In the robotic community more and more hands are developed. Based on theexperience of HIT Hand and DLR Hand II, a smaller and easier manufactured dexterous robot hand withmultisen-sory function and high integration is...In the robotic community more and more hands are developed. Based on theexperience of HIT Hand and DLR Hand II, a smaller and easier manufactured dexterous robot hand withmultisen-sory function and high integration is jointly developed. The prototype of the hand issuccessfully built. It has 4 fingers in total 13-DOFs (degree of freedom). Each finger has 3-DOFsand 4 joints, the last 2 joints are mechanically coupled by means of four-bar linkage mechanism. Italso has an additional DOF to realize motion of the thumb relative to the palm. The fingertip forcecan reach up to 10 N. Full integration of mechanical body, actuation system, multisensory system andelectronics is a significant feature. DSP based control system is implemented in PCI busarchitecture and the serial communication between the hand and DSP needs only 2 lines.展开更多
With dexterous hands, robots can improve the work scope and work ability significantly. As palms of the existing multi-hand robots are made of steel plates that have small contact area, the robots cannot grab firmly. ...With dexterous hands, robots can improve the work scope and work ability significantly. As palms of the existing multi-hand robots are made of steel plates that have small contact area, the robots cannot grab firmly. In this study, a new five-fingered dexterous robot hand is developed. Having flexible palm with 17 degree of freedoms ( DOFs), the hand can grasp more stably and firm- ly. First, the forward kinematics and inverse kinematics of the fingers and the hand are calculated. Then, the connection between the force exerting on the end effectors and the torque exerting on the joint is set up, laying the foundation for the following control. Finally, through the analysis and sim- ulation of the position, velocity and acceleration, the trajectory planning has a better performance.展开更多
The manipulation and constraint equations are established by considering the pure rolling motion in a dexterous hand as two passive joints. According to mapping relation among the motion of the system, the differentia...The manipulation and constraint equations are established by considering the pure rolling motion in a dexterous hand as two passive joints. According to mapping relation among the motion of the system, the differential kinematics and mobility are studied. The minimal structure for realizing the task motion of the object is obtained, and the conditions for dexterous manipulation are presented. Finally, some rolling manipulations are used as examples to demonstrate the applicability of approach proposed.展开更多
Many studies have examined the design,fabrication and characteristics of gecko-inspired adhesives,but applied research on gecko-inspired surfaces in humanoid dexterous hands is relatively scarce.Here,a wedged slanted ...Many studies have examined the design,fabrication and characteristics of gecko-inspired adhesives,but applied research on gecko-inspired surfaces in humanoid dexterous hands is relatively scarce.Here,a wedged slanted structure with a curved substrate suitable for humanoid dexterous fingers was designed and manufactured via ultraprecision machining and replica molding.The adhesion and friction properties of the wedged slanted structure show obvious anisotropic characteristics in the gripping and releasing directions,and the influence of structural parameters and motion parameters on the adhesion and friction was systematically studied.The humanoid dexterous fingers with gecko-inspired surfaces greatly increased the grasping force limit(increase to 4.02 times)based on the grasping of measuring cups with different volumes of water and improved the grasping stability based on the picking up of smooth steel balls of different diameters.This study shows that this process,based on ultraprecision machining and replica molding,is a green,high-efficiency,and low-cost method to fabricate large-area biomimetic surfaces that has potential applications in dexterous humanoid hands to improve grasping ability,stability and adaptability.展开更多
Despite the recent influx of increasingly dexterous prostheses, there remains a lack of sufficiently intuitive control methods to fully utilize this dexterity. As a solution to this problem, a control framework is pro...Despite the recent influx of increasingly dexterous prostheses, there remains a lack of sufficiently intuitive control methods to fully utilize this dexterity. As a solution to this problem, a control framework is proposed which allows the control of an arbitrary number of Degrees of Freedom (DOF) through a single electromyogram (EMG) control input. Initially, the joint motions of nine test subjects were recorded while grasping and catching a cylinder. Inherent differences emerged depending upon whether the cylinder was grasped or caught. These data were used to form a distinct synergy for each task, described as the families of parametric functions of time that share a mutual time vector. These two Temporally Synchronized Synergies (TSS) were derived to reflect the task dependent control strategies adopted by the initial participants. These synergies were then mapped to a dexterous artificial hand that was subsequently controlled by two subjects with transradial amputations. The EMG signals from these subjects were used to replace the time vector shared by the synergies, enabling the subjects to perform both tasks with a dexterous artificial hand using only a single EMG input. After a ten minute training period, the subjects learned to use the dexterous artificial hand to grasp and catch the cylinder with 100.0% and 65.0% average success rates, respectively.展开更多
