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1
Parida, P. K., Bibhuti Bhusan Biswal, and M. R. Khan. "Kinematic Modeling and Analysis of a Multifingered Robotic Hand." Advanced Materials Research 383-390 (November 2011): 6684–88. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.6684.
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Precise and secure handling of flexible or irregularly shaped objects by robotic hands has become a challenge. Robot hands used in medical robotics and rehabilitation robotics need to be anthropomorphic to do the desired tasks. Although it is possible to develop robotic hands which can be very closely mapped to human hands, it is sometimes poses several problems due to control, manufacturing and economic reasons. The present work aims at designing and developing a robotic hand with five fingers for manipulation of objects. The kinematic modeling and its analysis, as a part of the development process is presented in this paper. The simulation results of the hand shows that the conceptualized design is yielding the desired result and works very efficiently.
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Leiper, K. J. "Robotics - a helping hand?" TrAC Trends in Analytical Chemistry 4, no. 2 (February 1985): 40–43. http://dx.doi.org/10.1016/0165-9936(85)85022-6.
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Bahrin, Syed Zainal Abidin Syed Kamarul, and Khairul Salleh Mohamed Sahari. "Initial Development of a Master-Slave Controller for a Five-Fingered Robotic Hand Design by Using Pressure Sensors Comparator Technique." International Journal of Engineering & Technology 7, no. 4.35 (November 30, 2018): 765. http://dx.doi.org/10.14419/ijet.v7i4.35.23104.
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There are numerous robotic hand designs but the five-fingered robotic hand design is the most dexterous robotic hand design due to its similar appearance and motions with the human hands. The five-fingered robotic hands are commonly controlled or governed through a master-slave system that can be accomplished by using simple preset motions or other complicated and advanced technologies. However, a five-fingered robotics hand can also be controlled by a novel approach known as pressure sensors comparator technique. This technique compares the values from the pressure sensors that are strategically located at the glove (master) and robotic hand (slave). If the values differ, the actuators will generate motions accordingly. The initial finding based on the master and slave prototypes showed that applying this technique is very challenging due to the humans' physiological diversity. Nevertheless, a solution was proposed for further studies and future developments by introducing an offset.
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Shaji, Ashwin K., and Rinku Dhiman. "Gesture Controlled Robotic Hand Using RF Unit and Accelerometer." International Journal of Research in Engineering, Science and Management 3, no. 11 (November 30, 2020): 125–27. http://dx.doi.org/10.47607/ijresm.2020.387.
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In the race of man v/s machine, automation comes as a companion of man and machine. Taking the technology to the next level from the mobile driven world to an automation driven world, will increase manufacturers their production rates, productivity and efficiency with materials, product quality, and worker safety. From ancient times the ingenuity and the brain power human beings have astonished researchers with engineering and mechanical marvels like the wheel, bow and arrow, cross bows, etc. What started from the wheel did not end there but evolved into the complex mechatronics systems that we see around us today. The robotics is one such human marvel that will be one-day equal human beings themselves. The robots thus have far more use in the daily life than any other systems. The robotics and automation is a rising piece of technology which could lessen the loads of work and solve the problems exponentially. As robotics is finding its place on every sector in this globe, the aim this project is to introduce robotics in the field of industry. The title of the system is ‘Gesture controlled robotic arm’. The aim of the system is to provide safety and to increase productivity in our industries. The research project should be designed in such a way that it should occupy minimum space, should possess high maneuverability and high agility. The project in discussion is types of robots which needs minimum space and are proved to be highly maneuverable and highly agile. The robot contains two main units, one is the robotic arm and second is the data glove with accelerometer using a RF controller. The robotic arm unit is responsible for the hand functions of the whole structure of the robot. The data glove is responsible for the input feedback to the robotic arm. The robotic unit will be controlled by an Arduino platform to improve its stability. The angle tilt will be measured using ADXL335 sensor. The ADXL335 uses angle, tilt and yaw values with Arduino for data transfer. Through advanced primary and secondary research techniques, system implementation hurdles and potential risks involved in developing such a system are identified. The project is fully planned using advanced project management techniques like PERT chart and Gantt chart in order to identify the critical activities and the timeline related with it.
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Ono, Eiichi. "KANSEI and Robotics. Robotic Kansei Measurement of Hand Value." Journal of the Robotics Society of Japan 17, no. 7 (1999): 928–32. http://dx.doi.org/10.7210/jrsj.17.928.
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Shahid, Talha, Darwin Gouwanda, Surya G. Nurzaman, and Alpha A. Gopalai. "Moving toward Soft Robotics: A Decade Review of the Design of Hand Exoskeletons." Biomimetics 3, no. 3 (July 18, 2018): 17. http://dx.doi.org/10.3390/biomimetics3030017.
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Soft robotics is a branch of robotics that deals with mechatronics and electromechanical systems primarily made of soft materials. This paper presents a summary of a chronicle study of various soft robotic hand exoskeletons, with different electroencephalography (EEG)- and electromyography (EMG)-based instrumentations and controls, for rehabilitation and assistance in activities of daily living. A total of 45 soft robotic hand exoskeletons are reviewed. The study follows two methodological frameworks: a systematic review and a chronological review of the exoskeletons. The first approach summarizes the designs of different soft robotic hand exoskeletons based on their mechanical, electrical and functional attributes, including the degree of freedom, number of fingers, force transmission, actuation mode and control strategy. The second approach discusses the technological trend of soft robotic hand exoskeletons in the past decade. The timeline analysis demonstrates the transformation of the exoskeletons from rigid ferrous materials to soft elastomeric materials. It uncovers recent research, development and integration of their mechanical and electrical components. It also approximates the future of the soft robotic hand exoskeletons and some of their crucial design attributes.
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Pozzi, Maria, Sara Marullo, Gionata Salvietti, Joao Bimbo, Monica Malvezzi, and Domenico Prattichizzo. "Hand closure model for planning top grasps with soft robotic hands." International Journal of Robotics Research 39, no. 14 (August 10, 2020): 1706–23. http://dx.doi.org/10.1177/0278364920947469.
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Automating the act of grasping is one of the most compelling challenges in robotics. In recent times, a major trend has gained the attention of the robotic grasping community: soft manipulation. Along with the design of intrinsically soft robotic hands, it is important to devise grasp planning strategies that can take into account the hand characteristics, but are general enough to be applied to different robotic systems. In this article, we investigate how to perform top grasps with soft hands according to a model-based approach, using both power and precision grasps. The so-called closure signature (CS) is used to model closure motions of soft hands by associating to them a preferred grasping direction. This direction can be aligned to a suitable direction over the object to achieve successful top grasps. The CS-alignment is here combined with a recently developed AI-driven grasp planner for rigid grippers that is adjusted and used to retrieve an estimate of the optimal grasp to be performed on the object. The resulting grasp planner is tested with multiple experimental trials with two different robotic hands. A wide set of objects with different shapes was grasped successfully.
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Biswal, Deepak Ranjan, and Pramod Kumar Parida. "Modelling and Finite Element Based Analysis of a Five Fingered Underactuated Robotic Hand." International Journal for Research in Applied Science and Engineering Technology 10, no. 9 (September 30, 2022): 100–108. http://dx.doi.org/10.22214/ijraset.2022.46579.
