Citation: Colachis SC IV, Bockbrader MA, Zhang M, Friedenberg DA, Annetta NV, Schwemmer MA, Skomrock ND, Mysiw WJ, Rezai AR, Bresler HS and Sharma G (2018) Dexterous Control of Seven Functional Hand Movements Using Cortically-Controlled Transcutaneous Muscle Stimulation in a Person With Tetraplegia. Front. Neurosci. 12:208. doi: 10.3389/fnins.2018.00208 Dexterous Control of Seven Functional Han...

We built a highly compliant, underactuated, robust and at the same time dexterous anthropomorphic hand. We evaluate its dexterous grasping capabilities by implementing the comprehensive Feix taxonomy of human grasps and by assessing the dexterity of its opposable thumb using the Kapandji test. We also illustrate the hand’s payload limits and demonstrate its grasping capabilities in real-world g...

This paper addresses the dexterous manipulation planning problem of 3D rigid objects by a multi-fingered hand. We present a general motion planning algorithm capable to automatically generate specific stable grasps allowing a multifingered hand to manipulate rigid objects. It is also capable to address continuous sets of stable grasps, rather than sampling one generally assumed by the previous ...

In recent years, many multi-finger robotic hands have been designed and developed in order to emulate a human hand. The human hand has many sophisticated a lot of complicated dexterous skills that human themselves sometimes did not notice, for example an ability to grasp and manipulate tiny objects, a capability to regrasp an object without releasing and so on. To mimic or imitate these kind of...

In the literature, studies on dexterous manipulators are mainly focused on multi-finger multi-joint structures. These manipulators often have difficulties with grasping heavy objects due to the delicateness and complexity of the structures. This paper describes the authors’ attempt on implementing dexterous grasping on a traditional two-single-jointfinger hydraulic manipulator. Hydraulic driven...

Determine an optimal set of design parameter of PR whose DW fits a prescribed workspace as closely as possible is an important and foremost design task before manufacturing. In this paper, an optimal design method of a linear Delta robot (LDR) to obtain the prescribed cuboid dexterous workspace (PCDW) is proposed. The optical algorithms are based on the concept of performance chart. The perform...

Purpose – Slim and dexterous manipulators with long reaches can perform various exploration and inspection tasks in confined spaces. This paper aims to present the development of such a dexterous continuum manipulator for potential applications in the aviation industry. Design/methodology/approach – Benefiting from a newly conceived dual continuum mechanism and the improved actuation scheme, th...