Статті в журналах: "Soft hands"

1

Hirai, Shinichi, and Zhongkui Wang. "Object Manipulation by Soft Hands." Journal of the Robotics Society of Japan 40, no. 5 (2022): 369–74. http://dx.doi.org/10.7210/jrsj.40.369.

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2

Watanabe, Tetsuyou. "Manipulation with Soft Robotic Hands." Journal of the Robotics Society of Japan 37, no. 1 (2019): 30–33. http://dx.doi.org/10.7210/jrsj.37.30.

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3

Gilday, Kieran, and Fumiya Iida. "Intelligent Soft Hands and Benchmarking towards General-Purpose Robotic Manipulation." IOP Conference Series: Materials Science and Engineering 1261, no. 1 (October 1, 2022): 012010. http://dx.doi.org/10.1088/1757-899x/1261/1/012010.

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Abstract In order to progress the development of intelligent soft hands for general-purpose use in humanoid robots, social assistive robots, adaptive manufacturing, prosthetics and more, we need to rethink our approach to benchmarking. Where previously, hands are compared by their performance in a limited set of tasks, resulting in performance optimisations in the subjective, most common tasks. Instead, we must focus on increasing the hand’s potential at the lowest level, by improving the underlying passive behaviours, in terms of increased behavioural diversity and cheap control.

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4

Andrade, Guilherme Neves Lourenço, Adham do Amaral e Castro, Paulo Eduardo Daruge Grando, Eduardo Baptista, Frederico Celestino Miranda, Viviane Sayuri Yamachira, Erina Megumi Nagaya Fukamizu, et al. "Hands on Hands! Soft-Tissue Tumors and Bone Tumors Involving the Hand." Contemporary Diagnostic Radiology 45, no. 17 (August 15, 2022): 1–7. http://dx.doi.org/10.1097/01.cdr.0000854592.69523.ac.

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5

Hirai, Shinichi, and Zhongkui Wang. "Soft Robotic Hands for Food Material Handling." Journal of the Robotics Society of Japan 37, no. 6 (2019): 489–94. http://dx.doi.org/10.7210/jrsj.37.489.

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6

Choi, Changhyun, Wilko Schwarting, Joseph DelPreto, and Daniela Rus. "Learning Object Grasping for Soft Robot Hands." IEEE Robotics and Automation Letters 3, no. 3 (July 2018): 2370–77. http://dx.doi.org/10.1109/lra.2018.2810544.

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7

Zhou, Xuance, Carmel Majidi, and Oliver M. O’Reilly. "Soft hands: An analysis of some gripping mechanisms in soft robot design." International Journal of Solids and Structures 64-65 (July 2015): 155–65. http://dx.doi.org/10.1016/j.ijsolstr.2015.03.021.

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8

UMLAS, M. E., R. J. BISCHOFF, and R. H. GELBERMAN. "Predictors of Neurovascular Displacement in Hands with Dupuytren’s Contracture." Journal of Hand Surgery 19, no. 5 (October 1994): 664–66. http://dx.doi.org/10.1016/0266-7681(94)90140-6.

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A prospective study of hands with Dupuytren’s contracture was designed to test the association of three variables, the presence of an interdigital soft tissue mass, the presence of flexion contractures at each digital joint, and the duration of contracture, with the formation of spiral nerves. 66 digits in 37 hands affected by Dupuytren’s disease were examined intra-operatively. Of the 34 digits (52%) with spiral nerves, 28 had soft tissue masses (42%). The sensitivity of a soft tissue mass alone as a predictor of a spiral nerve was 59% and the specificity 75%. The presence of a flexion contracture at the PIP joint had a sensitivity of 88% and a specificity of 62% for the presence of a spiral nerve. The combination of a soft tissue mass and a PIP joint contracture was a very specific (94%) but not a particularly sensitive (50%) test for spiral nerve formation. The formation of a spiral nerve is progressive, occurring most often in hands with significant PIP joint contractures with or without soft tissue interdigital masses.

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9

KANOJIA, R. K., N. SHARMA, and S. K. KAPOOR. "Preliminary Soft Tissue Distraction Using External Fixator in Radial Club Hand." Journal of Hand Surgery (European Volume) 33, no. 5 (October 2008): 622–27. http://dx.doi.org/10.1177/1753193408093809.