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Abstract: Imparting the dexterity and autonomous competence to a robotic system is a significant burden in humanoid robotics, especially in the fields of industrial manufacturing, prosthetics, orthopedic rehabilitation, etc. Operating a humanoid hand requires a very innovative actuator and transmission system. The under-actuated concepts are proving to be a possible means of achieving extremely dexterous robotic hands without the need for diverse mechanical design. The main characteristics of an under-actuated robotic hand are that fewer actuators are required to operate it than the degrees of freedom. The under-actuated equivalent hand is significantly less expensive than the fully-actuated equivalent hand and remarkably reduces the complexity of the control system. The existing work dealt with the modeling and finite element-based analysis of an anthropomorphic underactuated robotic hand using five fingers including the thumb and palm with dexterity and with a total of twenty-one degrees of freedom.
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Vargas, Oscar, Omar Flor, and Carlos Toapanta. "Robotic hand design with linear actuators based on Toronto development." Athenea 1, no. 1 (September 26, 2020): 22–28. http://dx.doi.org/10.47460/athenea.v1i1.3.
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In this work, the design of a robotic hand with 7 degrees of freedom is presented that allows greater flexibility, achieving the usual actions performed by a normal hand. The work consists of a prototype designed with linear actuators and myoelectric sensor, following the mechanism of the University of Toronto for the management of functional phalanges. The design, construction description, components and recommendations for the elaboration of a flexible and useful robotic hand for amputee patients with a residual limb for the socket are presented.
Keywords: Robotic hand, Degree of freedom, Toronto´s Mechanism, lineal actuator.
References
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[2]A. Heerschop, C. Van Der Sluis, E. Otten, & R.M. Bongers, Looking beyond proportional control: The relevance of mode switching in learning to operate multi-articulating myoelectric upper-limb prostheses, . Biomedical Signal Processing and Control, 2020, doi:10.1016/j.bspc.2019.101647.
[3]L. Heisnam, B. Suthar, 20 DOF robotic hand for tele-operation: — Design, simulation, control and accuracy test with leap motion. 2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA), 2016, doi:10.1109/raha.2016.7931886.
[4]Y. Mishima, R. Ozawa, Design of a robotic finger using series gear chain mechanisms. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, doi:10.1109/iros.2014.6942961.
[5]N. Dechev, W. Cleghorn, S. Naumann, Multi-segmented finger design of an experimental prosthetic hand,Proceedings of the Sixth National Applied Mechanisms & Robotics Conference, december 1999.
[6]O. Flor, “Building a mobile robot,” Education for the future. Accessed on: December 29, 2019. [Online] Available: https://omarflor2014.wixsite.com/misitio.
[7]Vargas, O., Flor,O., Suarez, F., Design of a robotic prototype of the hand and right forearm for prostheses, Universidad, Ciencia y Tecnología, 2019.
[8]O. Vargas, O. Flor, F. Suarez, C. Chimbo, Construction and functional tests of a robotic prototype for human prostheses, Revista espirales, 2020.
[9]P. PonPriya, E. Priya, Design and control of prosthetic hand using myoelectric signal. International Conference on Computing and Communications Technologies (ICCCT), 2017, doi:10.1109/iccct2.2017.7972314.
[10]N. Bajaj, A. Spiers, A. Dollar, State of the Art in Artificial Wrists: A Review of Prosthetic and Robotic Wrist Design. IEEE Transactions on Robotics, 2019, doi:10.1109/tro.2018.2865890.
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Castiblanco, Paola Andrea, José Luis Ramirez, and Astrid Rubiano. "Smart Materials and Their Application in Robotic Hand Systems: A State of the Art." Indonesian Journal of Science and Technology 6, no. 2 (May 15, 2021): 401–26. http://dx.doi.org/10.17509/ijost.v6i2.35630.
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The use of soft robotics and smart materials for the design of devices that help the population in different tasks has gained a rising interest. Medicine is one of the fields where its implementation has shown significant advances. However, there are works related to applications, directed to the human body especially in replacement of devices for the upper limb. This document aims to explore the state of the art relating to the study of soft robotics, the implementation of smart materials, and the artificial muscles in the design or construction of hand prostheses or robotic devices analogous to the human hand.
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Yue, Zan, Xue Zhang, and Jing Wang. "Hand Rehabilitation Robotics on Poststroke Motor Recovery." Behavioural Neurology 2017 (2017): 1–20. http://dx.doi.org/10.1155/2017/3908135.
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The recovery of hand function is one of the most challenging topics in stroke rehabilitation. Although the robot-assisted therapy has got some good results in the latest decades, the development of hand rehabilitation robotics is left behind. Existing reviews of hand rehabilitation robotics focus either on the mechanical design on designers’ view or on the training paradigms on the clinicians’ view, while these two parts are interconnected and both important for designers and clinicians. In this review, we explore the current literature surrounding hand rehabilitation robots, to help designers make better choices among varied components and thus promoting the application of hand rehabilitation robots. An overview of hand rehabilitation robotics is provided in this paper firstly, to give a general view of the relationship between subjects, rehabilitation theories, hand rehabilitation robots, and its evaluation. Secondly, the state of the art hand rehabilitation robotics is introduced in detail according to the classification of the hardware system and the training paradigm. As a result, the discussion gives available arguments behind the classification and comprehensive overview of hand rehabilitation robotics.
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Biswal, Deepak Ranjan, and Pramod Kumar Parida. "Mathematical Modelling and Kinematic Analysis of a Tendon Driven Under-Actuated Robotic Hand." International Journal for Research in Applied Science and Engineering Technology 11, no. 1 (January 31, 2023): 862–71. http://dx.doi.org/10.22214/ijraset.2023.48688.
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Abstract: Providing a robotic system with dexterous skills and autonomous capabilities is a key challenge in the field of humanoid robotics, particularly in areas such as industrial manufacturing, prosthetics, and orthopaedic rehabilitation. Providing such a system would be extremely useful in these areas. In order for its functionality to be fully realised, a multifingered robotic hand calls on a significantly higher level of actuation and transmission systems. Under actuation techniques provide the impression of being a workable solution for achieving high degrees of dexterity in robotic hands without the need for more complex mechanical design. One of the most defining characteristics of an under-actuated robotic hand is that the needed number of actuators to control the hand is fewer in number than the degree of freedom that the hand possesses. When compared to a fully actuated version of the same hand, an identical hand with under actuation offers a considerable reduction in the complexity of the control system and a large cost savings. The current study proposes the design and kinematic analysis of an anthropomorphic five-finger robotic hand. Four of the fingers and the thumb are under-actuated, and the hand has twenty-one degrees of freedom and twelve degrees of actuation.
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Devaraj, Harish, Tim Giffney, Adeline Petit, Mahtab Assadian, and Kean Aw. "The Development of Highly Flexible Stretch Sensors for a Robotic Hand." Robotics 7, no. 3 (September 11, 2018): 54. http://dx.doi.org/10.3390/robotics7030054.
