F gait is a strategy for a multi-fingered robotic hand to change its grasp status sequentially by relocating its fingers, which gives the hand more dexterity to perform large scale or complicated dextrous manipulations (Hong et al. 1990). In a finger gait, the robotic hand must achieve the desired configuration of both the object and the fingers, which involves the manipulation of the object as...

Physiological studies of the human finger indicate that friction in the tendon-pulley system accounts for a considerable fraction of the total output force (9-12%) in a high-load static posteccentric configuration. Such a phenomenon can be exploited for robotic and prosthetic applications, as it can result in (1) an increase of output force or (2) a reduction of energy consumption and actuator ...

The paper investigates how multi-finger myoelectric signals could be used to control a virtual robotic prosthetic hand created by using robot operating system (ROS). Both off-line and online experiment phases are conducted by using ten electrodes and performing eight selected multi-finger motions on four healthy subjects. Classification accuracy and confusion matrix of eight time domain (TD)-fe...

Active touch with voluntary movement on the surface of an object is important for human to obtain the local and detailed features on it. In addition, the active touch is considered to enhance the human spatial resolution. In order to improve dexterity performance of multifinger robotic hands, it is necessary to study an active touch method for robotic hands. In this paper, first, we define four...

A novel method to calculate the bended finger’s angle has presented here which could be used to control the electro-mechanical robotic hand. It is assumed that the robotic hand has the human hand like joints and same number of degree of freedom as human hand. In many applications, equipment like human hand is needed to do the same kind of operation like human do. These days it is easy to make t...

results twelve original studies fulfilled the inclusion criteria. the current literature suggests that the learning curve of robotic rectal surgery varies between 15 and 44 cases and is probably shorter to that of laparoscopic rectal surgery. conclusions there are only a few studies assessing the learning curve of robotic rectal surgery and they possess several differences in methodology and ou...

We consider the problem of impedance control for the physical interaction between the soft tip of a robot finger, where the nonlinear characteristics of the reproducing force and the finger dynamic parameters are unknown, and a rigid object or environment under kinematic uncertainties arising from both uncertain contact point location and uncertain rigid object geometry. An adaptive controller ...

In this paper the design of a multi-finger force-reflecting haptic interface device for teleoperational grasping is introduced. The haptic interface or “master” controller device is worn on the human operator’s hand and measured human finger positions are used to control the finger positions of a remote grasping manipulator or “slave” device. The slave may be a physical robotic grasping manipul...

Robot rehabilitation devices are attracting significant research interest, aiming at developing viable solutions for increasing the patient’s quality of life and enhancing clinician’s therapies. This paper outlines design implementation a low-cost robotic system that can assist finger motion by controlling adapting both position velocity fingers to users′ needs. The proposed device consists fou...