Results 1 to 10 of about 50,299 (312)

Improving Robotic Manipulation Without Sacrificing Grasping Efficiency: A Multi-Modal, Adaptive Gripper With Reconfigurable Finger Bases

IEEE Access, 2021
This work proposes a framework that improves the dexterous manipulation capabilities of two fingered grippers by: i) optimizing the finger link dimensions and the interfinger distance for a given object and ii) analyzing the effect of finger symmetry and
Nathan Elangovan, Lucas Gerez, Geng Gao, Minas Liarokapis   +3 more
doaj   +1 more source

On Differential Mechanisms for Underactuated, Lightweight, Adaptive Prosthetic Hands

Frontiers in Neurorobotics, 2021
Over the last decade underactuated, adaptive robot grippers and hands have received an increased interest from the robotics research community. This class of robotic end-effectors can be used in many different fields and scenarios with a very promising ...
Geng Gao, Mojtaba Shahmohammadi, Lucas Gerez, George Kontoudis, Minas Liarokapis   +4 more
doaj   +1 more source

Skin Sensitivity Assessment Using Smartphone Haptic Feedback

IEEE Open Journal of Engineering in Medicine and Biology, 2023
Goal: This work presents a smartphone application to assess cutaneous sensory perception by establishing Vibrational Perception Thresholds (VPTs). Cutaneous sensory perception diagnostics allow for the early detection and symptom tracking of tactile ...
Wilson O. Torres, Michael E. Abbott, Yuqing Wang, Hannah S. Stuart   +3 more
doaj   +1 more source

Efficient reciprocating burrowing with anisotropic origami feet

Frontiers in Robotics and AI, 2023
Origami folding is an ancient art which holds promise for creating compliant and adaptable mechanisms, but has yet to be extensively studied for granular environments.
Sareum Kim, Laura K. Treers, Tae Myung Huh, Hannah S. Stuart   +3 more
doaj   +1 more source

Electromyography-Based Decoding of Dexterous, In-Hand Manipulation of Objects: Comparing Task Execution in Real World and Virtual Reality

IEEE Access, 2021
The increased use of Virtual and Augmented Reality based systems necessitates the development of more intuitive and unobtrusive means of interfacing. Over the last years, Electromyography (EMG) based interfaces have been employed for interaction with ...
Yongje Kwon, Anany Dwivedi, Andrew J. McDaid, Minas Liarokapis   +3 more
doaj   +1 more source

On lightmyography based muscle-machine interfaces for the efficient decoding of human gestures and forces

Scientific Reports, 2023
Conventional muscle-machine interfaces like Electromyography (EMG), have significant drawbacks, such as crosstalk, a non-linear relationship between the signal and the corresponding motion, and increased signal processing requirements.
Mojtaba Shahmohammadi, Bonnie Guan, Ricardo V. Godoy, Anany Dwivedi, Poul Nielsen, Minas Liarokapis   +5 more
doaj   +1 more source

Electromyography Based Gesture Decoding Employing Few-Shot Learning, Transfer Learning, and Training From Scratch

IEEE Access, 2023
Over the last decade several machine learning (ML) based data-driven approaches have been used for Electromyography (EMG) based control of prosthetic hands.
Ricardo V. Godoy, Bonnie Guan, Felipe Sanches, Anany Dwivedi, Minas Liarokapis   +4 more
doaj   +1 more source

The Omnirotor Platform: A Versatile, Multi-Modal, Coaxial, All-Terrain Vehicle

IEEE Access, 2023
Mobile and aerial robots offer many potential applications, including warehouse logistics, surveillance, cinematography, and search and rescue. However, most such robots are task-specific and generally lack the versatility to tackle multiple scenarios ...
Joao Buzzatto, Minas Liarokapis
doaj   +1 more source

A Hybrid, Wearable Exoskeleton Glove Equipped With Variable Stiffness Joints, Abduction Capabilities, and a Telescopic Thumb

IEEE Access, 2020
Robotic hand exoskeletons have become a popular and efficient technological solution for assisting people that suffer from neurological conditions and for enhancing the capabilities of healthy individuals.
Lucas Gerez, Geng Gao, Anany Dwivedi, Minas Liarokapis   +3 more
doaj   +1 more source

On EMG Based Dexterous Robotic Telemanipulation: Assessing Machine Learning Techniques, Feature Extraction Methods, and Shared Control Schemes

IEEE Access, 2022
Electromyography (EMG) signals are commonly used for the development of Muscle Machine Interfaces. EMG-based solutions provide intuitive and often hand-free control in a wide range of applications that range from the decoding of human intention in ...
Ricardo V. Godoy, Anany Dwivedi, Bonnie Guan, Amber Turner, Dasha Shieff, Minas Liarokapis   +5 more
doaj   +1 more source