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Demand for highly compliant mechanical sensors for use in the fields of robotics and wearable electronics has been constantly rising in recent times. Carbon based materials, and especially, carbon nanotubes, have been widely studied as a candidate piezoresistive sensing medium in these devices due to their favorable structural morphology. In this paper three different carbon based materials, namely carbon black, graphene nano-platelets, and multi-walled carbon nanotubes, were utilized as large stretch sensors capable of measuring stretches over 250%. These stretch sensors can be used in robotic hands/arms to determine the angular position of joints. Analysis was also carried out to understand the effect of the morphologies of the carbon particles on the electromechanical response of the sensors. Sensors with gauge factors ranging from one to 1.75 for strain up to 200% were obtained. Among these sensors, the stretch sensors with carbon black/silicone composite were found to have the highest gauge factor while demonstrating acceptable hysteresis in most robotic hand applications. The highly flexible stretch sensors demonstrated in this work show high levels of compliance and conformance making them ideal candidates as sensors for soft robotics.
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Pausic, Vesna, Grigorije Jovanovic, and Svetlana Simic. "Robotics in physical medicine and neurorehabilitation." Medical review 74, no. 1-2 (2021): 50–53. http://dx.doi.org/10.2298/mpns2102050p.
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Introduction. Robots have been used for rehabilitation purposes since the 1960s. The aim of this paper is to present the application of robotics in physical medicine and rehabilitation with special reference to robotic devices used in rehabilitation. Material and Methods. The paper uses literature related to the application of robotics in medicine and rehabilitation. The literature review was conducted using the following databases: Serbian Library Consortium for Coordinated Acquisition, Medical Literature Analysis and Retrieval System, Google Scholar, Science Citation Index, and portal of Croatian scientific journals ?Hrcak?. Development of robotics in rehabilitation. Nowadays, there are a great number of different robotic systems for rehabilitation. Robotics in rehabilitation is of utter importance because it works on the principle of neuroplasticity. Robots for lower limb rehabilitation. These robotic systems are most often in the form of exoskeletons. Robots for upper limb rehabilitation. Upper limb rehabilitation robots are therapeutic devices that help or provide support for arm or hand movements. Robot for upper body rehabilitation. Robot ?Tymo?. Conclusion. By using robots in physical medicine and neurorehabilitation, a faster and more complete functional recovery of the patient can be achieved.
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Archana, T., Srigitha S. Nath, and S. Praveenkumar. "Development of Robotic Arm Through Hand Gesture Recognition Using Leap Motion Sensor." Journal of Computational and Theoretical Nanoscience 17, no. 4 (April 1, 2020): 1889–93. http://dx.doi.org/10.1166/jctn.2020.8461.
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The objective of this paper has been the development of a prototype of articulated Robotic arm and implementation of a control strategy for gesture recognition through (Leap motion sensor), by means the natural movement of the fore-arm and hand. The series of advances relative to the control techniques have caused that the robotics it has also introduced as an educational and complement in obligatory basic teachings. To develop and to control Robotic elements locally or remotely, it has always proven to be a clear example of additional motivation. The prototype developed has exceeded the initial expectations and at low cost.
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Johansson, Birger, Trond A. Tjøstheim, and Christian Balkenius. "Epi: An open humanoid platform for developmental robotics." International Journal of Advanced Robotic Systems 17, no. 2 (March 1, 2020): 172988142091149. http://dx.doi.org/10.1177/1729881420911498.
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Epi is a humanoid robot developed by Lund University Cognitive Science Robotics Group. It was designed to be used in experiments in developmental robotics and has proportions to give a childlike impression while still being decidedly robotic. The robot head has two degrees of freedom in the neck and each eye can independently move laterally. There is a camera in each eye to make stereovision possible. The arms are designed to resemble those of a human. Each arm has five degrees of freedom, three in the shoulder, one in the elbow and one in the wrist. The hands have four movable fingers and a stationary thumb. A force distribution mechanism inside the hand connect a single servo to the movable fingers and makes sure the hand closes around an object regardless of its shape. The rigid parts of the hands are 3D printed in PLA and HIPS while the flexible parts, including the joints and the tendons, are made from polyurethane rubber. The control system for Epi is based on neurophysiological data and is implemented using the Ikaros system. Most of the sensory and motor processing is done at 40 Hz to allow smooth movements. The irises of the eyes can change colour and the pupils can dilate and contract. There is also a grid of LEDs that resembles a mouth that can be animated by changing colour and intensity.
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Zhao, Yibo. "Research status and prospect of robotic systems in the field of aerospace engineering." Highlights in Science, Engineering and Technology 23 (December 3, 2022): 276–84. http://dx.doi.org/10.54097/hset.v23i.3278.
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Technology has undergone major changes in the field of aerospace engineering. One major field is robotics. Robotics plays an important role in the field of aerospace and has received more and more attention and attention from scholars at home and abroad. This paper reviews the development of robotic systems from the application of robotics in aerospace engineering, the advantages and disadvantages of robotic systems, and how to improve their effectiveness for better use in the future. The research results found that in terms of its application, it mainly includes welding, inspection, painting, space exploration, drilling and so on. Benefits include high precision, low operating costs and high productivity. On the other hand, it has the disadvantage of requiring a lot of space, balancing speed and accuracy, requiring skilled labor, and being prone to remote control and misuse. Its effectiveness can be increased by minimizing energy consumption to reduce operating costs and improving coordination to reduce collisions. In the future, the use of robotics seems promising as it may be used in transportation to reduce carbon emissions and transportation costs. The research in this paper can provide a reference for the future development of robotic systems.
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Deng, Eric, and Yonas Tadesse. "A Soft 3D-Printed Robotic Hand Actuated by Coiled SMA." Actuators 10, no. 1 (December 29, 2020): 6. http://dx.doi.org/10.3390/act10010006.
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Robotic hands with unique designs, capabilities and applications have been presented in the literature focusing on sensing, actuation, control, powering and manufacturing, most of which are created by manual assembly process. However, due to advancements in additive manufacturing, new capabilities have replaced traditional methods of manufacturing. In this paper, we present a soft 3D-printed robotic hand actuated by custom-made coiled shape memory alloy (SMA) actuators. The hand uses additive manufacturing of flexible thermoplastic polyurethane (TPU) material, which allows flexing at the joint and hence eliminates the need for additional assembly. Here, we present the full characteristics of the robotic hand such as object grasping categorized by size and weight from the ARAT kit and others. The robotic hand is 425 mm in length, weighs 235 g and is able to operate at a frequency of 0.125 Hz without active cooling. It can grasp an object of 55–81 mm widths, weighing up to 133 g, while consuming an average power of 7.82 W. We also show the time domain response of our custom-made coiled SMA to different current inputs, and its corresponding force and displacement. The current design yields a lightweight and low cost artificial hand with significantly simplified manufacturing for applications in robotics and prosthetics.
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Pons, J. L., R. Ceres, and F. Pfeiffer. "Multifingered dextrous robotics hand design and control: a review." Robotica 17, no. 6 (November 1999): 661–74. http://dx.doi.org/10.1017/s0263574799001836.