Bionic inspiration from human thumb and index finger was the drive to design a high-performance two-finger dexterous hand.The size of each phalanx and the motion range of each joint in the human thumb and index finger...Bionic inspiration from human thumb and index finger was the drive to design a high-performance two-finger dexterous hand.The size of each phalanx and the motion range of each joint in the human thumb and index finger were summarized,and the features of three grasping patterns were described in detail.Subsequently,a two-finger dexterous bionic hand with 6 Degrees of Freedom(DoFs)was developed.Both the mechanical thumb and index finger were made up of three rigid phalanx links and three mechanical rotation joints.Some grasp-release tests validated that the bionic hand can perform three grasping patterns:power grasp,precision pinch and lateral pinch.The grasping success rates were high under the following cases:(1)when power grasping was used to grasp a ring with external diameter 20 mm-140 mm,a cylinder with mass<500 g,or objects with cylinder,sphere or ellipsoid shape;(2)when the precision pinch was used to grasp thin or small objects;(3)when the lateral pinch was used to grasp low length-to-width ratio of objects.The work provided a method for developing two-fimger bionic hand with three grasping patterns,and further revealed the linkage between the difference in fimger structure and size and the hand manipulation dexterity.展开更多
At present,albeit the dexterous hand prostheses of multiple degrees of freedom(DOFs)have become prosperous on the market,the user’s demand on intuitively operating these devices have not been well addressed so that t...At present,albeit the dexterous hand prostheses of multiple degrees of freedom(DOFs)have become prosperous on the market,the user’s demand on intuitively operating these devices have not been well addressed so that their acceptance rate is relatively low.The unintuitive control method and inadequate sensory feedback are frequently cited as the two barriers to the successful application of these dexterous products.Recently,driven by the wave of artificial intelligence(AI),a series of shared control methods have emerged,in which"bodily function"(myoelectric control)and"artificial intelligence"(local autonomy,computer vision,etc.)are tightly integrated,and provided a new conceptual solution for the intuitive operation of dexterous prostheses.In this paper,the background and development trends of this type of methods are described in detail,and the potential development directions and the key technologies that need breakthroughs are indicated.In practice,we instantiate this shared control strategy by proposing a new method combining simultaneous myoelectric control,multi-finger grasp autonomy,and augmented reality(AR)feedback together.This method"divides"the human sophisticated reach-and-grasp task into several subtasks,and then"conquers"them by using different strategies from either human or machine perspective.It is highly expected that the shared control methods with hybrid human-machine intelligence could address the control problem of dexterous prostheses.展开更多
After stroke,even high-functioning individuals may experience compromised bimanual coordination and fine motor dexterity,leading to reduced functional independence.Bilateral arm training has been proposed as a promisi...After stroke,even high-functioning individuals may experience compromised bimanual coordination and fine motor dexterity,leading to reduced functional independence.Bilateral arm training has been proposed as a promising intervention to address these deficits.However,the neural basis of the impairment of functional fine motor skills and their relationship to bimanual coordination performance in stroke patients remains unclear,limiting the development of more targeted interventions.To address this gap,our study employed functional near-infrared spectroscopy to investigate cortical responses in patients after stroke as they perform functional tasks that engage fine motor control and coordination.Twenty-four high-functioning patients with ischemic stroke(7 women,17 men;mean age 64.75±10.84 years)participated in this cross-sectional observational study and completed four subtasks from the Purdue Pegboard Test,which measures unimanual and bimanual finger and hand dexterity.We found significant bilateral activation of the sensorimotor cortices during all Purdue Pegboard Test subtasks,with bimanual tasks inducing higher cortical activation than the assembly subtask.Importantly,patients with better bimanual coordination exhibited lower cortical activation during the other three Purdue Pegboard Test subtasks.Notably,the observed neural response patterns varied depending on the specific subtask.In the unaffected hand task,the differences were primarily observed in the ipsilesional hemisphere.In contrast,the