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Preliminary soft tissue distraction using an external fixator before centralisation and tendon transfer of the flexor and extensor carpi ulnaris to the little finger metacarpal was used to treat Bayne’s type III and IV deformities in 18 hands of 14 patients with radial club hands. Treatment with external fixator was started at a mean age of 8 (range 3–30) months. In 16 of 18 hands, the surgical treatment was completed before 10 months of age. Adequate soft tissue stretching was achieved before centralisation using fractional distraction with the external fixator in the majority of hands. After an average follow-up period of 31 months, there were seven good, eight satisfactory and one unsatisfactory result.

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10

Tian, Li, Jianmin Zheng, Nadia Magnenat Thalmann, Hanhui Li, Qifa Wang, Jialin Tao, and Yiyu Cai. "Design of a Single-Material Complex Structure Anthropomorphic Robotic Hand." Micromachines 12, no. 9 (September 18, 2021): 1124. http://dx.doi.org/10.3390/mi12091124.

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In the field of robotic hand design, soft body and anthropomorphic design are two trends with a promising future. Designing soft body anthropomorphic robotic hands with human-like grasping ability, but with a simple and reliable structure, is a challenge that still has not been not fully solved. In this paper, we present an anatomically correct robotic hand 3D model that aims to realize the human hand’s functionality using a single type of 3D-printable material. Our robotic hand 3D model is combined with bones, ligaments, tendons, pulley systems, and tissue. We also describe the fabrication method to rapidly produce our robotic hand in 3D printing, wherein all parts are made by elastic 50 A (shore durometer) resin. In the experimental section, we show that our robotic hand has a similar motion range to a human hand with substantial grasping strength and compare it with the latest other designs of anthropomorphic robotic hands. Our new design greatly reduces the fabrication cost and assembly time. Compared with other robotic hand designs, we think our robotic hand may induce a new approach to the design and production of robotic hands as well as other related mechanical structures.

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11

Bauer, Dominik, Cornelia Bauer, Jonathan P. King, Daniele Moro, Kai-Hung Chang, Stelian Coros, and Nancy Pollard. "Design and Control of Foam Hands for Dexterous Manipulation." International Journal of Humanoid Robotics 17, no. 01 (January 6, 2020): 1950033. http://dx.doi.org/10.1142/s0219843619500336.

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There has been great progress in soft robot design, manufacture, and control in recent years, and soft robots are a tool of choice for safe and robust handling of objects in conditions of uncertainty. Still, dexterous in-hand manipulation using soft robots remains a challenge. This paper introduces foam robot hands actuated by tendons sewn through a fabric glove. The flexibility of tendon actuation allows for high competence in utilizing deformation for robust in-hand manipulation. We discuss manufacturing, control, and design optimization for foam robots and demonstrate robust grasping and in-hand manipulation on a variety of different physical hand prototypes.

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12

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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13

Lourenço, Bruno, Vitorino Neto, and Rafhael de Andrade. "A Concept Design of an Adaptive Tendon Driven Mechanism for Active Soft Hand Orthosis." Proceedings 64, no. 1 (November 21, 2020): 21. http://dx.doi.org/10.3390/iecat2020-08504.

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The Hands exert a vital role in the simplest to most complex daily tasks. Losing the ability to make hand movements, which is usually caused by spinal cord injury or stroke, dramatically impacts the quality of life. In order to counteract this problem, several assisting devices have been proposed, but they still present several usage limitations. The marketable orthoses are generally either the static type or over-expensive active orthosis that cannot perform the same degrees of freedom (DoF) that a hand can do. This paper presents a conceptual design of a tendon-driven mechanism for hand’s active orthosis. This study is a part of an effort to develop an effective and low-cost hand’s orthosis for people with hand paralysis. The tendon design proposed was thought to comply with some requisitions such as lightness and low volume, as well as fit with the biomechanical constraints of the hand joints to enable a comfortable use. The mechanism employs small cursors on the phalanges to allow the tendons to run on the dorsal side and by both sides of the fingers, allowing 2 DoF for each finger, and one extra tendon enlarges the hands’ adduction nuances. With this configuration, it is simple enough to execute the flexion and extension movements, which are the most used movements in daily actives, using one single DC actuator for one DoF to reduce manufacturing costs, or with more DC actuators to enable more natural hand coordination. This system of actuation is suitable to create soft exoskeletons for hands easily embedded into 3D printed parts, which could be merged over statics thermoplastic orthosis. The final orthosis design allows dexterous finger movements and force to grasp objects and perform tasks comfortably.

