A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Vision based hand modeling and tracking for virtual teleconferencing and telecollaboration
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Grasp recognition for uncalibrated data gloves: A machine learning approach
Presence: Teleoperators and Virtual Environments
Mesofluidic actuation for articulated finger and hand prosthetics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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This paper presents the development of an electromyogram controlled extreme upper limb prosthetic hand prototype following a biomimetic approach. The biomimetic approach is followed to harmonise both physical and functional aspects of the human hand. The prototype with tendon driven fingers possesses 15 degrees of freedom. It can perform grasping operations involved during 70% of daily living activities. The control is in two stages: superior hand control SHC and local hand control LHC. The SHC involves a grasp recognition module responsible for recognition of the grasp type indented by the user. The LHC involves a translation module responsible for emulating the identified grasp type into the prototype. The results obtained for finger joint trajectories during a precision grasp through the two stage control architecture in conformity to the human hand finger.