Multiingered robot hands can be used for applying ne motions. Unlike pick-and-place manipulations, Fine Motions Strategies generate movements based on sensor information to overcome mechanical and sensory uncertainties(Laugier, 1989; Magnussen and Doersam, 1995; Munoz et al., 1995). Performing assembly operations with a dexterous hand, high level strategies for planning a manipulation task have...

44 Dexterous manipulation requires both “strength”, the ability to produce fingertip 45 forces of a specific magnitude; and “dexterity”, the ability to dynamically regulate the 46 magnitude and direction of fingertip force vectors and finger motions. While cortical 47 activity in fronto-parietal networks has been established for stable grip and pinch forces, 48 the cortical regulation in the de...

BACKGROUND AND PURPOSE Ischemic stroke is the leading cause of upper extremity motor impairments. Although several well-characterized experimental stroke models exist, modeling of upper extremity motor impairments, which are unique to primates, is not well established. Cortical representation of dexterous movements in nonhuman primates is functionally and topographically similar to that in huma...

Purpose This paper presents a procedure to change the orientation of a grasped object using dexterous manipulation. The manipulation is controlled by teleoperation in a very simple way with the commands introduced by an operator using a keyboard. Design/methodology/approach The paper shows a teleoperation scheme, hand kinematics and a manipulation strategy to manipulate different objects using ...

Parallel manipulators feature relatively high payload and accuracy capabilities compared to their serial counterparts. However, they suffer from small workspace and low maneuverability. Kinematic redundancy for parallel manipulators can improve both of these characteristics. This paper presents a family of new kinematically redundant planar parallel manipulators with six actuated-joint degrees ...