Effect of the Thumb Orientation and Actuation on the Functionality and Performance of Affordable Prosthetic Hands: Obtaining Design Criteria [PDF]
Biomimetics, 2022 The advent of 3D printing technologies has enabled the development of low-cost prosthetic underactuated hands, with cables working as tendons for flexion.
Javier Andrés-Esperanza +3 more
doaj +2 more sources
Designing Prosthetic Hands With Embodied Intelligence: The KIT Prosthetic Hands [PDF]
Frontiers in Neurorobotics, 2022 Hand prostheses should provide functional replacements of lost hands. Yet current prosthetic hands often are not intuitive to control and easy to use by amputees.
Pascal Weiner +4 more
doaj +2 more sources
Composite learning tracking control for underactuated marine surface vessels with output constraints [PDF]
PeerJ Computer Science, 2022 In this paper, a composite learning control scheme was proposed for underactuated marine surface vessels (MSVs) subject to unknown dynamics, time-varying external disturbances and output constraints.
Huaran Yan, Yingjie Xiao, Honghang Zhang
doaj +3 more sources
Structural and Experimental Study of a Multi-Finger Synergistic Adaptive Humanoid Dexterous Hand [PDF]
BiomimeticsAs the end-effector of a humanoid robot, the dexterous hand plays a crucial role in the process of robot execution. However, due to the complicated and delicate structure of the human hand, it is difficult to replicate human hand functionality, balancing
Shengke Cao +4 more
doaj +2 more sources
The use of underactuation in prosthetic grasping [PDF]
Mechanical Sciences, 2011 Underactuation as a method of driving prosthetic hands has a long history. The pragmatic requirements of such a device to be light enough to be worn and used regularly have meant that any multi degree of freedom prosthetic hand must have fewer actuators ...
P. J. Kyberd, A. Clawson, B. Jones
exaly +2 more sources
Forward and Inverse Dynamics of a Unicycle-Like Mobile Robot
Machines, 2019 In this research work, a new method for solving forward and inverse dynamic problems of mechanical systems having an underactuated structure and subjected to holonomic and/or nonholonomic constraints is developed.
Domenico Guida, Carmine Maria Pappalardo
exaly +3 more sources
Slip detection for compliant robotic hands using inertial signals and deep learning [PDF]
Frontiers in Robotics and AIWhen a passively compliant hand grasps an object, slip events are often accompanied by flexion or extension of the finger or finger joints. This paper investigates whether a combination of orientation change and slip-induced vibration at the fingertip ...
Miranda Cravetz +3 more
doaj +2 more sources
Design and Optimization of an Anthropomorphic Robot Finger [PDF]
BiomimeticsThe coupled-adaptive underactuated finger offers two motion modes: pre-grasping and self-adaptive grasping. It can execute anthropomorphic pre-grasp motions before the proximal phalanx contacts an object and transitions to adaptive enveloping once ...
Ming Cheng, Li Jiang, Ziqi Liu
doaj +2 more sources
Stabilization of a Class of Underactuated Nonlinear Systems via Underactuated Back-Stepping [PDF]
IEEE Transactions on Automatic Control, 2021 The stabilization problem for a class of nonlinear systems is solved via a novel method inspired by back-stepping. The method, that we call underactuated back-stepping, is introduced by solving the stabilization problem for an inertia wheel pendulum and it is then developed for a class of underactuated mechanical systems.
Jingjing Jiang, Alessandro Astolfi
openaire +3 more sources