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14

Subad, Rafsan Al Shafatul Islam, Liam B. Cross, and Kihan Park. "Soft Robotic Hands and Tactile Sensors for Underwater Robotics." Applied Mechanics 2, no. 2 (June 8, 2021): 356–83. http://dx.doi.org/10.3390/applmech2020021.

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Research in the field of underwater (UW) robotic applications is rapidly developing. The emergence of coupling the newest technologies on submersibles, different types of telecommunication devices, sensors, and soft robots is transforming the rigid approach to robotic design by providing solutions that bridge the gap between accuracy and adaptability in an environment where there is so much fluctuation in object targeting and environmental conditions. In this paper, we represent a review of the history, development, recent research endeavors, and projected outlook for the area of soft robotics technology pertaining to its use with tactile sensing in the UW environment.

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15

Wang, Zhongkui, Akira Wada, Yoshiki Mori, and Sadao Kawamura. "Development of Pneumatic Soft Robotic Hands using 3D Printer." Journal of the Robotics Society of Japan 39, no. 4 (2021): 298–301. http://dx.doi.org/10.7210/jrsj.39.298.

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16

Bogue, Robert. "Flexible and soft robotic grippers: the key to new markets?" Industrial Robot: An International Journal 43, no. 3 (May 16, 2016): 258–63. http://dx.doi.org/10.1108/ir-01-2016-0027.

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Purpose This paper aims to provide details of recent commercial and academic developments in flexible and soft grippers and considers their impact on emerging robotic markets. Design/methodology/approach Following an introduction, this paper first considers commercially available anthropomorphic robotic hands and soft grippers. It then discusses a selection of recent research activities and concludes with a brief discussion of the potential of these developments. Findings Anthropomorphic robotic hands, which seek to mimic the structure and capabilities of the human hand, together with a technologically diverse family of soft grippers have recently have been commercialised. Most are produced by companies which spun-out from academic establishments. A strong body of innovative research continues and involves a wide range of principles and technologies. These gripping technologies are expected to catalyse several new and emerging applications; the most important being in agile manufacturing, particularly when used with collaborative robots (cobots). Originality/value This paper provides details of recent developments and research into anthropomorphic hands and soft grippers and an insight into their applications.

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17

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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18

Vogler, Andrea, and John Habron. "Soft Hands: A Mid-Career Percussion Teacher's Professional Development Journey." Bulletin of the Council for Research in Music Education, no. 230 (October 1, 2021): 64–85. http://dx.doi.org/10.5406/21627223.230.04.

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Abstract Professional development is an important part of any teaching career. Although it has been investigated within the field of music education, there is limited research on the experiences of mid-career music teachers from a first-person perspective, especially within a conservatory context. In this collaborative self-study, the authors analyze the professional development journey that one of them undertook as she followed a series of snare drum lessons to enhance her practice as a mid-career percussion teacher. Over a period of a year, the first author kept a research journal, working dialogically with a researcher to understand and extend these reflections. Using self-study as a systematic means of inquiry into practice, this article reveals the development of the first author's practical knowledge and subjective educational theory. Five themes encapsulate the findings: (i) although a learner by nature, going back to basics was a challenge; (ii) reflecting on learning prompted reflection on teaching; (iii) the importance of placing learning in a historical context and wider framework; (iv) taking care of students; and (v) with fresh eyes comes the need to keep focused. In presenting evocative accounts of lived experience, reflective and reflexive commentary, and critical reflection informed by literature, the results and discussion read as a through-composed narrative. This research offers insights to mid-career music teachers and their employers regarding the impact and design of professional development opportunities. It also demonstrates an approach to self-study that might be useful to others who want to undertake similar investigations of their practice.

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19

Jeyasivanesan, Dhana Lakshmi, Shameena Pazhaningal Mohamed, and Deepak Pandiar. "Soft-Tissue Chondroma of Anterior Gingiva: A Rare Entity." Case Reports in Dentistry 2018 (2018): 1–5. http://dx.doi.org/10.1155/2018/3642827.

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Soft-tissue chondroma is a rare, benign, slow-growing tumor made up of heterotopic cartilaginous tissue. It occurs most commonly in the third and fourth decades in the hands and feet. Oral soft-tissue chondromas are uncommon and soft-tissue chondroma of gingiva is extremely uncommon. Here, we report an unusual case of soft-tissue chondroma of gingiva in a 50-year-old woman.