bilateral sensorimotor cortices and the contralesional hemisphere played a more prominent role in the bimanual task and assembly task,respectively.While significant correlations were found between cortical activation and unimanual tasks,no significant correlations were observed with bimanual tasks.This study provides insights into the neural basis of bimanual coordination and fine motor skills in high-functioning patients after stroke,highlighting task-dependent neural responses.The findings also suggest that patients who exhibit better bimanual performance demonstrate more efficient cortical activation.Therefore,incorporating bilateral arm training in post-stroke rehabilitation is important for better outcomes.The combination of functional near-infrared spectroscopy with functional motor paradigms is valuable for assessing skills and developing targeted interventions in stroke rehabilitation.展开更多
Teleoperation can assist people to complete various complex tasks in inaccessible or high-risk environments,in which a wearable hand exoskeleton is one of the key devices.Adequate adaptability would be available to en...Teleoperation can assist people to complete various complex tasks in inaccessible or high-risk environments,in which a wearable hand exoskeleton is one of the key devices.Adequate adaptability would be available to enable the master hand exoskeleton to capture the motion of human fingers and reproduce the contact force between the slave hand and its object.This paper presents a novel finger exoskeleton based on the cascading four-link closed-loop kinematic chain.Each finger has an independent closed-loop kinematic chain,and the angle sensors are used to obtain the finger motion including the flexion/extension and the adduction/abduction.The cable tension is changed by the servo motor to transmit the contact force to the fingers in real time.Based on the finger exoskeleton,an adaptive hand exoskeleton is consequently developed.In addition,the hand exoskeleton is tested in a master-slave system.The experiment results show that the adaptive hand exoskeleton can be worn without any mechanical constraints,and the slave hand can follow the motions of each human finger.The accuracy and the real-time capability of the force reproduction are validated.The proposed adaptive hand exoskeleton can be employed as the master hand to remotely control the humanoid five-fingered dexterous slave hand,thus,enabling the teleoperation system to complete complex dexterous manipulation tasks.展开更多
Ying Chao,born in the 1990s in Jiaxing City of east China’s Zhejiang Province,is of the opinion that traditional agricultural methods cannot meet the demands of modern farming.He plans to change agricultural practice...Ying Chao,born in the 1990s in Jiaxing City of east China’s Zhejiang Province,is of the opinion that traditional agricultural methods cannot meet the demands of modern farming.He plans to change agricultural practices and follow the road of mechanisation after taking part in a one-year vocational training course on drones in Jiaxing Vocational and Technical College in 2021.In fact,more and more young people like Ying are applying digital technology and big data to agricultural production and rural development.And the government has laid out plans to encourage this transition.展开更多
将高量子效率的磷光材料fac-tris-2-phenylpyridine iri dium(Ⅲ)(Ir(ppy)_3)按不同的比例掺杂到具有载流子传输能力的主体材料poly(N-vinylcarbazole)(PVK)中作为发光层制备磷光电致发光器件。通过对器件发光机制的研究,发现光致发光...将高量子效率的磷光材料fac-tris-2-phenylpyridine iri dium(Ⅲ)(Ir(ppy)_3)按不同的比例掺杂到具有载流子传输能力的主体材料poly(N-vinylcarbazole)(PVK)中作为发光层制备磷光电致发光器件。通过对器件发光机制的研究,发现光致发光过程中起主导作用的是Foster能量转移机制;而在电致发光过程中,器件的发光性能受Dexter能量转移和电荷陷获2种能量传递形式的影响。器件的I-V-L特性表明:Ir(ppy)_3的掺杂比例为5%时,器件的光功率效率最大,能量转移最充分。展开更多
A study about the action control of a dexterous mechanical gripper based on stereo-vision system was proposed. The vision-based system was used to replace the data-glove for gesture measurement. The stereo vision theo...A study about the action control of a dexterous mechanical gripper based on stereo-vision system was proposed. The vision-based system was used to replace the data-glove for gesture measurement. The stereo vision theory was applied to calculate the 3D information of the hand gesture. The information was used to generate the grasping action parameters of a 3-finger dexterous mechanical gripper. Combined with a force feedback device, a closed control loop could be constructed. The test for the precision of the algorithms and action control simulation result were shown in the paper.展开更多
文摘In the robotic community more and more hands are developed. Based on theexperience of HIT Hand and DLR Hand II, a smaller and easier manufactured dexterous robot hand withmultisen-sory function and high integration is jointly developed. The prototype of the hand issuccessfully built. It has 4 fingers in total 13-DOFs (degree of freedom). Each finger has 3-DOFsand 4 joints, the last 2 joints are mechanically coupled by means of four-bar linkage mechanism. Italso has an additional DOF to realize motion of the thumb relative to the palm. The fingertip forcecan reach up to 10 N. Full integration of mechanical body, actuation system, multisensory system andelectronics is a significant feature. DSP based control system is implemented in PCI busarchitecture and the serial communication between the hand and DSP needs only 2 lines.
