A force estimation model using motor current signals was deduced in this paper for a tendon-driven prosthetic finger grasping objects with its distal phalanx. Models of the prosthetic finger were first established. As driving moment of each joint could be calculated form motor current, stable grasping force of the finger could be calculated by its statics mechanic model, that is, the grasping f...

Background: The Mirror System Hypothesis offers the mirror system for grasping (i.e., neural mechanisms active for both execution and observation of grasping) as a neural ‘‘missing link’’ between the brains of our non-human ancestors of 20 million years ago and the modern human language-ready brain, stressing the importance of manual gesture in the evolution of mechanisms supporting language. A...

A method for controlling the grasping force when an object is grasped by artificial elastic fingers is proposed. First, the relationship between the stick area and the internal strain distribution of the finger is calculated using FE (finite element) analysis. Based on this relationship, a method is proposed for controlling the grasping force by decreasing the increasing ratio of the tangential...

We agree with Robertson that our new view on grasping is a description of motor behaviour rather than offering any insight into the nature of the neural processing underlying this behaviour. However, neurophysiologists might be inspired by our new view to ask other questions, do other experiments, and analyse these differently. In this way, they could generate new insights about the neural cont...

This letter presents a novel design of soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learning methods are used to train model real-time prediction force, torque, and contact the data collected. We further integrated such fingers in reconfigurable gripper three so that arrangement can be actively adjusted base...

Recording of neural activity during grasping actions in macaques showed that grasp-related sensorimotor transformations are accomplished in a circuit constituted by the anterior part of the intraparietal sulcus (AIP), the ventral (F5) and the dorsal (F2) region of the premotor area. In humans, neuroimaging studies have revealed the existence of a similar circuit, involving the putative homolog ...

Given that studying neural bases of actions is very challenging with fMRI, numerous experiments have used pantomimed actions as a proxy to studying neural circuits of real actions. However, the underlying assumption that the same neural mechanisms mediate real and pantomimed actions has never been directly tested. Moreover, the assumption is called into question by neuropsychological evidence s...

A stable grasp can only be achieved with multi-fingered grippers. The required task for the robots has become more complicated such as handling of objects with various properties e.g. material, size, mass etc. and the physical interaction between the finger and an object has also become complicated e.g. grasping with slippage, finger gait ..... etc. This paper focuses on enhancing the grasping ...