This Paper proposes a compound robotic hand that benefits the features of both underactuated and continuous systems. This hand consists of two underactuated tendon-driven fingers and a single section continuous finger. The continuous finger helps to increase the Manipulation capabilities of grasping. Each underactuated finger is composed of three phalanges that are actuated with one tendon with appropriate embedded tendon guide, and the continuous finger is driven by three cables. By pulling the wire using mechanically driven actuators, the flexion of the three-phalange fingers and the desired shape of the continuous finger are obtained. After the conceptual design, fabrication, and performance analysis of the hand, Kinematic equations of the continuous finger are discussed, and finally, the form-closure property of grasp is studied.

The major focus of this study is to present a performance accuracy assessment framework based on mathematical modelling of cardiac system multiple measurement signals. Three mathematical algebraic subroutines with simple structural functions for synthetic generation of the synchronously triggered electrocardiogram (ECG), phonocardiogram (PCG) and arterial blood pressure (ABP) signals are described. In the case of ECG signals, normal and abnormal PQRST cycles in complicated conditions such as fascicular ventricular tachycardia, rate dependent conduction block and acute Q-wave infarctions of inferior and anterolateral walls can be simulated. Also, continuous ABP waveform with corresponding individual events such as systolic, diastolic and dicrotic pressures with normal or abnormal morphologies can be generated by another part of the model. In addition, the mathematical synthetic PCG framework is able to generate the S4-S1-S2-S3 cycles in normal and in cardiac disorder conditions such as stenosis, insufficiency, regurgitation and gallop. In the PCG model, the amplitude and frequency content (5-700 Hz) of each sound and variation patterns can be specified. The three proposed models were implemented to generate artificial signals with varies abnormality types and signal-to-noise ratios (SNR), for quantitative detection-delineation performance assessment of several ECG, PCG and ABP individual event detectors designed based on the Hilbert transform, discrete wavelet transform, geometric features such as area curve length (ACLM), the multiple higher order moments (MHOM) metric, and the principal components analysed geometric index (PCAGI). For each method the detection-delineation operating characteristics were obtained automatically in terms of sensitivity, positive predictivity and delineation (segmentation) error rms and checked by the cardiologist. The Matlab m-file script of the synthetic ECG, ABP and PCG signal generators are available in the Appendix.

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In this article a robotic gripper with the ability of cylindrical object grasping is designed and fabricated. With the increasing use of robotic arms in industry, grasping and holding, as a part of industrial processes, are of great importance. Hence, proper design of grippers plays a key role in efficient performance of robotic arms. The main feature of this design is its reliability and efficiency while maintaining simplicity. This robotic gripper is designed for installing on a mobile robot with the task of holding and moving cylindrical object. One of the aspects of an efficient robotic gripper is its ability to satisfy the "Form-gripping" feature which is utilized for the presented design. Kinematic consideration is examined by Catia. Finally, control methods through Matlab and experimental test results are presented in this paper.

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