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20

SMITH, N. C., N. J. MONCRIEFF, N. HARTNELL, and J. ASHWELL. "Pseudorotation of the Little Finger Metacarpal." Journal of Hand Surgery 28, no. 5 (October 2003): 395–98. http://dx.doi.org/10.1016/s0266-7681(03)00144-x.

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Fractures of the little finger metacarpal are common, and are often associated with significant soft-tissue swelling and the appearance of rotational malalignment when the fingers are flexed. Our hypothesis is that soft-tissue swelling causes this apparent rotational deformity of the flexed little finger. The fourth intermetacarpal spaces of three of the authors’ non-dominant hands were injected with saline. Following injection, all the hands exhibited the appearance of internal rotation of the little finger. The mean change in rotation was 16° and the maximum was 25°. There was no change in the plane of the nail plate in extension in any hand. We conclude that soft-tissue swelling can cause the appearance of internal rotation of the flexed little finger in the absence of fracture.

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21

Jiang, Wei, Yuanyuan Zhou, Tao Yu, Xiao He, Lihua Peng, Yunsheng Yang, Zhidong Wang, and Hao Liu. "Interventional Status Awareness Based Manipulating Strategy for Robotic Soft Endoscopy." International Journal of Robotics and Automation Technology 6 (November 29, 2021): 1–10. http://dx.doi.org/10.31875/2409-9694.2019.06.1.

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Traditional soft endoscopy is operated with naked eyes and use of hands. Robotic soft endoscopy frees the hands of endoscopists, which reduces the labor-intensity and complexity of operation and improves the operational accuracy of endoscope, but it’s hardly to be reliably performed because the operator lacks of situational awareness of endoscopic interventional status when the hands are detached from the endoscope. This paper first presents a method to perceive the interventional status of endoscope based on image processing, the interventional status includes insertion length and velocity. A manipulating strategy was designed according to the perceived endoscope interventional status and construction parameters of dual robotic arms in order to achieve reliable interventional endoscopy. Human phantom experiments are carried out to verify the effectiveness and feasibility of the proposed interventional status awareness method and manipulating strategy. The results show that the robotic soft endoscopy can be well performed with the ability of interventional status awareness and coordinated manipulation of dual arms. The perceived insertion length indicates the position of the tip of endoscope in human body and the designed manipulating strategy is effective in endoscopic shape retention and torque transmission.

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22

Hao, Tianze, Huaping Xiao, and Shuhai Liu. "Flexible soft Pneumatic Bionic Hand Based on Multi-Jointed Structure." Journal of Physics: Conference Series 2437, no. 1 (January 1, 2023): 012110. http://dx.doi.org/10.1088/1742-6596/2437/1/012110.

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Abstract Compared with rigid robotic hands, soft hands can provide better safety and adaptability. In the process of gradual development, the multi-jointed structure that mimics the shape of the human hand has shown significant progress in realizing its personification. In this article, we propose a multi-jointed pneumatic soft hand, which is composed of multi-jointed soft fingers, thumb, thenar and 3D printed palm. It can express letters through sign language gestures and can grasp objects with different sizes, shapes, weights and surface textures. We tested the bending ability of the actuators under different air pressures to characterize the performance of actuators made of silicone rubber. Based on the strain energy density function of silicone rubber, the Yeoh model is used to calculate the relationship between the air pressure required and the bending angle. In addition, a dedicated pneumatic control system is designed and manufactured to enable the soft hand to automatically perform tasks set by the specific program. This new multi-jointed pneumatic soft hand has flexible bionic fingers, and has the advantages of fast response speed, low cost, easy manufacturing, assembly and replacement.

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23

Zhang, NingBin, Yi Zhao, GuoYing Gu, and XiangYang Zhu. "Synergistic control of soft robotic hands for human-like grasp postures." Science China Technological Sciences 65, no. 3 (January 27, 2022): 553–68. http://dx.doi.org/10.1007/s11431-021-1944-y.

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24

Sugiyama, Seiji, and Tsuneo Yoshikawa. "Measurement of Grasp Position by Humans for Soft-Fingered Robotic Hands." IFAC Proceedings Volumes 42, no. 16 (2009): 275–80. http://dx.doi.org/10.3182/20090909-4-jp-2010.00048.

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25

NISHIKAWA, Masahiro, Satoshi HASUI, Kenji KONDO, and Tadashi EGAMI. "2A1-F08 Grasping Method for the Soft Object for Robot Hands." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010 (2010): _2A1—F08_1—_2A1—F08_2. http://dx.doi.org/10.1299/jsmermd.2010._2a1-f08_1.