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During the last two decades a large amount of effort and attention has been paid to the problem of designing and controlling dextrous robotics hands. The possible application background ranges from telerobotics to upper limb prosthetics, while actual industrial developments are mainly limited to specific grippers and tools. Classical problems related to dextrous hand design are kinematics of multifingered hands, development of proper actuation technologies and redundant tendinous systems for transmission. As far as hand control is concerned, grasp preshaping, planning and synthesis are of major concern, while sensor guided hand operation is still a matter of research. The present work reviews the above mentioned hand design and control issues trying to throw some light on the Babel-like confusion encountered when looking at present literature on dextrous hand design and specially control. Most actuation and transmission technologies, as well as control approaches, are studied and classified.
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Zhao, Zijian, and Yuncai Liu. "A hand–eye calibration algorithm based on screw motions." Robotica 27, no. 2 (March 2009): 217–23. http://dx.doi.org/10.1017/s0263574708004608.
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SUMMARYWhen computer vision technique is used in robotics, robotic hand–eye calibration is a very important research task. Many algorithms have been proposed for hand–eye calibration. Based on these algorithms, we introduce a new hand–eye calibration algorithm in this paper, which employs the screw motion theory to establish a hand–eye matrix equation by using quaternion and gets a simultaneous result for rotation and translation by solving linear equations. The algorithm proposed in this paper has high accuracy and stable computational efficiency and can be understood easily. Both simulations and real experiments show the superiority of our algorithm over the comparative algorithms.
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Adel, Samar, Abbas Zaher, Nadia El Harouni, Adith Venugopal, Pratik Premjani, and Nikhilesh Vaid. "Robotic Applications in Orthodontics: Changing the Face of Contemporary Clinical Care." BioMed Research International 2021 (June 16, 2021): 1–16. http://dx.doi.org/10.1155/2021/9954615.
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The last decade (2010-2021) has witnessed the evolution of robotic applications in orthodontics. This review scopes and analyzes published orthodontic literature in eight different domains: (1) robotic dental assistants; (2) robotics in diagnosis and simulation of orthodontic problems; (3) robotics in orthodontic patient education, teaching, and training; (4) wire bending and customized appliance robotics; (5) nanorobots/microrobots for acceleration of tooth movement and for remote monitoring; (6) robotics in maxillofacial surgeries and implant placement; (7) automated aligner production robotics; and (8) TMD rehabilitative robotics. A total of 1,150 records were searched, of which 124 potentially relevant articles were retrieved in full. 87 studies met the selection criteria following screening and were included in the scoping review. The review found that studies pertaining to arch wire bending and customized appliance robots, simulative robots for diagnosis, and surgical robots have been important areas of research in the last decade (32%, 22%, and 16%). Rehabilitative robots and nanorobots are quite promising and have been considerably reported in the orthodontic literature (13%, 9%). On the other hand, assistive robots, automated aligner production robots, and patient robots need more scientific data to be gathered in the future (1%, 1%, and 6%). Technological readiness of different robotic applications in orthodontics was further assessed. The presented eight domains of robotic technologies were assigned to an estimated technological readiness level according to the information given in the publications. Wire bending robots, TMD robots, nanorobots, and aligner production robots have reached the highest levels of technological readiness: 9; diagnostic robots and patient robots reached level 7, whereas surgical robots and assistive robots reached lower levels of readiness: 4 and 3, respectively.
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Xia, Ziwei, Zhen Deng, Bin Fang, Yiyong Yang, and Fuchun Sun. "A review on sensory perception for dexterous robotic manipulation." International Journal of Advanced Robotic Systems 19, no. 2 (March 1, 2022): 172988062210959. http://dx.doi.org/10.1177/17298806221095974.
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Sensory perception for dexterous robotic hands is an active research area and recent progress in robotics. Effective dexterous manipulation requires robotic hands to accurately feedback their state or perceive the surrounding environment. This article reviews the state-of-the-art of sensory perception for dexterous robotic manipulation. Two types of sensors, such as intrinsic and extrinsic sensors, are introduced according to their function and layout in robotic hands. These sensors provide rich information to a robotic hand, which contains the posture, the contact information of objects, and the physical information of the environment. Then, a comprehensive analysis of perception methods including planning-level, control-level, and learning-level perceptions is presented. The information obtained from sensory perception can help robotic hands to make decisions effectively. Previously issued reviews mainly focus on the design of tactile senor, while we analyze and discuss the relationship among sensing, perception, and dexterous manipulation. Some potential research topics on sensory perception are also summarized and discussed.
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Birouaș, Flaviu Ionuț, Radu Cătălin Țarcă, Simona Dzitac, and Ioan Dzitac. "Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation." Symmetry 12, no. 9 (September 7, 2020): 1470. http://dx.doi.org/10.3390/sym12091470.
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Robotic exoskeletons are a trending topic in both robotics and rehabilitation therapy. The research presented in this paper is a summary of robotic exoskeleton development and testing for a human hand, having application in motor rehabilitation treatment. The mechanical design of the robotic hand exoskeleton implements a novel asymmetric underactuated system and takes into consideration a number of advantages and disadvantages that arose in the literature in previous mechanical design, regarding hand exoskeleton design and also aspects related to the symmetric and asymmetric geometry and behavior of the biological hand. The technology used for the manufacturing and prototyping of the mechanical design is 3D printing. A comprehensive study of the exoskeleton has been done with and without the wearer’s hand in the exoskeleton, where multiple feedback sources are used to determine symmetric and asymmetric behaviors related to torque, position, trajectory, and laws of motion. Observations collected during the experimental testing proved to be valuable information in the field of augmenting the human body with robotic devices.
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Liverneaux, P., E. Nectoux, and C. Taleb. "The future of robotics in hand surgery." Chirurgie de la Main 28, no. 5 (October 2009): 278–85. http://dx.doi.org/10.1016/j.main.2009.08.002.
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Fang, Bin, Fuchun Sun, Huaping Liu, Di Guo, Wendan Chen, and Guodong Yao. "Robotic teleoperation systems using a wearable multimodal fusion device." International Journal of Advanced Robotic Systems 14, no. 4 (July 1, 2017): 172988141771705. http://dx.doi.org/10.1177/1729881417717057.
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Teleoperation is of great importance in the area of robotics especially when people’s presence at the robot working space is unavailable. It provides an alternative to employ human intelligence in the control of the robot remotely. We establish robotic teleoperation systems with a wearable multimodal fusion device. The device is integrated with 18 low-cost inertial and magnetic measurement units, which cover all segments of the arm and hand. The multimodal fusion algorithm based on extended Kalman filter is deduced to determine the orientations and positions of each segment. Then, the robotic teleoperation systems using the proposed device are designed. The novel teleoperation schemes can be applied for 11DOF robotic arm–hand system and 10DOF robotic arm–hand system, in which the operator’s fingers are used for robotic hand teleoperation, and the arms with palm are used for robotic arm teleoperation. Meanwhile, the proposed robotic teleoperation systems are fully realized with a user-friendly human–machine interaction interface. Finally, a series of experiments are conducted with our robotic teleoperation system successfully.
