The structure of the human hand is a complex design comprising of various bones, joints, tendons, and muscles functioning together in order to produce the desired motion. It becomes a challenging task to develop a robotic hand replicating the capabilities of the human hand. In this paper, the analysis of the four-fingered robotic hand is carried out where the tendon wires and a spring return me...

In this project we present a framework for a multi-touch surface using multiple cameras. With an overhead camera and side-mounted camera we determine the three dimensional coordinates of the fingertips and detect touch events. We interpret these events as hand gestures which can be generalized into commands for manipulating applications. We offer an example application of a multi-touch finger p...

In this paper, we present a robotic actuation system using an artificial muscle actuator based on a dielectric elastomer. A novel linear actuator called a ‘multi-stacked actuator’ is proposed that can be embedded in the phalanges of a multi-jointed robot finger. This actuator ensures a compact design of the overall system. As an example, a 2-d.o.f. robot finger is developed and its performance ...

This paper details a strategy of discriminating finger Gestures using surface electromyography (EMG) signals, which could be applied to controlling the advanced multi-fingered myoelectric prosthesis for hand amputees. Finger motions discrimination is the key problem in this study. The EMG signal classification system was established based on the surface EMG signals from the subject’s forearm. F...

To determine whether other digits move when normal humans attempt to move just one digit, we asked 10 right-handed subjects to move one finger at a time while we recorded the motion of all five digits simultaneously with both a video motion analysis system and an instrumented glove. We quantified the independence of the digits to compare (1) the different digits, (2) the right versus the left h...

The variability in the numerous tasks in which we use our hands is very large. However, independent movement control of individual fingers is limited. To assess the extent of finger independency during full-range finger flexion including all finger joints, we studied enslaving (movement in non-instructed fingers) and range of independent finger movement through the whole finger flexion trajecto...

This paper presents the design of a new low-cost, easy operation hand having three 1 dof anthropomorphic fingers with human size. Experimental results on human cylindrical grasping have been used for designing a 1 dof anthropomorphic finger having human size. The mechanical design of this finger has been mainly focused on a suitable articulated mechanism. This mechanism transmits the power to t...

Schieber, Marc H., and Marco Santello. Hand function: peripheral and central constraints on performance. J Appl Physiol 96: 2293–2300, 2004; 10.1152/ japplphysiol.01063.2003.—The hand is one of the most fascinating and sophisticated biological motor systems. The complex biomechanical and neural architecture of the hand poses challenging questions for understanding the control strategies that un...

Grasp planning is a key problem in robotics. One of the goals is to find suitable forces and torques for an object through contact points for a robotic hand to grasp that object. At a broad level, there are two classes of grasp planning algorithms that are used to determine the relationship between the contact points and finger joint positions. The forward methods simulate the motion of the han...

This article proposes simple guidelines for generating multi-finger chord gesture sets that specifically account for physiological and motor characteristics of the human hand. We illustrate these guidelines with a sample gesture set. Our first study shows that multi-touch chord gestures can be significantly faster than pointing on a tool palette, but they also result in significantly more error...