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26

Seong, Young ah, Hiroshi Sugihara, Ryuma Niiyama, Yasuaki Kakehi, and Yoshihiro Kawahara. "Workshop Design for Hands-on Exploration Using Soft Robotics and Onomatopoeia." IEEE Pervasive Computing 19, no. 1 (January 2020): 52–61. http://dx.doi.org/10.1109/mprv.2019.2940194.

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27

Huang, Haiming, Junhao Lin, Linyuan Wu, Bin Fang, Zhenkun Wen, and Fuchun Sun. "Machine learning-based multi-modal information perception for soft robotic hands." Tsinghua Science and Technology 25, no. 2 (April 2020): 255–69. http://dx.doi.org/10.26599/tst.2019.9010009.

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28

Saga, Norihiko, Jun-ya Nagase, and Yasumasa Kondo. "Development of a Tendon-Driven System Using a Pneumatic Balloon." Journal of Robotics and Mechatronics 18, no. 2 (April 20, 2006): 139–45. http://dx.doi.org/10.20965/jrm.2006.p0139.

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Due to the dwindling birthrate and population aging and the resulting shortage in the labor pool of young workers in Japan today, there are increased demands for the use of robots in nursing care and welfare services. Safety is an absolute requirement in robot hands for use in environments in which they coexist with humans. Targeting a light-weight robot hand soft as a human hand, we developed a tendon-driven system similar to the human hand using a pneumatic balloon as a soft actuator. We report on the design, basic configuration, and characteristics of the actuator, and study its biomechanical characteristics for comparison with the muscles, thus demonstrating its effectiveness as an actuator for robot hands for use in welfare services and nursing care.

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Kolesnyk, Olha, Serhii Kutsenko, Dmytro Bachara, and Alina Fashchenko. "Preparation to hands’ dactilography of putrafected and mummified corpses." Forensic-medical examination, no. 1 (April 13, 2016): 71–73. http://dx.doi.org/10.24061/2707-8728.1.2016.14.

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The paper is devoted to the preparation method to hands’ dactilography of putrafected and mummified corpses. It is proposed the remolten beef visceral fat – as the alternative substance that restores tension of soft tissues, and can be prepared in conditions of forensic examination department. It is the substitute to industrial fat (GOST 1045-41) and bone lubricant (GOST 4593- 49), that have been used before and produced under factory conditions. Suggested method of hand treatment is simple, convenient and efficient, that helps to get qualitative prints of whorls for identification of personality.

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30

García-Rodríguez, Rodolfo, Victor Segovia-Palacios, Vicente Parra-Vega, and Marco Villalva-Lucio. "Dynamic optimal grasping of a circular object with gravity using robotic soft-fingertips." International Journal of Applied Mathematics and Computer Science 26, no. 2 (June 1, 2016): 309–23. http://dx.doi.org/10.1515/amcs-2016-0022.

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Abstract Object manipulation usually requires dexterity, encoded as the ability to roll, which is very difficult to achieve with robotic hands based on point contact models (subject to holonomic constraints). As an alternative for dexterous manipulation, deformable contact with hemispherical shape fingertips has been proposed to yield naturally a rolling constraint. It entails dexterity at the expense of dealing with normal and tangential forces, as well as more elaborated models and control schemes. Furthermore, the essential feature of the quality of grasp can be addressed with this type of robot hands, but it has been overlooked for deformable contact. In this paper, a passivity-based controller that considers an optimal grasping measure is proposed for robotic hands with hemispherical deformable fingertips, to manipulate circular dynamic objects. Optimal grasping that minimizes the contact wrenches is achieved through fingertip rolling until normal forces pass through the center of mass of the object, aligning the relative angle between these normal forces. The case of a circular object is developed in detail, though our proposal can be extended to objects with an arbitrary shape that admit a local decomposition by a circular curvature. Simulation and experimental results show convergence under various conditions, wherein rolling and tangent forces become instrumental to achieve such a quality of grasp.

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31

Yang, Yang, Yunquan Li, Yonghua Chen, Yingtian Li, Tao Ren, and Yi Ren. "Design and Automatic Fabrication of Novel Bio-Inspired Soft Smart Robotic Hands." IEEE Access 8 (2020): 155912–25. http://dx.doi.org/10.1109/access.2020.3019083.

