A Novel Anthropomorphic Robot Hand and its Master Slave System

Mouri, Tetsuya; Kawasaki, Haruhisa

doi:10.5772/4796

Cited by 13 publications

(4 citation statements)

References 20 publications

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“…Such systems usually have strict requirements in terms of robustness, control simplicity, and adaptivity. Examples of robotic hands designed to operate in this field are the KH (Kinetic Humanoid) Hand (97), the RAPHaEL (Robotic Air Powered Hand with Elastic Ligaments) Hand ( 104), the Handroid Hand (123), and the SCHUNK S5FH Hand (224). Figure 2d shows an example: teleoperation of the NASA Robonaut (225) to accomplish a bimanual task.…”

Section: Teleoperationmentioning

confidence: 99%

A Century of Robotic Hands

Piazza

Grioli

Catalano

et al. 2019

Annu. Rev. Control Robot. Auton. Syst.

234

117

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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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Section: Teleoperationmentioning

confidence: 99%

A Century of Robotic Hands

Piazza

Grioli

Catalano

et al. 2019

Annu. Rev. Control Robot. Auton. Syst.

234

117

View full text Add to dashboard Cite

show abstract

“…dataglove was compared with the popular LeapMotion sensor in [63], the former showing a higher fidelity of hand pose sensing, tested on a virtual reality RH. Other approaches using low-cost datagloves were used to telecontrol five-fingered anthropomorphic RH, e.g., [60], [61], [62]. In [58], a one-toone joint mapping realized with markerless vision is assisted by a dataglove-based dataset of discretized HH motions.…”

Section: Table I Representative Direct Joint Mappingsmentioning

confidence: 99%

Human to Robot Hand Motion Mapping Methods: Review and Classification

Meattini

Suárez²,

Palli

et al. 2023

IEEE Trans. Robot.

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“…Most anthropomorphic robotic hands are manipulated based on the operator's finger movements using data gloves, master robots, etc. [1][2][3][4][5][6][7]. Some methods use inputs from the electromyography (EMG) of the operator's hand [8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Estimating Deficient Muscle Activity Using LSTM With Integrated Damping Neurons for EMG-Based Control of Robotic Prosthetic Fingers

Tokunaga,

Nishikawa,

Kiguchi

2023

IEEE Access

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Robotic prosthetic hands can help perform the intended sophisticated movements of the upper limb, which can assist amputees to perform their daily activities. Although a robotic prosthetic hand can be controlled in real-time using the user's electromyography (EMG), which directly reflects the user's motion intention, some important EMG signals are usually lost owing to muscle deficiency. This study proposes a muscle activity estimator that is inspired by the muscle synergy across subjects to estimate the activity of the missing muscles in amputees in real-time. The proposed estimator learns muscle synergy from the EMG balance, finger joint angles, and the grasping force of healthy persons. The proposed estimator is developed as an artificial neural network (ANN) with a novel cell structure that combines long-short-term memory and damping neurons to analyze muscle dynamics. Furthermore, to improve the accuracy of learning muscle synergy, the muscles to be input to the estimator are selected by focusing on the enslavement of muscles and anatomical relationships. The effectiveness of the proposed estimator is evaluated by experiments. The results showed that the proposed estimator can contribute well to the realization of the intended sophisticated motions of the user.

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A Novel Anthropomorphic Robot Hand and its Master Slave System

Cited by 13 publications

References 20 publications

A Century of Robotic Hands

A Century of Robotic Hands

Human to Robot Hand Motion Mapping Methods: Review and Classification

Estimating Deficient Muscle Activity Using LSTM With Integrated Damping Neurons for EMG-Based Control of Robotic Prosthetic Fingers

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