AIMC Topic: Fingers

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Palpation force modulation strategies to identify hard regions in soft tissue organs.

PloS one Feb 15, 2017
This paper presents experimental evidence for the existence of a set of unique force modulation strategies during manual soft tissue palpation to locate hard abnormalities such as tumors. We explore the active probing strategies of defined local area...
Palpation Algorithms Robotics Models, Biological Touch Elastic Modulus Markov Chains Fingers Humans
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Compact and low-cost humanoid hand powered by nylon artificial muscles.

Bioinspiration & biomimetics Feb 3, 2017
This paper focuses on design, fabrication and characterization of a biomimetic, compact, low-cost and lightweight 3D printed humanoid hand (TCP Hand) that is actuated by twisted and coiled polymeric (TCP) artificial muscles. The TCP muscles were rece...
Hand Strength Muscle, Skeletal Printing, Three-Dimensional Robotics Humans Biomechanical Phenomena Biomimetic Materials Movement Tendons Nylons Hand Artificial Organs Fingers
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The JamHand: Dexterous Manipulation with Minimal Actuation.

Soft robotics Jan 25, 2017
From using chopsticks to grab items off a plate, to snapping together two LEGO bricks in one hand, common manipulation tasks are easy for humans. However, grasping and dexterous manipulation still rank among the principal grand challenges in robotics...
Fingers Humans Movement Robotics Prosthesis Design
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Methodology for designing and manufacturing complex biologically inspired soft robotic fluidic actuators: prosthetic hand case study.

Bioinspiration & biomimetics Oct 31, 2016
We present a novel methodology for the design and manufacture of complex biologically inspired soft robotic fluidic actuators. The methodology is applied to the design and manufacture of a prosthetic for the hand. Real human hands are scanned to prod...
Biomimetic Materials Movement Finite Element Analysis Humans Algorithms Robotics Biomimetics Fingers Hand Prosthesis Design
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Can a Soft Robotic Probe Use Stiffness Control Like a Human Finger to Improve Efficacy of Haptic Perception?

IEEE transactions on haptics Oct 18, 2016
When humans are asked to palpate a soft tissue to locate a hard nodule, they regulate the stiffness, speed, and force of the finger during examination. If we understand the relationship between these behavioral variables and haptic information gain (...
Humans Robotics Electromyography Muscle Contraction Physical Stimulation Touch Perception Palpation Models, Biological Markov Chains Fingers
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Evaluation of extreme learning machine for classification of individual and combined finger movements using electromyography on amputees and non-amputees.

Neural networks : the official journal of the International Neural Network Society Oct 1, 2016
The success of myoelectric pattern recognition (M-PR) mostly relies on the features extracted and classifier employed. This paper proposes and evaluates a fast classifier, extreme learning machine (ELM), to classify individual and combined finger mov...
Amputees Fingers Movement Support Vector Machine Discriminant Analysis Electromyography Humans
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The LET Procedure for Prosthetic Myocontrol: Towards Multi-DOF Control Using Single-DOF Activations.

PloS one Sep 8, 2016
Simultaneous and proportional myocontrol of dexterous hand prostheses is to a large extent still an open problem. With the advent of commercially and clinically available multi-fingered hand prostheses there are now more independent degrees of freedo...
Female Humans Artificial Limbs Task Performance and Analysis Male Machine Learning Young Adult Algorithms Fingers Adult Time Factors Image Processing, Computer-Assisted
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A neuromorphic model of motor overflow in focal hand dystonia due to correlated sensory input.

Journal of neural engineering Aug 31, 2016
OBJECTIVE: Motor overflow is a common and frustrating symptom of dystonia, manifested as unintentional muscle contraction that occurs during an intended voluntary movement. Although it is suspected that motor overflow is due to cortical disorganizati...
Humans Neural Networks, Computer Synapses Sensation Fingers Muscle, Skeletal Dystonic Disorders Algorithms Hand Evoked Potentials Neuronal Plasticity Electromyography Efferent Pathways Models, Neurological
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Morphological Computation of Haptic Perception of a Controllable Stiffness Probe.

PloS one Jun 3, 2016
When people are asked to palpate a novel soft object to discern its physical properties such as texture, elasticity, and even non-homogeneity, they not only regulate probing behaviors, but also the co-contraction level of antagonistic muscles to cont...
Perception Humans Phantoms, Imaging Models, Theoretical Mechanoreceptors Robotics Touch Perception Fingers
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A cortically-inspired model for inverse kinematics computation of a humanoid finger with mechanically coupled joints.

Bioinspiration & biomimetics May 19, 2016
The human hand's versatility allows for robust and flexible grasping. To obtain such efficiency, many robotic hands include human biomechanical features such as fingers having their two last joints mechanically coupled. Although such coupling enables...
Nerve Net Equipment Failure Analysis Motor Cortex Finger Joint Feedback, Physiological Computer Simulation Equipment Design Biomechanical Phenomena Biomimetics Models, Neurological Animals Humans Fingers Hand Strength Computer-Aided Design Neural Networks, Computer Robotics
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