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32

Zhang, Ningbin, Lisen Ge, Haipeng Xu, Xiangyang Zhu, and Guoying Gu. "3D printed, modularized rigid-flexible integrated soft finger actuators for anthropomorphic hands." Sensors and Actuators A: Physical 312 (September 2020): 112090. http://dx.doi.org/10.1016/j.sna.2020.112090.

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33

Geue, Tom. "Soft Hands, Hard Power: Sponging Off the Empire of Leisure (Virgil,Georgics4)." Journal of Roman Studies 108 (April 15, 2018): 115–40. http://dx.doi.org/10.1017/s0075435818000266.

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AbstractThis article seeks to jumpstart the politico-historicist scholarship on Virgil'sGeorgicsin the direction of Marxist criticism. I argue that theGeorgicsshould be understood less as a battle site for intra-elite power struggles or civil strife, more as an ideological stomping ground to work out, and dig in, the particular relationships of slavery and imperialism disfiguring the Roman world in 29b.c.e. After a brief analysis of the dynamics oflaborin Books 1–3, I train on a close reading of Book 4, which sees the bees (et al.) as crucial to the new dominant logic of compelling others (whether slaves or provincial subjects) to produce and give up the fruits of their labour — all for the leisured enjoyment of the upper crust.

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34

Ntagios, Markellos, Habib Nassar, Abhilash Pullanchiyodan, William Taube Navaraj, and Ravinder Dahiya. "Robotic Hands with Intrinsic Tactile Sensing via 3D Printed Soft Pressure Sensors." Advanced Intelligent Systems 2, no. 6 (October 30, 2019): 1900080. http://dx.doi.org/10.1002/aisy.201900080.

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35

THURSTON, A. J. "Pivot Osteotomy for the Correction of Malunion of Metacarpal Neck Fractures." Journal of Hand Surgery 17, no. 5 (October 1992): 580–82. http://dx.doi.org/10.1016/s0266-7681(05)80247-5.

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A new configuration of osteotomy has been developed which combines the principles and benefits of opening and closing wedge osteotomies without the degree of shortening associated with the closing wedge osteotomy and the tension imposed on the soft tissues by the opening wedge osteotomy. It is ideally suited to the correction of angular malunions in the long bones of the hands. Ten osteotomies of malunions of the metacarpals have been performed in nine hands giving good correction of the malunion in all cases.

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36

Zaccarini, Daniel J., Zain Badar, Alfredo L. Valente, and Gustavo De la Roza. "Chondroblastoma-like chondroma of soft tissue: A report of two cases." Journal of Solid Tumors 8, no. 1 (September 26, 2017): 10. http://dx.doi.org/10.5430/jst.v8n1p10.

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Soft tissue chondroma is a benign cartilaginous neoplasm composed of cells with a chondroid phenotype. Chondromas of soft tissue can have variable histological appearances including deposition of calcium, histiocytic reaction, ossification, and myxoid change. One notable variation is the presence of histological features reminiscent of chondroblastoma of the bone, and the term used in this scenario is chondroblastoma-like chondroma of soft tissue. There have been fourteen previous case reports of chondroblastoma-like chondroma of soft tissue, predominantly in the hands; with one case being reported in the base of the skull. We report two cases of chondroblastoma-like chondroma of soft tissue occurring in the hand and foot. To the best of our knowledge this is the first reported case of chondroblastoma-like chondroma of soft tissue in the foot.

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37

Biswal, Bibhuti Bhusan, P. K. Parida, and K. C. Pati. "Kinematic Analysis of a Dexterous Hand." Advanced Materials Research 433-440 (January 2012): 754–62. http://dx.doi.org/10.4028/www.scientific.net/amr.433-440.754.

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Handling of objects with irregular shapes and that of flexible/soft objects by ordinary robot grippers is difficult. Multi fingered gripper may be a solution to such handling tasks. However, dexterous grippers will be the appropriate solution to such problems. Although it is possible to develop robotic hands which can be very closely mapped to human hands, it is sometimes not to be done due to control, manufacturing and economic reasons. The present work aims at designing and developing a dexterous robotic hand for manipulation of objects.

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38

Al-Qattan, M. M. "Central and ulnar cleft hands: a review of concurrent deformities in a series of 47 patients and their pathogenesis." Journal of Hand Surgery (European Volume) 39, no. 5 (July 3, 2013): 510–19. http://dx.doi.org/10.1177/1753193413496945.

