Even though there are many existing computational models of the kinematics of the human hand, none of them has the required precision sufficient to allow for rebuilding a model of the human hand. Embedded in a larger project in building a robotic arm mimicking the dynamics and kinematics of the human hand and arm, our goal is to obtain a detailed description of the kinematics of a human hand. T...

The paper first discusses the reasons why simplified solutions for the mechanical structure of fingers in robotic hands should be considered a worthy design goal. After a brief discussion about the mechanical solutions proposed so far for robotic fingers, a different design approach is proposed. It considers finger structures made of rigid links connected by flexural hinges, with joint actuatio...

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...

The human finger possesses a structure called the extensor mechanism, a web-like collection of tendinous material that lies on the dorsal side of each finger and connects the controlling muscles to the bones of the finger. In past robotic hand designs, extensor mechanisms have generally not been employed due in part to their complexity and a lack of understanding of their utility. This paper pr...

Many patients with upper limb defects desire myoelectric prosthetic hands, but they are still not used for some reasons. One of the most significant reasons is its external appearance, which has discomfort caused by structural difference between a human hand and robotic link. The structure must be based on anatomy to create more natural-looking prosthesis. This study designed biomimetic bones, ...

The ultimate goal of this research is to manipulate visual feedback in order to make robotic therapy more effective than traditional human-assisted and robotic rehabilitation. Toward this end, this thesis examines the limits and effects of visual feedback distortion, a type of visual feedback manipulation, in a robotic environment. Visual feedback establishes a metric of performance for a given...

The skin of humanoid robots often lacks human tactility and the inherent self-repair capability biological tissues. Recently, researchers have grown a living, self-healing on robot finger by subsequent culturing dermal epidermal cells. Here, we highlight significance this study alongside challenges toward developing biohybrid equipped with sensate adaptive living robotic skins.

Efficiently grasping and releasing objects using robotic grippers is an essential step in assembly. This paper presents a low-cost four-finger adaptive gripper capable of performing stable reliable operations on irregular-shaped flat objects. Unlike other systems the fixture-to-fixture assembly, assembly process proposed does not rely any vision or six-axis force/torque sensors. Specifically, a...

The experimental study of position control of a light weight and small size robotic finger during non-contact motion is presented in this paper. The finger possesses fingertip pinching and self adaptive grasping capabilities, and is made of a seven bar linkage mechanism with a slider in the middle phalanx. The control system is tested under the Proportional Integral Derivative (PID) control alg...