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González, Joseph, Itza Morales, Mel Nielsen, Lilia Muñoz, and Vladimir Villarreal. "Improving the Teaching of Mathematics through Robotics." Proceedings 31, no. 1 (November 15, 2019): 5. http://dx.doi.org/10.3390/proceedings2019031005.
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In our day to day, technology and robotics are increasingly present. Currently, Information and Communication Technologies (ICT) are undergoing a vertiginous development and this is affecting practically all fields of our society and education is no exception. On the other hand, the incorporation of robotics in the classroom aims to promote learning experiences where students acquire and develop skills to solve specific problems, which allow them to acquire new knowledge and give answers to the changing environment of today’s world. This article presents the progress in the development of a project where robotics is implemented for the teaching of mathematics in preschool and first grade students; three public schools were selected for this purpose, and a series of playful educational activities were developed, using low cost robotic tools.
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Secciani, Nicola, Matteo Bianchi, Alessandro Ridolfi, Federica Vannetti Yary Volpe, Lapo Governi, Massimo Bianchini, and Benedetto Allotta. "Tailor-Made Hand Exoskeletons at the University of Florence: From Kinematics to Mechatronic Design." Machines 7, no. 2 (April 3, 2019): 22. http://dx.doi.org/10.3390/machines7020022.
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Recently, robotics has increasingly become a companion for the human being and assisting physically impaired people with robotic devices is showing encouraging signs regarding the application of this largely investigated technology to the clinical field. As of today, however, exoskeleton design can still be considered a hurdle task and, even in modern robotics, aiding those patients who have lost or injured their limbs is surely one of the most challenging goal. In this framework, the research activity carried out by the Department of Industrial Engineering of the University of Florence concentrated on the development of portable, wearable and highly customizable hand exoskeletons to aid patients suffering from hand disabilities, and on the definition of patient-centered design strategies to tailor-made devices specifically developed on the different users’ needs. Three hand exoskeletons versions will be presented in this paper proving the major taken steps in mechanical designing and controlling a compact and lightweight solution. The performance of the resulting systems has been tested in a real-use scenario. The obtained results have been satisfying, indicating that the derived solutions may constitute a valid alternative to existing hand exoskeletons so far studied in the rehabilitation and assistance fields.
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YOKOI, HIROSHI, ANDY ADAMATZKY, BEN DE LACY COSTELLO, and CHRIS MELHUISH. "EXCITABLE CHEMICAL MEDIUM CONTROLLER FOR A ROBOTIC HAND: CLOSED-LOOP EXPERIMENTS." International Journal of Bifurcation and Chaos 14, no. 09 (September 2004): 3347–54. http://dx.doi.org/10.1142/s0218127404011363.
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We discuss the experimental implementation of a chemical controller for a robotic hand. In the present case study, we have designed a closed system where a Belousov–Zhabotinsky (BZ) thin layer chemical reactor was linked to the robotic hand via an array of photo-sensors and the fingers of the hand were able to stimulate the excitation dynamics in the BZ medium via the local addition of an activator species. A principal working loop of the chemo-robotic system is that oxidation wave fronts traveling in the medium are detected by photo-sensors and cause (via a microcontroller) the fingers of the hand to bend. When a finger bends, it is set up to apply a small quantity of colloid silver to the reaction and thus causes an additional excitation wave. The traveling and interacting waves stimulate further movements of the fingers and patterns of behavior are observed. These patterns of behavior have been modeled using a cellular automaton. In the paper, we offer an experimental set-up, including algorithms and interfacing, for an experimental chemical robotic hand controller, which contributes to the fields of nonclassical computation, nonlinear physics, and unconventional robotics.
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Yadrovskaya, М. V., and I. V. Gurin. "Study on the Relevance of Robotics Technology." Advanced Engineering Research 22, no. 4 (January 9, 2023): 353–64. http://dx.doi.org/10.23947/2687-1653-2022-22-4-353-364.
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Introduction. Robotic technologies serve as an important indicator of the technological and economic state of the country, they also affect the lives of individuals. Their development is a promising and urgent task affecting many aspects of the life of modern society. Currently, robotics is going through another stage of development, which has its own characteristics, new directions. The work aims at analyzing the situation and ways of development of this industry in the world and in our country, as well as the attitude of people to the use of robotic systems and their willingness to improve them. The topic under consideration is understudied. Materials and Methods. In the presented work, the historical aspects of the formation of unique robotic technologies are defined, the ratio of the number of manufacturers and consumers of robotic products in the world is specified, the areas of the robotic technology application are named. The central place in the research is given to the results of an online survey conducted by the authors. Its statistical analysis made it possible to study, using specific data, the factors that influence the spread of robotic systems and robotic technologies and contribute to them. Results. The survey results, on the one hand, showed a high assessment of the prospects of robotic systems given by the respondents, and confirmed that young people have an interest in robot-making technologies. On the other hand, they allowed us to note the high level of knowledge in the field of robotic technologies among engineering students and the presence of more than elementary knowledge of these technologies among representatives of other special fields. In the opinion of the authors, there are all prerequisites for the further successful development of these technologies. Discussion and Conclusions. The analysis of the use of robotics in the world and in our country, as well as the results of the survey conducted by the authors, enable to conclude that these technologies are developing and will continue to develop actively, and the interest of current students in this, confirmed by the answers to the questionnaire, will contribute to the wider introduction of robots into the lives of future generations.
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Yadav*, Dr Madhu. "Application of Technologies Robotic Rehabilitation in Children with Upper Limb Injury." International Journal of Preventive Medicine and Health 1, no. 4 (September 10, 2021): 1–5. http://dx.doi.org/10.35940/ijpmh.b1005.091421.
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Robotic and advanced technology rehabilitation is useful for people with difficulties and deficits in arm and hand movements, walking problems and balance disorders. Robotic technologies are being introduced in the rehabilitation field to support the activity of specialists, doctors and physiotherapists; the future and the challenge of rehabilitation lies precisely in the development of robotics. Robot assists the therapist in administering the most appropriate motor therapy with precision and repeatability modulates the difficulty of the exercise. It allows repetitive task-oriented activities with augmentative feedback capable of inducing brain plasticity. It acquires quantitative information on movement and evaluates the services performed he first, “Arm and Hand”, is used to help the opening and closing movements of the hand. After entering it by hand and forearm, gently guides the patient's shoulder and elbow movements to reach and grasp objects. “Wrist”, on the other hand, interacts with the movements of the wrist and integrates functionally with the “Hand” module.
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Yadav, Dr Madhu. "Application of Technologies Robotic Rehabilitation in Children with Upper Limb Injury." International Journal of Preventive Medicine and Health 1, no. 4 (September 10, 2021): 1–5. http://dx.doi.org/10.54105/ijpmh.b1005.091421.
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Robotic and advanced technology rehabilitation is useful for people with difficulties and deficits in arm and hand movements, walking problems and balance disorders. Robotic technologies are being introduced in the rehabilitation field to support the activity of specialists, doctors and physiotherapists; the future and the challenge of rehabilitation lies precisely in the development of robotics. Robot assists the therapist in administering the most appropriate motor therapy with precision and repeatability modulates the difficulty of the exercise. It allows repetitive task-oriented activities with augmentative feedback capable of inducing brain plasticity. It acquires quantitative information on movement and evaluates the services performed he first, “Arm and Hand”, is used to help the opening and closing movements of the hand. After entering it by hand and forearm, gently guides the patient’s shoulder and elbow movements to reach and grasp objects. “Wrist”, on the other hand, interacts with the movements of the wrist and integrates functionally with the “Hand” module.
