Open-source, anthropomorphic, underactuated robot hands with a selectively lockable differential mechanism: Towards affordable prostheses

Kontoudis, George P.; Liarokapis, Minas; Zisimatos, Agisilaos G.; Mavrogiannis, Christoforos; Kyriakopoulos, Kostas J.

doi:10.1109/iros.2015.7354209

Cited by 94 publications

(45 citation statements)

References 18 publications

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“…Novel distribution and transmission mechanisms as used in [7,23] can be employed to distribute the actuation forces and to actuate the joints in a pre-planned fashion, thus reducing the need to over-actuate a given system.…”

Section: Number Of Actuators To Number Of Jointsmentioning

confidence: 99%

A Systematic Approach to Evaluating and Benchmarking Robotic Hands—The FFP Index

2019

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The evaluation of robotic hands is a subjectively biased, complex process. The fields pertaining to robotic hands are human-centric in nature, making human hands a good standard for benchmark comparisons of robotic hands. To achieve this, we propose a new evaluation index, where we evaluate robotic hands on three fronts: their form, features and performance. An evaluation on how anthropomorphic robotic hands are in basic mobility, and appearance constitutes the "Form", while features that can be read, changed and actuated for effective control of robotic hands constitutes the "Features". We derived these key features from an extensive analysis of robotic hands in literature. Finally, the robotic hands carry out a series of tasks that evaluate their "Performance". An individual score for each category is drawn and we carry out a three-pronged analysis. We also propose an additional feature in the form of price to provide context when analysing multiple hands.

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Section: Number Of Actuators To Number Of Jointsmentioning

confidence: 99%

A Systematic Approach to Evaluating and Benchmarking Robotic Hands—The FFP Index

2019

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“…Prosthetic hands require the system to be lightweight, and integrating more actuators tends to increase the complexity of the hand and its weight greatly. Novel distribution and transmission mechanisms as used in [7] and [19] can be employed to distribute the actuation forces and to actuate the joints in a pre-planned fashion thus reducing the need to over-actuate a given system.…”

Section: Identifying the Key Parametersmentioning

confidence: 99%

A Systematic Approach to Evaluating and Benchmarking Robotic Hands - The FFP Index

Sureshbabu¹,

Metta²,

Parmiggiani³

2018

Preprint

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The evaluation of robotic hands is a subjectively biased, complex process. The fields pertaining to robotic hands are human-centric in nature, making human hands a good standard for benchmark comparisons of robotic hands. To achieve this, we propose a new evaluation index, where we evaluate robotic hands on three fronts: their form, features and performance. An evaluation on how anthropomorphic robotic hands are in basic mobility, and appearance constitutes the ``Form'', while features that can be read, changed and actuated for effective control of robotic hands constitutes the ``Features''. We derived these key features from an extensive analysis of robotic hands in literature. Finally, the robotic hands carry out a series of tasks that evaluate their ``Performance''. An individual score for each category is drawn and we carry out a three-pronged analysis. We also propose an additional feature in the form of price to provide context when analysing multiple hands.

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“…Nevertheless, from a technical perspective the holy grail of upperlimb prosthetics research is the simultaneous and independent control of multiple degrees of freedom (DOFs), including wrist and digit artificial joints [1]. This currently seems as the only way to approximate the remarkable dexterity of the human hand, which is still considered as the nature's most versatile end-effector [2].…”

Section: Introductionmentioning

confidence: 99%

Discrete action control for prosthetic digits

Krasoulis

Nazarpour

2020

Preprint

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Objective We aim to develop a paradigm for simultaneous and independent control of multiple degrees of freedom (DOFs) for upper-limb prostheses. Approach We introduce action control, a novel method to operate prosthetic digits with surface electromyography (EMG) based on multi-label, multi-class classification. At each time step, the decoder classifies movement intent for each controllable DOF into one of three categories: open, close, or stall (i.e., no movement). We implemented a real-time myoelectric control system using this method and evaluated it by running experiments with one unilateral and two bilateral amputees. Participants controlled a six-DOF bar interface on a computer display, with each DOF corresponding to a motor function available in multi-articulated prostheses. Main results We show that action control can significantly and systematically outperform the state-of-the-art method of position control via multi-output regression in both task-and non-task-related measures. Improvements in median task performance ranged from 20.14% to 62.32% for individual participants. Analysis of a post-experimental survey revealed that all participants rated action higher than position control in a series of qualitative questions and expressed an overall preference for the former. Significance Action control has the potential to improve the dexterity of upper-limb prostheses. In comparison with regression-based systems, it only requires discrete instead of real-valued ground truth labels, typically collected with motion tracking systems. This feature makes the system both practical in a clinical setting and also suitable for bilateral amputation. This work is the first demonstration of myoelectric digit control in bilateral upper-limb amputees. Further investigation and pre-clinical evaluation are required to assess the translational potential of the method.Discrete action control for prosthetic digits

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Open-source, anthropomorphic, underactuated robot hands with a selectively lockable differential mechanism: Towards affordable prostheses

Cited by 94 publications

References 18 publications

A Systematic Approach to Evaluating and Benchmarking Robotic Hands—The FFP Index

A Systematic Approach to Evaluating and Benchmarking Robotic Hands—The FFP Index

A Systematic Approach to Evaluating and Benchmarking Robotic Hands - The FFP Index

Discrete action control for prosthetic digits

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