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Two main types of cleft hands have been described. The ulnar cleft hand deformity is very rare and is characterized by two constant features: a deep cleft radial to the little finger and hypoplasia of the ulnar digits. The pathogenesis of ulnar clefts is unknown. The second type is the central cleft hand deformity, which is characterized by a soft tissue/bone defect in the hand centrally. Patients with central clefts also have several concurrent deformities in the remaining digits. This paper reviews the clinical features of three cases with ulnar cleft hands and 44 cases of central cleft hands, with special emphasis on concurrent deformities. The author’s hypothesis of pathogenesis for both types of clefts and their concurrent deformities is then offered.

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39

García-Rodríguez, R., and G. Díaz-Rodríguez. "Parallel-Distributed Model Deformation in the Fingertips for Stable Grasping and Object Manipulation." Mathematical Problems in Engineering 2012 (2012): 1–22. http://dx.doi.org/10.1155/2012/949834.

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The study on the human grip has inspired to the robotics over the past decades, which has resulted in performance improvements of robotic hands. However, current robotic hands do not have the enough dexterity to execute complex tasks. Recognizing this fact, the soft fingertips with hemispherical shape and deformation models have renewed attention of roboticists. A high-friction contact to prevent slipping and the rolling contribution between the object and fingers are some characteristics of the soft fingertips which are useful to improve the grasping stability. In this paper, the parallel distributed deformation model is used to present the dynamical model of the soft tip fingers withn-degrees of freedom. Based on the joint angular positions of the fingers, a control scheme that fuses a stable grasping and the object manipulation into a unique control signal is proposed. The force-closure conditions are defined to guarantee a stable grasping and the boundedness of the closed-loop signals is proved. Furthermore, the convergence of the contact force to its desired value is guaranteed, without any information about the radius of the fingertip. Simulation results are provided to visualize the stable grasping and the object manipulation, avoiding the gravity effect.

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40

TIZIAN, C., A. BERGER, W. SCHNEIDER, and K. F. VYKOUPIL. "The Differential Diagnosis of Juvenile Digital Fibromatosis." Journal of Hand Surgery 10, no. 3 (October 1985): 418–22. http://dx.doi.org/10.1016/s0266-7681_85_80081-4.

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Juvenile digital fibromatosis is a rare condition in which distinctive benign soft tumours occur in the hands and feet of children and adolescents. If bony involvement is found at presentation a malignant soft tissue tumour must be excluded and extensive investigation is required using plain x-rays, scintigraphy and angiography. Histological examination, however, is the only definitive diagnostic measure. In this paper a case of juvenile digital fibromatosis is presented with a discussion of the differential diagnosis.

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41

Bakhy, Sadeq Hussein. "Modeling of contact pressure distribution and friction limit surfaces for soft fingers in robotic grasping." Robotica 32, no. 7 (January 2, 2014): 1005–15. http://dx.doi.org/10.1017/s0263574713001215.

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SUMMARYA new theory in contact pressure distribution and friction limit surfaces for modeling of hemicylindrical soft fingertips is introduced, to define the relationship between friction force and the moment with respect to the normal axis of contact. A general pressure-distribution function is proposed to capture material properties and contact geometry with various pressure profiles, and the coefficient of pressure distribution over the rectangular contact area is found between π and π/2. Combining the results of the contact mechanics model with the contact pressure distribution, the normalized friction limit surface can be derived for anthropomorphic soft fingers. The numerical friction limit surface of hemicylindrical soft-finger contact can be approximated by an ellipse, with the major and minor axes as the maximum friction force and the maximum moment with respect to the normal axis of contact, respectively. The results show that the friction limit surfaces are improved (13%–17%), if hemicylindrical fingertips are used rather than hemispherical fingertips at the same radius of fingertip, shape factor of the pressure profile, and applied load. Furthermore, the results of the contact mechanics model and the pressure distribution for soft fingers facilitate the construction of numerical friction limit surfaces, enabling to analyze and simulate the contact behaviors of grasping and manipulation in humanoid robots, prosthetic hands, and robotic hands.

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42

Hughes, J. A. E., P. Maiolino, and F. Iida. "An anthropomorphic soft skeleton hand exploiting conditional models for piano playing." Science Robotics 3, no. 25 (December 19, 2018): eaau3098. http://dx.doi.org/10.1126/scirobotics.aau3098.