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Postigo, José F., Vicente A. Mut, Ricardo O. Carelli, Luis A. Baigorria, and Benjamin R. Kuchen. "Hand controller for bilateral teleoperation of robots." Robotica 18, no. 6 (November 2000): 677–86. http://dx.doi.org/10.1017/s0263574700002782.
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Teleoperation, one of the oldest areas of robotics, has experienced considerable growth in the last two decades. Main causes for this trend are the need for increased safety levels for human operators and lower production costs. In this work, a three d.o.f. local manipulator (two d.o.f. for force and one d.o.f. for torque) is developed. This hand controller, intended for robot or mobile teleoperation systems, has force reflection in two axes and torque reflection in the third axis. using a robotic hand developed at INAUT as a remote device, laboratory experiments on each axis (one at a time) have shown good results. An impedance controller at the remote system allows one to carry out interactive tasks with the environment such as polishing, insertion and grinding, where it is necessary to control and accommodate the interaction forces and torques in order to avoid hazards for both the manipulated objects and the remote robot.
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Zobayed, Irfan, Drew Miles, and Yonas Tadesse. "A 3D-printed soft orthotic hand actuated with twisted and coiled polymer muscles triggered by electromyography signals." ACTA IMEKO 11, no. 3 (September 28, 2022): 1. http://dx.doi.org/10.21014/acta_imeko.v11i3.1267.
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<p class="Abstract">Various wearable robotic hands, prosthetic hands, and orthotic exoskeletons developed in the last decade aim to rehabilitate patients whose daily quality of life is affected from hand impairments – however, a majority of these devices are controlled by bulky, expensive, noisy, and uncomfortable actuators. Twisted and coiled polymer (TCP) muscles are novel smart actuators that address these key drawbacks. They have been utilized in soft robotics, hand orthosis exoskeletons, and powered hand orthotic devices; they are also light- weight, high-performance, and inexpensive to manufacture. Previously, TCP muscles have been controlled via power supplies with mechanical switches that are not portable, hence making it unfeasible for long term applications. In this work, a portable control system for TCP muscles via electromyography (EMG) signals that are captured through electrodes placed on the arm of the user and processed through a channel of electrical components to actuate 4-ply TCP muscles, which is demonstrated on a 3D-Printed soft orthotic hand. With portable EMG control, orthotic devices can become more independently accessible to the user, making these devices novel instruments for measuring, aiding, and expediting the progress of hand impairment rehabilitation.</p>
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Piazza, C., G. Grioli, M. G. Catalano, and A. Bicchi. "A Century of Robotic Hands." Annual Review of Control, Robotics, and Autonomous Systems 2, no. 1 (May 3, 2019): 1–32. http://dx.doi.org/10.1146/annurev-control-060117-105003.
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This article reports on the state of the art of artificial hands, discussing some of the field's most important trends and suggesting directions for future research. We review and group the most important application domains of robotic hands, extracting the set of requirements that ultimately led to the use of simplified actuation schemes and soft materials and structures—two themes that clearly emerge from our examination of developments over the past century. We provide a comprehensive analysis of novel technologies for the design of joints, transmissions, and actuators that enabled these trends. We conclude by discussing some important new perspectives generated by simpler and softer hands and their interaction with other aspects of hand design and robotics in general.
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Zhu, Lingfeng, Yancheng Wang, Deqing Mei, and Chengpeng Jiang. "Development of Fully Flexible Tactile Pressure Sensor with Bilayer Interlaced Bumps for Robotic Grasping Applications." Micromachines 11, no. 8 (August 12, 2020): 770. http://dx.doi.org/10.3390/mi11080770.
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Flexible tactile sensors have been utilized in intelligent robotics for human-machine interaction and healthcare monitoring. The relatively low flexibility, unbalanced sensitivity and sensing range of the tactile sensors are hindering the accurate tactile information perception during robotic hand grasping of different objects. This paper developed a fully flexible tactile pressure sensor, using the flexible graphene and silver composites as the sensing element and stretchable electrodes, respectively. As for the structural design of the tactile sensor, the proposed bilayer interlaced bumps can be used to convert external pressure into the stretching of graphene composites. The fabricated tactile sensor exhibits a high sensing performance, including relatively high sensitivity (up to 3.40% kPa−1), wide sensing range (200 kPa), good dynamic response, and considerable repeatability. Then, the tactile sensor has been integrated with the robotic hand finger, and the grasping results have indicated the capability of using the tactile sensor to detect the distributed pressure during grasping applications. The grasping motions, properties of the objects can be further analyzed through the acquired tactile information in time and spatial domains, demonstrating the potential applications of the tactile sensor in intelligent robotics and human-machine interfaces.
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Al-Gallaf, E. A. "Neuro-Kinematics Based Dexterous Robotics Hand Force Optimization." Journal of Intelligent and Robotic Systems 50, no. 2 (July 18, 2007): 181–206. http://dx.doi.org/10.1007/s10846-007-9160-y.
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Selvakumar, K., Palanisamy R, M. Arun Noyal Doss, P. Gopi, A. Esakkipandi, L. Mathivadhanam, and T. Abul Kalam Asath. "Gesture recognition vehicle using PIC microcontroller." Indonesian Journal of Electrical Engineering and Computer Science 19, no. 1 (July 1, 2020): 66. http://dx.doi.org/10.11591/ijeecs.v19.i1.pp66-75.
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<p>In this paper we introduce a hand controlled robotic vehicle. Hand control robotic vehicle consists of a transmitter module and a receiver module. The transmitter will be placed on a hand glove and the receiver will be placed on the motor drive along with PIC microcontroller and motor driver IC. The RF transmitter sends commands to the IC which then forwards the commands to RF receiver. The RF receiver then sends the commands to PIC microcontroller on the vehicle which processes the commands so that the vehicle moves in the specified direction. It is having proposed utility in field ofconstruction, hazardous waste disposal and field survey near borders etc. This project is developed as a travel buddy and industrial uses. Having future scope of advanced robotics that are designed and can be easily controlled using hand gesture only.</p>
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Yusof, Mazlan Muhamad, Habibah Ab Jalil, and Thinagaran Perumal. "Exploring Teachers’ Practices in Teaching Robotics Programming in Primary School." Asian Social Science 17, no. 11 (October 15, 2021): 122. http://dx.doi.org/10.5539/ass.v17n11p122.
