This paper presents a series of kinematic and haptic analyses which lead to the design of a particularly simple, yet useful multi-hand multi-finger haptic interface. We also discuss rendering issues which must be addressed in utilizing it, including and extension of the proxy to more general

abstract   background: traumatic or congenital events can result in injury and functional deficiency in the hand and we need to reconstruct the fingers at times. studies are available in the pediatric and adult age groups to assess the length of the thumb. but to the best our knowledge no measurement of the relative clinical length of all fingers has been reported in the literature. we performe...

Our novel prosthetic hand is controlled by extrinsic flexor muscles and tendons of the metacarpal-phalangeal joints. The hand uses tendon-activated pneumatic (TAP) control and has provided most subjects, including amputees and those with congenital limb absence, control of multiple fingers of the hand. The TAP hand restores a degree of natural control over force, duration, and coordination of m...

osteoid osteomata are rarely found in the distal phalanges of the hand. the usual presenting features are chronic pain, nail enlargement and increase in size of the terminal part of the digit. diagnosis is difficult but surgical excision is effective for treating the patients’pain. we reported this tumor in distal phalanx of the middle finger.

In this paper, a geometric construction based means of realizing any specified planar compliance for an object held by compliant hand is developed. It shown that the elastic behavior multi-serial parallel mechanism (a multi-finger hand) more simply and equivalently modeled fully-parallel dual . Synthesis procedures are developed realization arbitrary with hands using constraints on dual. Kinema...

A robot finger is developed for five-fingered robot hand having equal number of DOF to human hand. The robot hand is driven by a new method proposed by authors using ultrasonic motors and elastic elements. The method utilizes restoring force of elastic element as driving power for grasping an object, so that the hand can perform the soft and stable grasping motion with no power supply. In addit...

This paper proposed a design idea of a novel under-actuated finger mechanism, and analyzed its principle and designed the finger mechanism. The finger is designed based on a gear-rack mechanism, spring constraint and particular active middle-segment, which is passively adaptive in grasping objects. A new multi-fingered hand named as TH-3R Hand is designed based on the finger. TH-3R Hand has 5 f...