A Multigrasp Hand Prosthesis for Providing Precision and Conformal Grasps

Bennett, Daniel A.; Dalley, Skyler A.; Truex, Don; Goldfarb, Michael

doi:10.1109/tmech.2014.2349855

Cited by 70 publications

(25 citation statements)

References 25 publications

(19 reference statements)

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“…The sharp tips engineering included a local oxidation of silicon (LOCOS) and wet anisotropic etching for revealing <111> crystallographic planes. The spring structures and inertia center of the tweezers were carefully designed to obtain a parallel motion both of the movable tip and capacitive sensing structures providing accurate sensing 31 . Protruding tips with an angle of 130° allowed tweezers to operate inside the microfluidic device with minimum immersion.…”

Section: Methodsmentioning

confidence: 99%

A rapid and practical technique for real-time monitoring of biomolecular interactions using mechanical responses of macromolecules

Tarhan

Lafitte

Tauran

et al. 2016

Sci Rep

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Monitoring biological reactions using the mechanical response of macromolecules is an alternative approach to immunoassays for providing real-time information about the underlying molecular mechanisms. Although force spectroscopy techniques, e.g. AFM and optical tweezers, perform precise molecular measurements at the single molecule level, sophisticated operation prevent their intensive use for systematic biosensing. Exploiting the biomechanical assay concept, we used micro-electro mechanical systems (MEMS) to develop a rapid platform for monitoring bio/chemical interactions of bio macromolecules, e.g. DNA, using their mechanical properties. The MEMS device provided real-time monitoring of reaction dynamics without any surface or molecular modifications. A microfluidic device with a side opening was fabricated for the optimal performance of the MEMS device to operate at the air-liquid interface for performing bioassays in liquid while actuating/sensing in air. The minimal immersion of the MEMS device in the channel provided long-term measurement stability (>10 h). Importantly, the method allowed monitoring effects of multiple solutions on the same macromolecule bundle (demonstrated with DNA bundles) without compromising the reproducibility. We monitored two different types of effects on the mechanical responses of DNA bundles (stiffness and viscous losses) exposed to pH changes (2.1 to 4.8) and different Ag+ concentrations (1 μM to 0.1 M).

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Section: Methodsmentioning

confidence: 99%

A rapid and practical technique for real-time monitoring of biomolecular interactions using mechanical responses of macromolecules

Tarhan

Lafitte

Tauran

et al. 2016

Sci Rep

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“…The device normally is less complex and able to perform a simple task such as opened hand palm and basic grasping postures. A hand prosthesis device should be capable of operating full day that may include the energy harvesting mechanism [3][4][5][6][7][8] to limit the number of battery charging cycles [9].…”

Section: Introductionmentioning

confidence: 99%

Development of Real-Time Electromyography Controlled 3D Printed Robot Hand Prototype

Wahit

Romzi

Ahmad

et al. 2019

Int. j. electr. comput. eng. syst. (Online)

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Developing an anthropomorphic robotic hand (ARH) has become a relevant research field due to the need to help the amputees live their life as normal people. However, the current state of research is unsatisfactory, especially in terms of structural design and the robot control method. This paper, which proposes a 3D printed ARH structure that follows the average size of an adult human hand, consists of five fingers with a tendon-driven actuator mechanism embedded in each finger structure. Besides that, the movement capability of the developed 3D printed robot hand validated by using motion capture analysis to ensure the similarity to the expected motion range in structural design is achieved. Its system functionality test was conducted in three stages: (1) muscular activity detection, (2) object detection for individual finger movement control, and (3) integration of both stages in one algorithm. Finally, an ARH was developed, which resembles human hand features, as well as a reliable system that can perform opened hand palm and some grasping postures for daily use.

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“…Recent advances in robotic hands have simplified the problem of grasping known rigid objects [1]. However, successfully grasping and manipulating of an unknown object with uncertainty in its characteristics such as surface texture [2]- [5] and center of mass is still difficult for robotic systems.…”

Section: Introduction and Related Workmentioning

confidence: 99%

Tactile-based manipulation of deformable objects with dynamic center of mass

Kaboli

Yao

Cheng

2016

2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)

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Abstract-Tactile sensing feedback provides feasible solutions to robotic dexterous manipulation tasks. In this paper, we present a novel tactile-based framework for detecting/correcting slips and regulating grasping forces while manipulating deformable objects with the dynamic center of mass. This framework consists of a tangential force based slip detection method and a deformation prevention approach relying on weight estimation. Moreover, we propose a new strategy for manipulating deformable heavy objects. Objects with different stiffnesses, surface textures, and centers of mass are tested in experiments. Results show that proposed approaches are capable of handling objects with uncertainties in their characteristics, and also robust to external disturbances.

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A Multigrasp Hand Prosthesis for Providing Precision and Conformal Grasps

Cited by 70 publications

References 25 publications

A rapid and practical technique for real-time monitoring of biomolecular interactions using mechanical responses of macromolecules

A rapid and practical technique for real-time monitoring of biomolecular interactions using mechanical responses of macromolecules

Development of Real-Time Electromyography Controlled 3D Printed Robot Hand Prototype

Tactile-based manipulation of deformable objects with dynamic center of mass

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