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Programming and coding are important skills and competencies in the 21st century. Due to this importance, robotics programming has been introduced in the Malaysian education system since 2013. Robotics is important in education because it could be used to cultivate various skills. Various studies have been conducted on robotics and its applications in education, and proponents of robotics believe that using robotics to teach programming could be impactful and effective in the Malaysian education context. On the other hand, many students think that programming is challenging. Consequently, some questions have arisen, such as the suitable programming language or platform to be used in Malaysian Primary School and the best instructional method. Studies have also examined the existing robotics modules used in the teaching and facilitation (T&F) process, in which it was found that the current curriculum is focused on introducing robotic programming. In this regard, there is a need to explore the current teaching design, pedagogy, and teachers’ practices. Therefore, this study is aimed to explore the teachers’ practice in teaching robotics programming as part of the Design and Technology (RBT) subject in Primary School. This study discusses teachers’ practices, the issues in robotics programming education, the importance of robotics to education, especially in primary schools, and the robotics kits and programming languages or platforms commonly used in schools. This study is a qualitative case study, and data were collected using in-depth interviews. The findings of this study have produced several key themes, namely: (a) RBT teacher practices (GRBT) in T&F, (b) Strategies in lesson planning, (c) Challenges and obstacles of T&F, (d) Use of technology, and (e) Teacher’s commitment. These are hoped to help educators, education administrators, and policymakers to understand the implications of robotics teaching in teaching programming.
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Sale, Patrizio, Valentina Lombardi, and Marco Franceschini. "Hand Robotics Rehabilitation: Feasibility and Preliminary Results of a Robotic Treatment in Patients with Hemiparesis." Stroke Research and Treatment 2012 (2012): 1–5. http://dx.doi.org/10.1155/2012/820931.
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Background. No strongly clinical evidence about the use of hand robot-assisted therapy in stroke patients was demonstrated. This preliminary observer study was aimed at evaluating the efficacy of intensive robot-assisted therapy in hand function recovery, in the early phase after a stroke onset.Methods. Seven acute ischemic stroke patients at their first-ever stroke were enrolled. Treatment was performed using Amadeo robotic system (Tyromotion GmbH Graz, Austria). Each participant received, in addition to inpatients standard rehabilitative treatment, 20 sessions of robotic treatment for 4 consecutive weeks (5 days/week). Each session lasted for 40 minutes. The exercises were carried out as follows: passive modality (5 minutes), passive/plus modality (5 minutes), assisted therapy (10 minutes), and balloon (10 minutes). The following impairment and functional evaluations, Fugl-Meyer Scale (FM), Medical Research Council Scale for Muscle Strength (hand flexor and extensor muscles) (MRC), Motricity Index (MI), and modified Ashworth Scale for wrist and hand muscles (AS), were performed at the beginning (T0), after 10 sessions (T1), and at the end of the treatment (T2). The strength hand flexion and extension performed by Robot were assessed at T0 and T2. The Barthel Index and COMP (performance and satisfaction subscale) were assessed at T0 and T2.Results. Clinical improvements were found in all patients. No dropouts were recorded during the treatment and all subjects fulfilled the protocol. Evidence of a significant improvement was demonstrated by the Friedman test for the MRC (P<0.0123). Evidence of an improvement was demonstrated for AS, FM, and MI.Conclusions. This original rehabilitation treatment could contribute to increase the hand motor recovery in acute stroke patients. The simplicity of the treatment, the lack of side effects, and the first positive results in acute stroke patients support the recommendations to extend the clinical trial of this treatment, in association with physiotherapy and/or occupational therapy.
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Refaai, Mohamad Reda A., Ashraf Elfasakhany, P. Rajalakshmy, Bikash Chandra Saha, A. S. Prakaash, and Dadapeer Basheer. "Utilization of Flex Controlled Robotics on Prosthetic Hand instead of Damaged Body Parts." Advances in Materials Science and Engineering 2022 (August 9, 2022): 1–7. http://dx.doi.org/10.1155/2022/3496122.
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Scientists have researched human anatomy and biology to produce human-like prosthetic hands. In the absence of a hand, prosthetics assist in reestablishing independence and confidence. Prosthetic hands are limited in functionality and cost. A low-cost anthropomorphic prosthetic hand was designed. With five independently operated fingers and powered thumb roll movement, the design is unlike anything else on the market. This research aims to provide a cheaper alternative to the market’s robotic prostheses. Inability to use limbs causes psychological and physical issues for amputees. Arduino, an open-source microprocessor, was used to build a prototype prosthetic hand. An Android app allows users to select a hand motion to circumvent myoelectric prosthesis control mechanisms. The Arduino uses this data to power servos that individually trigger each finger.
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Suthar, Bhivraj. "Design of energy efficient four finger robotic hand." IAES International Journal of Robotics and Automation (IJRA) 5, no. 1 (January 21, 2016): 1. http://dx.doi.org/10.11591/ijra.v5i1.pp1-5.
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<span>Future would be the world of robotics. Human arm is the best serial manipulator in the world. End part of manipulator is known as End effector or hand. At the end of serial manipulator we always put gripper just like our hand. Today many mechanisms have been proposed for robotic hand. We proposed a novel mechanical design and we used one motor to operate the gripper mechanism and it consumes less electrical power than other gripper. For energy efficient robot we have to reduce the number of motors and have to look in the mechanical design. In this paper we targeted to make gripper more energy efficient. We used only one motor to operate four fingers symmetrically. Our proposed model has four fingers, each are placed orthogonally to each other. In market, other manufactures use single motor for motion of each finger. Each motor has its own power consumption capacity to manipulate the load on finger. We replaced all four motors with single motor by Geneva mechanism. So electrical power consumption reduced by 1/4th. Energy conservation point of view it is energy efficient system. This paper presents a methodology that has been applied for a design mechanism for energy efficient robotic hand with four fingers. Wide applications of gripper are in automobile industries. Automobile companies are used gripers and serial manipulators in plenty</span>
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Kumar, Pardeep, Michaël Gauthier, and Redwan Dahmouche. "Path Planning for 3-D In-Hand Manipulation of Micro-Objects Using Rotation Decomposition." Micromachines 12, no. 8 (August 19, 2021): 986. http://dx.doi.org/10.3390/mi12080986.
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Robotic manipulation and assembly of micro and nanocomponents in confined spaces is still a challenge. Indeed, the current proposed solutions that are highly inspired by classical industrial robotics are not currently able to combine precision, compactness, dexterity, and high blocking forces. In a previous work, we proposed 2-D in-hand robotic dexterous manipulation methods of arbitrary shaped objects that considered adhesion forces that exist at the micro and nanoscales. Direct extension of the proposed method to 3-D would involve an exponential increase in complexity. In this paper, we propose an approach that allows to plan for 3-D dexterous in-hand manipulation with a moderate increase in complexity. The main idea is to decompose any 3-D motion into a 3-D translation and three rotations about specific axes related to the object. The obtained simulation results show that 3-D in-hand dexterous micro-manipulation of arbitrary objects in presence of adhesion forces can be planned in just few seconds.
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Puyo, Lina M. Becerra, Heather M. Capel, Shanon K. Phelan, Sandra A. Wiebe, and Kim D. Adams. "Using a robotic teleoperation system for haptic exploration." Journal of Rehabilitation and Assistive Technologies Engineering 8 (January 2021): 205566832096930. http://dx.doi.org/10.1177/2055668320969308.
