwe
Improving Fine Control of Grasping Force during Hand–Object Interactions for a Soft Synergy-Inspired Myoelectric Prosthetic Hand
2018
Frontiers in Neurorobotics
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We used the following tasks to evaluate the performance of grasp force control: (1) pick and place objects with different size, weight, and fragility levels using power or precision grasp and (2) squeezing ...
The concept of postural synergies of the human hand has been shown to potentially reduce complexity in the neuromuscular control of grasping. ...
This team of collaborators acknowledges support by the European Union's Horizon 2020 Research and Innovation Programme under Grant Agreement No.688857 (SoftPro). We would also like to thank Dr. ...
doi:10.3389/fnbot.2017.00071
pmid:29375360
pmcid:PMC5767584
fatcat:ztfkvvryzzgnje5a6yctdlxsmu
A Review of Sensory Feedback in Upper-Limb Prostheses From the Perspective of Human Motor Control
2020
Frontiers in Neuroscience
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, and reviews the work that has been done over the last 50+ years in each of those categories. ...
It shows that the inability of many studies to speak to the issue of meaningful performance improvements in real-life scenarios is caused by the complexity of the interactions of supplementary sensory ...
The prosthetic hands in Figures 3, 4 are developed by Prensilia s.r.l. and Otto Bock, respectively. ...
doi:10.3389/fnins.2020.00345
pmid:32655344
pmcid:PMC7324654
fatcat:zd3qopbdtvfkjbdtxsjvqt2igm
A Novel Skin-Stretch Haptic Device for Intuitive Control of Robotic Prostheses and Avatars
2019
IEEE Robotics and Automation Letters
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Two versions of the system are presented, with one and two actuators, respectively, which deliver the stretch stimulus in different ways. ...
Index Terms-Haptics and haptic interfaces, prosthetics and exoskeletons, human-centered robotics. ...
ACKNOWLEDGMENT The authors would like to thank F. Barontini, A. Di Lallo, M. Poggiani, and S. Casini for their useful help in setting up the experiments. ...
doi:10.1109/lra.2019.2896484
fatcat:yrtkgyimm5a3djcrsmwvh3earm
Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity
2000
IEEE Transactions on Robotics and Automation
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In this paper, an attempt at summarizing the evolution and the state of the art in the field of robot hands is made. ...
The paper illustrates some of the new, sometimes difficult, problems that are brought about by building and controlling simpler, more practical devices. ...
On the other hand, in human and animal grasping, the fundamental role played by the inner parts of the hand (palm and proximal phalanges) to enhance both the stability of the grip and the versatility of ...
doi:10.1109/70.897777
fatcat:iaqk676q35bcxb6ds332qmz2jm
Finger pad friction and its role in grip and touch
2012
Journal of the Royal Society Interface
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Moreover, the initial slip of a finger pad occurs by the propagation of an annulus of failure from the perimeter of the contact zone and this phenomenon could be important in tactile perception and grip ...
Many aspects of both grip function and tactile perception depend on complex frictional interactions occurring in the contact zone of the finger pad, which is the subject of the current review. ...
The authors also wish to thank Roland Ennos, Mark Rutland, Lisa Skedung and Peter Warman for sharing their data with us in the preparation of this review. ...
doi:10.1098/rsif.2012.0467
pmid:23256185
pmcid:PMC3565724
fatcat:q7z4zsf7rbbm5dmo4septfibju
Development of an Anthropomorphic Gripping Manipulator: The Study of Kinematics and Virtual Modeling of Grip
2016
American Journal of Applied Sciences
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The method used in this study allows for the calculation of design parameters for manipulator grip functions at an early stage of the creation process as well as to verify the effectiveness of the kinematic ...
The article is a study into the kinematic scheme of a newly developed anthropomorphic manipulator designed to perform gripping and holding tasks on items from a predefined set. ...
Acknowledgment This research was financially supported by the Ministry of Education and Science of the Russian ...
doi:10.3844/ajassp.2016.14.27
fatcat:dcnhqo663jf6vcqlikcbhly4dq
Multi-Fingered Robotic Grasping: A Primer
[article]
2016
arXiv
pre-print
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Next, we present an overview of various grasp planning algorithms with the objective of illustrating different approaches to solve this problem. Finally, we discuss grasp performance benchmarking. ...
After having introduced relevant mathematical background for modeling, form and force closure are discussed. ...
Slip measures were used to evaluate the grasp controller's ability to adjust the minimum grip force necessary to lift an object 10 mm from a table surface and to evaluate the controller's slip response ...
arXiv:1607.06620v1
fatcat:7ti5wexponcxpaxydbj5hkof7y
Critiquing Physical Prototypes for a Remote Audience
2017
Proceedings of the 2017 Conference on Designing Interactive Systems - DIS '17
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To examine the challenges of remote critique, I conducted an observational lab study in which participants critiqued pairs of physical prototypes (prosthetic hands) for a face-toface or remote collaborator ...
Based on my findings, I propose design implications for remote collaboration tools that support the sharing of material experiences and prototype critique. iii Publications Some figures and material in ...
For example, this proximity recording could be initiated when the presenter demonstrates grasping with the prosthetic hand (bringing the prosthetic in close to the camera to emphasize the grips of the ...
doi:10.1145/3064663.3064722
dblp:conf/ACMdis/MokO17
fatcat:nkyxwvz7kjbx3mtwyonswtybgy
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