基金Supported by Beijing Science Foundation(4122065)National Science Foundation for Distinguished Young Scholar(60925014)
文摘With dexterous hands, robots can improve the work scope and work ability significantly. As palms of the existing multi-hand robots are made of steel plates that have small contact area, the robots cannot grab firmly. In this study, a new five-fingered dexterous robot hand is developed. Having flexible palm with 17 degree of freedoms ( DOFs), the hand can grasp more stably and firm- ly. First, the forward kinematics and inverse kinematics of the fingers and the hand are calculated. Then, the connection between the force exerting on the end effectors and the torque exerting on the joint is set up, laying the foundation for the following control. Finally, through the analysis and sim- ulation of the position, velocity and acceleration, the trajectory planning has a better performance.
基金This project is supported by Scientific Research Foundation for ReturnedOverseas Chinese Scholars, Education Ministry of China and ProvincialNatural Science Foundation of Shanxi, China (No.2000C37).
文摘The manipulation and constraint equations are established by considering the pure rolling motion in a dexterous hand as two passive joints. According to mapping relation among the motion of the system, the differential kinematics and mobility are studied. The minimal structure for realizing the task motion of the object is obtained, and the conditions for dexterous manipulation are presented. Finally, some rolling manipulations are used as examples to demonstrate the applicability of approach proposed.
基金supported by the National Key Research and Development Program of China(Grant No.2018YFB1305300)the National Natural Science Foundation of China(Grant Nos.61733001,61873039,U1713215,U1913211,and U2013602)the China Postdoctoral Science Foundation(Grant No.2021M690017)。
文摘Many studies have examined the design,fabrication and characteristics of gecko-inspired adhesives,but applied research on gecko-inspired surfaces in humanoid dexterous hands is relatively scarce.Here,a wedged slanted structure with a curved substrate suitable for humanoid dexterous fingers was designed and manufactured via ultraprecision machining and replica molding.The adhesion and friction properties of the wedged slanted structure show obvious anisotropic characteristics in the gripping and releasing directions,and the influence of structural parameters and motion parameters on the adhesion and friction was systematically studied.The humanoid dexterous fingers with gecko-inspired surfaces greatly increased the grasping force limit(increase to 4.02 times)based on the grasping of measuring cups with different volumes of water and improved the grasping stability based on the picking up of smooth steel balls of different diameters.This study shows that this process,based on ultraprecision machining and replica molding,is a green,high-efficiency,and low-cost method to fabricate large-area biomimetic surfaces that has potential applications in dexterous humanoid hands to improve grasping ability,stability and adaptability.
基金Acknowledgment This work was supported in part by the National Science Foundation (Grant no. 1317952). The authors also appreciate the generosity of Touch Bionics and C. Tederous for helping design the human hand skeletal structure in Fig. 4a.