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Introduction When children with physical impairments cannot perform hand movements for haptic exploration, they miss opportunities to learn about object properties. Robotics systems with haptic feedback may better enable object exploration. Methods Twenty-four adults and ten children without physical impairments, and one adult with physical impairments, explored tools to mix substances or transport different sized objects. All participants completed the tasks with both a robotic system and manual exploration. Exploratory procedures used to determine object properties were also observed. Results Adults and children accurately identified appropriate tools for each task using manual exploration, but they were less accurate using the robotic system. The adult with physical impairment identified appropriate tools for transport in both conditions, however had difficulty identifying tools used for mixing substances. A new exploratory procedure was observed, Tapping, when using the robotic system. Conclusions Adults and children could make judgements on tool utility for tasks using both manual exploration and the robotic system, however they experienced limitations in the robotics system that require more study. The adult with disabilities required less assistance to explore tools when using the robotic system. The robotic system may be a feasible way for individuals with physical disabilities to perform haptic exploration.
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Nickens, Glenn V., Ethan J. Tira-Thompson, Thorna Humphries, and David S. Touretzky. "An inexpensive hand-eye system for undergraduate robotics instruction." ACM SIGCSE Bulletin 41, no. 1 (March 4, 2009): 423–27. http://dx.doi.org/10.1145/1539024.1509016.
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Aggogeri, Francesco, Tadeusz Mikolajczyk, and James O’Kane. "Robotics for rehabilitation of hand movement in stroke survivors." Advances in Mechanical Engineering 11, no. 4 (April 2019): 168781401984192. http://dx.doi.org/10.1177/1687814019841921.
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Montaño, Andrés, and Raúl Suárez. "Dexterous Manipulation of Unknown Objects Using Virtual Contact Points." Robotics 8, no. 4 (October 12, 2019): 86. http://dx.doi.org/10.3390/robotics8040086.
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The manipulation of unknown objects is a problem of special interest in robotics since it is not always possible to have exact models of the objects with which the robot interacts. This paper presents a simple strategy to manipulate unknown objects using a robotic hand equipped with tactile sensors. The hand configurations that allow the rotation of an unknown object are computed using only tactile and kinematic information, obtained during the manipulation process and reasoning about the desired and real positions of the fingertips during the manipulation. This is done taking into account that the desired positions of the fingertips are not physically reachable since they are located in the interior of the manipulated object and therefore they are virtual positions with associated virtual contact points. The proposed approach was satisfactorily validated using three fingers of an anthropomorphic robotic hand (Allegro Hand), with the original fingertips replaced by tactile sensors (WTS-FT). In the experimental validation, several everyday objects with different shapes were successfully manipulated, rotating them without the need of knowing their shape or any other physical property.
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Turlapati, Sri Harsha, and Domenico Campolo. "Towards Haptic-Based Dual-Arm Manipulation." Sensors 23, no. 1 (December 29, 2022): 376. http://dx.doi.org/10.3390/s23010376.
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Vision is the main component of current robotics systems that is used for manipulating objects. However, solely relying on vision for hand−object pose tracking faces challenges such as occlusions and objects moving out of view during robotic manipulation. In this work, we show that object kinematics can be inferred from local haptic feedback at the robot−object contact points, combined with robot kinematics information given an initial vision estimate of the object pose. A planar, dual-arm, teleoperated robotic setup was built to manipulate an object with hands shaped like circular discs. The robot hands were built with rubber cladding to allow for rolling contact without slipping. During stable grasping by the dual arm robot, under quasi-static conditions, the surface of the robot hand and object at the contact interface is defined by local geometric constraints. This allows one to define a relation between object orientation and robot hand orientation. With rolling contact, the displacement of the contact point on the object surface and the hand surface must be equal and opposite. This information, coupled with robot kinematics, allows one to compute the displacement of the object from its initial location. The mathematical formulation of the geometric constraints between robot hand and object is detailed. This is followed by the methodology in acquiring data from experiments to compute object kinematics. The sensors used in the experiments, along with calibration procedures, are presented before computing the object kinematics from recorded haptic feedback. Results comparing object kinematics obtained purely from vision and from haptics are presented to validate our method, along with the future ideas for perception via haptic manipulation.
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Toro-Ossaba, Alejandro, Juan C. Tejada, Santiago Rúa, and Alexandro López-González. "A Proposal of Bioinspired Soft Active Hand Prosthesis." Biomimetics 8, no. 1 (January 11, 2023): 29. http://dx.doi.org/10.3390/biomimetics8010029.
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Soft robotics have broken the rigid wall of interaction between humans and robots due to their own definition and manufacturing principles, allowing robotic systems to adapt to humans and enhance or restore their capabilities. In this research we propose a dexterous bioinspired soft active hand prosthesis based in the skeletal architecture of the human hand. The design includes the imitation of the musculoskeletal components and morphology of the human hand, allowing the prosthesis to emulate the biomechanical properties of the hand, which results in better grips and a natural design. CAD models for each of the bones were developed and 3D printing was used to manufacture the skeletal structure of the prosthesis, also soft materials were used for the musculoskeletal components. A myoelectric control system was developed using a recurrent neural network (RNN) to classify the hand gestures using electromyography signals; the RNN model achieved an accuracy of 87% during real time testing. Objects with different size, texture and shape were tested to validate the grasping performance of the prosthesis, showing good adaptability, soft grasping and mechanical compliance to object of the daily life.
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Broota, Sumir. "Building of Inmoov Robotic Arm for Performing Various Operations." International Journal for Research in Applied Science and Engineering Technology 10, no. 1 (January 31, 2022): 205–12. http://dx.doi.org/10.22214/ijraset.2022.39804.
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Abstract: ‘Automation is the key in reducing the repetitive and banal tasks of everyday life’, the oft-quoted aphorism best portrays our effort at making a humanoid hand for tasks that require dexterity of fingers in situations where time and effort are of importance. The cost of human labor, quality of processes or products, time, and safety make this project a need of the hour. The research paper showcases our efforts of making a humanoid robotic arm. The body of the arm is composed of 3D printed parts. Servo Motors with nylon strings were used to control the fingers and the wrist. InMoov Nervo Board was used to control the servos. Worm Gear Mechanism was implemented to control the bicep movement and Worm Wheel is used for shoulder rotation. Machines can perform a wide range of functions without a considerable amount of human intervention. The future scope of Robotics and Automation would be to make a diverse and positive impact in industrial as well as research applications. Keywords: 3D Print, Build Challenges, Electronics, Humanoid, Inmoov, MyRobotLab, Robotic Arm, Robotics
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Murray, Karen, and Catherine Simpson. "The Therapists View of the H.A.T.S. Project." British Journal of Hand Therapy 3, no. 2 (June 1998): 13. http://dx.doi.org/10.1177/175899839800300207.
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In March 1995, Mike Topping from Rehab Robotics at Staffordshire University was seeking advice from therapists to develop applications for the Handy I Robot and its use for the treatment of hand injuries in a therapeutic environ-ment. This envisaged the treatment being administered by a Robot. Through discussion between therapists and the engineering team it emerged that it would be more beneficial to develop a stand alone assessment tool that would assist in the treatment of patients who experience all types of hand pathology. The Hand Assessment and Treatment System (H.A.T.S.) was underway.