Adam’s Hand: An Underactuated Robotic End-Effector

Zappatore, Giovanni Antonio; Reina, Giulio; Messina, Arcangelo

doi:10.1007/978-3-319-48375-7_26

Cited by 5 publications

(4 citation statements)

References 4 publications

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“…Each movement is associated to the activation of a determined muscular group; thus signals' processing makes possible the prosthetic hand's movements. The prosthesis can actuate 15 degrees of freedom, three for each finger, with only one motor (instead of five-six motors normally used) and uses two servo-motors for wrist flexion/extension and prono-supination;the torque is automatically distributed among fingers which adapt to the grasped object's form, so obtaining an optimal grasp [1,2]. This allows to simplify the control logic and to save on prosthesis cost, weight and dimensions, besides obtaining low power consumption and reduced noise.…”

Section: Introductionmentioning

confidence: 99%

A prosthetic limb managed by sensors-based electronic system: Experimental results on amputees

Gaetani¹,

Fazio

Zappatore³

et al. 2020

Bulletin EEI

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Taking the advantages offered by smart high-performance electronic devices, transradial prosthesis for upper-limb amputees was developed and tested. It is equipped with sensing devices and actuators allowing hand movements; myoelectric signals are detected by Myo armband with 8 ElectroMyoGraphic (EMG) electrodes, a 9-axis Inertial Measurement Unit (IMU) and Bluetooth Low Energy (BLE) module. All data are received through HM-11 BLE transceiver by Arduino board which processes them and drives actuators. Raspberry Pi board controls a touchscreen display, providing user a feedback related to prosthesis functioning and sends EMG and IMU data, gathered via the armband, to cloud platform thus allowing orthopedic during rehabilitation period, to monitor users’ improvements in real time. A GUI software integrating a machine learning algorithm was implemented for recognizing flexion/extension/rest gestures of user fingers. The algorithm performances were tested on 9 male subjects (8 able-bodied and 1 subject affected by upper-limb amelia), demonstrating high accuracy and fast responses.

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Section: Introductionmentioning

confidence: 99%

A prosthetic limb managed by sensors-based electronic system: Experimental results on amputees

Gaetani¹,

Fazio

Zappatore³

et al. 2020

Bulletin EEI

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“…The underactuation among the fingers is obtained by symmetrically stacking five bevel gear differential stages, while the underactuation within each finger is obtained by stacking serially two differential idler pulleys per finger. A functional scheme of the designed mechanism is shown in Figure 1, while a more in-depth analysis of the proposed mechanism can be found in [10,11]. This paper extends the study, preliminary presented by the authors in [12], on the contact forces generated by the underactuated fingers during enveloping grasps.…”

Section: Introductionmentioning

confidence: 57%

A Toolbox for the Analysis of the Grasp Stability of Underactuated Fingers

Zappatore¹,

Reina

Messina

2019

Robotics

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In the design of humanoid robotic hands, it is important to evaluate the grasp stability, especially when the concept of underactuation is involved. The use of a number of degrees of actuation lower than the degrees of freedom has shown some advantages compared to conventional solutions in terms of adaptivity, compactness, ease of control, and cost-effectiveness. However, limited attention has been devoted to the analysis of grasp performance. Some specific issues that need to be further investigated are, for example, the impact of the geometry of the fingers and the objects to be grasped and the value of the driving mechanical torques applied to the phalanges. This research proposes a software toolbox that is aimed to support a user towards an optimal design of underactuated fingers that satisfies stable and efficient grasp constraints.

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“…The transmission is based on geared differential modules, stiff and compact, that exert constant forces independent of the fingers kinematic state. The fingers can also move independently through the use of dedicated clutches or brakes (Zappatore et al, 2016;Zappatore et al, 2017). This allows one to simplify the control logic and to save on prosthe- Figure 27: The prosthetic hand containing sensors and electrodes which allow to "feel" in real-time the shape, roughness and consistency of the grasped objects.…”

Section: Overview On Prostheses Typologies Available On the Market Anmentioning

confidence: 99%

Technical Features and Functionalities of Myo Armband: An Overview on Related Literature and Advanced Applications of Myoelectric Armbands Mainly Focused on Arm Prostheses

Visconti

Gaetani

Zappatore³

et al. 2018

International Journal on Smart Sensing and Intelligent Systems

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Technological advances in manufacturing smart high-performances electronic devices, increasingly available at lower costs, nowadays allow one to improve users' quality of life in many application fields. In this work, the human-machine interaction obtained by using a next generation device (Myo armband) is analyzed and discussed, with a particular focus to healthcare applications such as upper-limb prostheses. An overview on application fields of the Myo armband and on the latest research works related to its use in prosthetic applications is presented; subsequently, the technical features and functionalities of this device are examined. Myo armband is a wearable device provided with eight electromyographic electrodes, a 9-axes inertial measurement unit and a transmission module. It sends the data related to the detected signals, via Bluetooth Low Energy technology, to other electronic devices which process them and act accordingly, depending on how they are programmed (in order to drive actuators or perform other specific functions). Applied to the prosthetic field, Myo armband allows one to overcome many issues related to the existing prostheses, representing a complete electronic platform that detects in real-time the main signals related to forearm activity (muscles activation and forearm movements in the three-dimensional space) and sends these data to the connected devices. Nowadays, several typologies of prostheses are available on the market; they can be mainly distinguished into low-cost prostheses, which are light and compact but allow for a limited number of movements, and high-end prostheses, which are much more complex and featured by high dexterity, but also heavy, bulky, difficult to control and very expensive. Finally, the Myo armband is an optimum candidate for prosthetic application (and many others) and offers an excellent lowcost solution for obtaining a reliable, easy to use system.

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Adam’s Hand: An Underactuated Robotic End-Effector

Cited by 5 publications

References 4 publications

A prosthetic limb managed by sensors-based electronic system: Experimental results on amputees

A prosthetic limb managed by sensors-based electronic system: Experimental results on amputees

A Toolbox for the Analysis of the Grasp Stability of Underactuated Fingers

Technical Features and Functionalities of Myo Armband: An Overview on Related Literature and Advanced Applications of Myoelectric Armbands Mainly Focused on Arm Prostheses

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