文摘Despite the recent influx of increasingly dexterous prostheses, there remains a lack of sufficiently intuitive control methods to fully utilize this dexterity. As a solution to this problem, a control framework is proposed which allows the control of an arbitrary number of Degrees of Freedom (DOF) through a single electromyogram (EMG) control input. Initially, the joint motions of nine test subjects were recorded while grasping and catching a cylinder. Inherent differences emerged depending upon whether the cylinder was grasped or caught. These data were used to form a distinct synergy for each task, described as the families of parametric functions of time that share a mutual time vector. These two Temporally Synchronized Synergies (TSS) were derived to reflect the task dependent control strategies adopted by the initial participants. These synergies were then mapped to a dexterous artificial hand that was subsequently controlled by two subjects with transradial amputations. The EMG signals from these subjects were used to replace the time vector shared by the synergies, enabling the subjects to perform both tasks with a dexterous artificial hand using only a single EMG input. After a ten minute training period, the subjects learned to use the dexterous artificial hand to grasp and catch the cylinder with 100.0% and 65.0% average success rates, respectively.
基金a European Marie Curie International Incoming Fellowship(326847 and 912847)a Special Foundation for Talents of Northwest A&F University(Z111021801)two Key Research and Development Plans of Shaanxi Province(2019NY-172 and 2018030).
文摘Bionic inspiration from human thumb and index finger was the drive to design a high-performance two-finger dexterous hand.The size of each phalanx and the motion range of each joint in the human thumb and index finger were summarized,and the features of three grasping patterns were described in detail.Subsequently,a two-finger dexterous bionic hand with 6 Degrees of Freedom(DoFs)was developed.Both the mechanical thumb and index finger were made up of three rigid phalanx links and three mechanical rotation joints.Some grasp-release tests validated that the bionic hand can perform three grasping patterns:power grasp,precision pinch and lateral pinch.The grasping success rates were high under the following cases:(1)when power grasping was used to grasp a ring with external diameter 20 mm-140 mm,a cylinder with mass<500 g,or objects with cylinder,sphere or ellipsoid shape;(2)when the precision pinch was used to grasp thin or small objects;(3)when the lateral pinch was used to grasp low length-to-width ratio of objects.The work provided a method for developing two-fimger bionic hand with three grasping patterns,and further revealed the linkage between the difference in fimger structure and size and the hand manipulation dexterity.
基金supported by the National Key R&D Program of China(Grant No.2018YFB1307201)the National Natural Science Foundation of China(Grant No.51675123)the Postdoctoral Scientific Research Development Fund(Grant No.LBH-W18058)。
文摘At present,albeit the dexterous hand prostheses of multiple degrees of freedom(DOFs)have become prosperous on the market,the user’s demand on intuitively operating these devices have not been well addressed so that their acceptance rate is relatively low.The unintuitive control method and inadequate sensory feedback are frequently cited as the two barriers to the successful application of these dexterous products.Recently,driven by the wave of artificial intelligence(AI),a series of shared control methods have emerged,in which"bodily function"(myoelectric control)and"artificial intelligence"(local autonomy,computer vision,etc.)are tightly integrated,and provided a new conceptual solution for the intuitive operation of dexterous prostheses.In this paper,the background and development trends of this type of methods are described in detail,and the potential development directions and the key technologies that need breakthroughs are indicated.In practice,we instantiate this shared control strategy by proposing a new method combining simultaneous myoelectric control,multi-finger grasp autonomy,and augmented reality(AR)feedback together.This method"divides"the human sophisticated reach-and-grasp task into several subtasks,and then"conquers"them by using different strategies from either human or machine perspective.It is highly expected that the shared control methods with hybrid human-machine intelligence could address the control problem of dexterous prostheses.
基金supported by the National Key R&D Program of China,No.2020YFC2004202(to DX).