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The development of robotic manipulators and hands that show dexterity, adaptability, and subtle behavior comparable to human hands is an unsolved research challenge. In this article, we considered the passive dynamics of mechanically complex systems, such as a skeleton hand, as an approach to improving adaptability, dexterity, and richness of behavioral diversity of such robotic manipulators. With the use of state-of-the-art multimaterial three-dimensional printing technologies, it is possible to design and construct complex passive structures, namely, a complex anthropomorphic skeleton hand that shows anisotropic mechanical stiffness. We introduce a concept, termed the “conditional model,” that exploits the anisotropic stiffness of complex soft-rigid hybrid systems. In this approach, the physical configuration, environment conditions, and conditional actuation (applied actuation) resulted in an observable conditional model, allowing joint actuation through passivity-based dynamic interactions. The conditional model approach allowed the physical configuration and actuation to be altered, enabling a single skeleton hand to perform three different phrases of piano music with varying styles and forms and facilitating improved dynamic behaviors and interactions with the piano over those achievable with a rigid end effector.

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43

Nagahama, Shunsuke, Kayo Migita, and Shigeki Sugano. "Soft Magnetic Powdery Sensor for Tactile Sensing." Sensors 19, no. 12 (June 13, 2019): 2677. http://dx.doi.org/10.3390/s19122677.

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Soft resistive tactile sensors are versatile devices with applications in next-generation flexible electronics. We developed a novel type of soft resistive tactile sensor called a soft magnetic powdery sensor (soft-MPS) and evaluated its response characteristics. The soft-MPS comprises ferromagnetic powder that is immobilized in a liquid resin such as polydimethylsiloxane (PDMS) after orienting in a magnetic field. On applying an external force to the sensor, the relative distance between particles changes, thereby affecting its resistance. Since the ferromagnetic powders are in contact from the initial state, they have the ability to detect small contact forces compared to conventional resistive sensors in which the conductive powder is dispersed in a flexible material. The sensor unit can be made in any shape by controlling the layout of the magnetic field. Soft-MPSs with different hardnesses that could detect small forces were fabricated. The soft-MPS could be applied to detect collisions in robot hands/arms or in ultra-sensitive touchscreen devices.

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Borghesan, Gianni, and Claudio Melchiorri. "A Computational Model for Frictional Effects Applied To Dexterous Hands with Soft Pads⋆." IFAC Proceedings Volumes 44, no. 1 (January 2011): 1072–77. http://dx.doi.org/10.3182/20110828-6-it-1002.00852.

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45

Kijsirichareanchai, Kunut, Wuttiporn Manatsathit, Patrick Wu, Jirapat Teerakanok, Tossapol Kerdsirichairat, Suwarat Wongjittraporn, Ornusa Teerasukjinda, et al. "Hands-On Spiral Enteroscopy Training in Soft Cadaver Model: A Multi-National Experience." American Journal of Gastroenterology 105 (October 2010): S513. http://dx.doi.org/10.14309/00000434-201010001-01383.

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46

Hang, Kaiyu, Andrew S. Morgan, and Aaron M. Dollar. "Pre-Grasp Sliding Manipulation of Thin Objects Using Soft, Compliant, or Underactuated Hands." IEEE Robotics and Automation Letters 4, no. 2 (April 2019): 662–69. http://dx.doi.org/10.1109/lra.2019.2892591.

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MEGURO, Takumi, Suguru YAMAMOTO, and Hironari TANIGUCHI. "904 Development of a multifunctional rehabilitation device for hands using pneumatic soft actuators." Proceedings of Conference of Chugoku-Shikoku Branch 2016.54 (2016): _904–1_—_904–3_. http://dx.doi.org/10.1299/jsmecs.2016.54._904-1_.

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48

Blankstein, A., Ilan Cohen, Zehava Heiman, Moshe Salai, Michael Heim, and Aharon Chechick. "Localization, detection and guided removal of soft tissue in the hands using sonography." Archives of Orthopaedic and Trauma Surgery 120, no. 9 (August 30, 2000): 514–17. http://dx.doi.org/10.1007/s004020000173.

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49

Zhang, Hongying, A. Senthil Kumar, Feifei Chen, Jerry Y. H. Fuh, and Michael Yu Wang. "Topology Optimized Multimaterial Soft Fingers for Applications on Grippers, Rehabilitation, and Artificial Hands." IEEE/ASME Transactions on Mechatronics 24, no. 1 (February 2019): 120–31. http://dx.doi.org/10.1109/tmech.2018.2874067.

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50

ZHOU, Liwei, and Van Anh HO. "Research on Development of Soft Robotic Hands for Handling of Foods Like Sushi." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 (2020): 1A1—J16. http://dx.doi.org/10.1299/jsmermd.2020.1a1-j16.

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