A peculiar aspect of the muscular organization of the human hand is that the main flexors and extensors of the fingers are muscles that each give rise to four parallel tendons that insert on all the fingers. It has been hypothesized that these multi-tendoned muscles are comprised of functional compartments, with each finger controlled by a discrete population of motor units. The purpose of this...

This paper presents the fuzzy control of a five fingered robot hand by using the genetic algorithm and TMS320F2812 chip. Because of its high-speed performance, its support for multi-motor control and its low power consumption, TMS320F2812 DSP from TI demonstrates itself as an ideal candidate for the five fingered robot hand. There are five fingers and each finger has three degrees of freedom (D...

Recent advances in multi-fingered robotic grasping have enabled fast 6-Degrees-of-Freedom (DOF) single object grasping. Multi-finger cluttered scenes, on the other hand, remains mostly unexplored due to added difficulty of reasoning over obstacles which greatly increases computational time generate high-quality collision-free grasps. In this work, we address such limitations by introducing DDGC...

We report on our development of sensorized fingernails for mechatronical hands. Our proposed design can capture static and dynamic interaction forces with the nail and provide basic information about the direction of the main force vector. Over the course of several iterations, we have developed a very compact working prototype that fits together with our previously developed multi cell MID-bas...

Abstract— This paper presents a mixed control of multi-fingered haptic interface robot consisting of a 6 DOF arm and a 15 DOF hand. The interface is placed opposite the human hand and presents force and tactile feeling to the fingertips. In order to reduce the uneasy feeling in the operator, a mixed control consisting of a finger force control and an arm position control intended to maximize th...

Commercial multi-degrees-of-freedom (multi-DOF) myoelectric hand prostheses can perform various gestures and grip motions using multiple DOFs. However, as most upper limb amputees have less than two electromyogram (EMG) signals generated at the amputation site, it is difficult to control multi-DOF prostheses. This paper proposes a multifunctional prosthesis system that uses only EMG sensors whi...

For direct manipulation environment with force feedback, we propose a kind of string-based two-handed multi-fingers haptic interface device. The system can sense the positions of three fingertips and wrist on each of the user's hand. Force feedback can be perceived when the position of the finger comes into contact with the virtual object. We explain in detail about the algorithms used in the f...

Previous studies have shown that the interactions of human hand digits are influenced by internal constraints, i.e., biomechanical and central constraints. However, little is currently known about the influence of externally imposed mechanical constraints on multi-finger behavior. This study investigates maximal digit force production during fixed object and free object prehension in statics. T...

In the present study inhibitory cortical mechanisms have been investigated during execution and inhibition of learned motor programs by means of multi-channel functional near infrared spectroscopy (fNIRS). fNIRS is an emerging non-invasive optical technique for the in vivo assessment of cerebral oxygenation, concretely changes of oxygenated [oxy-Hb], and deoxygenated [deoxy-Hb] hemoglobin. Elev...