文摘After stroke,even high-functioning individuals may experience compromised bimanual coordination and fine motor dexterity,leading to reduced functional independence.Bilateral arm training has been proposed as a promising intervention to address these deficits.However,the neural basis of the impairment of functional fine motor skills and their relationship to bimanual coordination performance in stroke patients remains unclear,limiting the development of more targeted interventions.To address this gap,our study employed functional near-infrared spectroscopy to investigate cortical responses in patients after stroke as they perform functional tasks that engage fine motor control and coordination.Twenty-four high-functioning patients with ischemic stroke(7 women,17 men;mean age 64.75±10.84 years)participated in this cross-sectional observational study and completed four subtasks from the Purdue Pegboard Test,which measures unimanual and bimanual finger and hand dexterity.We found significant bilateral activation of the sensorimotor cortices during all Purdue Pegboard Test subtasks,with bimanual tasks inducing higher cortical activation than the assembly subtask.Importantly,patients with better bimanual coordination exhibited lower cortical activation during the other three Purdue Pegboard Test subtasks.Notably,the observed neural response patterns varied depending on the specific subtask.In the unaffected hand task,the differences were primarily observed in the ipsilesional hemisphere.In contrast,the bilateral sensorimotor cortices and the contralesional hemisphere played a more prominent role in the bimanual task and assembly task,respectively.While significant correlations were found between cortical activation and unimanual tasks,no significant correlations were observed with bimanual tasks.This study provides insights into the neural basis of bimanual coordination and fine motor skills in high-functioning patients after stroke,highlighting task-dependent neural responses.The findings also suggest that patients who exhibit better bimanual performance demonstrate more efficient cortical activation.Therefore,incorporating bilateral arm training in post-stroke rehabilitation is important for better outcomes.The combination of functional near-infrared spectroscopy with functional motor paradigms is valuable for assessing skills and developing targeted interventions in stroke rehabilitation.
基金Supported by National Key Research and Development Program of China(Grant No.2018YFE0125600)Zhejiang Provincial Key Research,Develop-ment Program(Grant No.2021C04015)Natural Science Foundation of Zhejiang(Grant No.LZ23E050005).
文摘Teleoperation can assist people to complete various complex tasks in inaccessible or high-risk environments,in which a wearable hand exoskeleton is one of the key devices.Adequate adaptability would be available to enable the master hand exoskeleton to capture the motion of human fingers and reproduce the contact force between the slave hand and its object.This paper presents a novel finger exoskeleton based on the cascading four-link closed-loop kinematic chain.Each finger has an independent closed-loop kinematic chain,and the angle sensors are used to obtain the finger motion including the flexion/extension and the adduction/abduction.The cable tension is changed by the servo motor to transmit the contact force to the fingers in real time.Based on the finger exoskeleton,an adaptive hand exoskeleton is consequently developed.In addition,the hand exoskeleton is tested in a master-slave system.The experiment results show that the adaptive hand exoskeleton can be worn without any mechanical constraints,and the slave hand can follow the motions of each human finger.The accuracy and the real-time capability of the force reproduction are validated.The proposed adaptive hand exoskeleton can be employed as the master hand to remotely control the humanoid five-fingered dexterous slave hand,thus,enabling the teleoperation system to complete complex dexterous manipulation tasks.
文摘Ying Chao,born in the 1990s in Jiaxing City of east China’s Zhejiang Province,is of the opinion that traditional agricultural methods cannot meet the demands of modern farming.He plans to change agricultural practices and follow the road of mechanisation after taking part in a one-year vocational training course on drones in Jiaxing Vocational and Technical College in 2021.In fact,more and more young people like Ying are applying digital technology and big data to agricultural production and rural development.And the government has laid out plans to encourage this transition.
文摘将高量子效率的磷光材料fac-tris-2-phenylpyridine iri dium(Ⅲ)(Ir(ppy)_3)按不同的比例掺杂到具有载流子传输能力的主体材料poly(N-vinylcarbazole)(PVK)中作为发光层制备磷光电致发光器件。通过对器件发光机制的研究,发现光致发光过程中起主导作用的是Foster能量转移机制;而在电致发光过程中,器件的发光性能受Dexter能量转移和电荷陷获2种能量传递形式的影响。器件的I-V-L特性表明:Ir(ppy)_3的掺杂比例为5%时,器件的光功率效率最大,能量转移最充分。
文摘A study about the action control of a dexterous mechanical gripper based on stereo-vision system was proposed. The vision-based system was used to replace the data-glove for gesture measurement. The stereo vision theory was applied to calculate the 3D information of the hand gesture. The information was used to generate the grasping action parameters of a 3-finger dexterous mechanical gripper. Combined with a force feedback device, a closed control loop could be constructed. The test for the precision of the algorithms and action control simulation result were shown in the paper.