The Experts below are selected from a list of 360 Experts worldwide ranked by ideXlab platform
M C Carrozza - One of the best experts on this subject based on the ideXlab platform.
-
principal components analysis based control of a multi dof underactuated Prosthetic Hand
Journal of Neuroengineering and Rehabilitation, 2010Co-Authors: Giulia Matrone, Christian Cipriani, Emanuele Lindo Secco, Giovanni Magenes, M C CarrozzaAbstract:Functionality, controllability and cosmetics are the key issues to be addressed in order to accomplish a successful functional substitution of the human Hand by means of a prosthesis. Not only the prosthesis should duplicate the human Hand in shape, functionality, sensorization, perception and sense of body-belonging, but it should also be controlled as the natural one, in the most intuitive and undemanding way. At present, Prosthetic Hands are controlled by means of non-invasive interfaces based on electromyography (EMG). Driving a multi degrees of freedom (DoF) Hand for achieving Hand dexterity implies to selectively modulate many different EMG signals in order to make each joint move independently, and this could require significant cognitive effort to the user. A Principal Components Analysis (PCA) based algorithm is used to drive a 16 DoFs underactuated Prosthetic Hand prototype (called CyberHand) with a two dimensional control input, in order to perform the three prehensile forms mostly used in Activities of Daily Living (ADLs). Such Principal Components set has been derived directly from the artificial Hand by collecting its sensory data while performing 50 different grasps, and subsequently used for control. Trials have shown that two independent input signals can be successfully used to control the posture of a real robotic Hand and that correct grasps (in terms of involved fingers, stability and posture) may be achieved. This work demonstrates the effectiveness of a bio-inspired system successfully conjugating the advantages of an underactuated, anthropomorphic Hand with a PCA-based control strategy, and opens up promising possibilities for the development of an intuitively controllable Hand prosthesis.
-
bio inspired controller for a dexterous Prosthetic Hand based on principal components analysis
International Conference of the IEEE Engineering in Medicine and Biology Society, 2009Co-Authors: Giulia Matrone, Christian Cipriani, M C Carrozza, Emanuele Lindo Secco, Giovanni MagenesAbstract:Controlling a dexterous myoelectric Prosthetic Hand with many degrees of freedom (DoFs) could be a very demanding task, which requires the amputee for high concentration and ability in modulating many different muscular contraction signals. In this work a new approach to multi-DoF control is proposed, which makes use of Principal Component Analysis (PCA) to reduce the DoFs space dimensionality and allow to drive a 15 DoFs Hand by means of a 2 DoFs signal. This approach has been tested and properly adapted to work onto the underactuated robotic Hand named CyberHand, using mouse cursor coordinates as input signals and a principal components (PCs) matrix taken from the literature. First trials show the feasibility of performing grasps using this method. Further tests with real EMG signals are foreseen.
-
on the shared control of an emg controlled Prosthetic Hand analysis of user prosthesis interaction
IEEE Transactions on Robotics, 2008Co-Authors: Christian Cipriani, F Zaccone, Silvestro Micera, M C CarrozzaAbstract:An anthropomorphic underactuated Prosthetic Hand, endowed with position and force sensors and controlled by means of myoelectric commands, is used to perform experiments of hierarchical shared control. Three different hierarchical control strategies combined with a vibrotactile feedback system have been developed and tested by able-bodied subjects through grasping tasks used in activities of daily living (ADLs). The first goal is to find a good tradeoff between good grasping capabilities and low attention required by the user to complete grasping tasks, without addressing advanced algorithm for electromyographic processing. The second goal is to understand whether a vibrotactile feedback system is subjectively or objectively useful and how it changes users' performance. Experiments showed that users were able to successfully operate the device in the three control strategies, and that the grasp success increased with more interactive control. Practice has proven that when too much effort is required, subjects do not do their best, preferring, instead, a less-interactive control strategy. Moreover, the experiments showed that when grasping tasks are performed under visual control, the enhanced proprioception offered by a vibrotactile system is practically not exploited. Nevertheless, in subjective opinion, feedback seems to be quite important.
-
a cosmetic Prosthetic Hand with tendon driven under actuated mechanism and compliant joints ongoing research and preliminary results
International Conference on Robotics and Automation, 2005Co-Authors: M C Carrozza, F Zaccone, Silvestro Micera, G Cappiello, G Stellin, F Vecchi, P DarioAbstract:This paper presents recent results aimed at developing a functional Prosthetic Hand characterized by an EMG-control and by a simple and low cost fabrication technology. In order to overcome some limitations of current Prosthetic Hands mainly related to the poor functionality and controllability, the Prosthetic Hand has been designed following a biomechatronic approach based on biologically-inspired design solutions. The core of the project described in this paper is the fabrication of a compliant under-actuated Prosthetic Hand: the structure of the Hand (both palm and fingers) is moulded as a soft polymeric single part with compliant joints and embedded tendon driven underactuated mechanism for providing adaptive grasp. In order to make user trials, the Hand is equipped with simple but functional EMG-based control of the single motor incorporated in the Hand, and is integrated with a prosthesis socket. The paper presents the biomechatronics design, the fabrication process, the integration of the Prosthetic device and first experimental results.
-
experimental analysis of the proprioceptive and exteroceptive sensors of an underactuated Prosthetic Hand
Lecture Notes in Control and Information Sciences, 2004Co-Authors: Massimiliano Zecca, M C Carrozza, S Roccella, P Dario, G Cappiello, F Vecchi, F Sebastiani, Anna ValderaAbstract:In general, cosmetics requirements force the engineers to incorporate the Prosthetic device in a glove, and to keep size and mass of the entire device compatible with those of the human Hand. The combination of robust design goals, cosmetics, and limitations of available components, can be matched only with a drastic reduction of DoFs, as compared to those of the natural Hand [6]. Due to this, prostheses are characterized by low grasping functionality, and thus they do not allow adequate encirclement of objects in comparison to the human Hand. This low flexibility and low adaptability of artificial fingers lead to an instability of the grasp in presence of an external perturbation, as illustrated in [7]. The development of a Prosthetic Hand able to replicate as much as possible the grasping and sensory features of the natural Hand represents an ambitious project for scientists. State of the art technology is still far to provide engineers with components with similar performance of their natural models, and active Prosthetic Hands can be only a pale replication of the missing natural limb. This paper presents the current research efforts towards the development of a self-adaptative and anthropomorphic Prosthetic Hand. In particular, the paper is focused on the problem of replicating the natural sensory system of the Hand with an artificial proprioceptive and exteroceptive sensory system. In order to enhance the dexterity of Prosthetic Hands by keeping an intrinsic actuation solution and a simple control algorithm, we adopted an innovative design approach based on underactuated mechanisms [8,9]. The result of these efforts is a three fingered anthropomorphic Hand called RTR II Hand (Figure 1) [5].
Cristina Fernandez - One of the best experts on this subject based on the ideXlab platform.
-
cyborg beast a low cost 3d printed Prosthetic Hand for children with upper limb differences
BMC Research Notes, 2015Co-Authors: Jorge M Zuniga, Dimitrios Katsavelis, Jean Peck, John Stollberg, Marc Petrykowski, Adam Carson, Cristina FernandezAbstract:There is an increasing number of children with traumatic and congenital Hand amputations or reductions. Children's Prosthetic needs are complex due to their small size, constant growth, and psychosocial development. Families’ financial resources play a crucial role in the prescription of prostheses for their children, especially when private insurance and public funding are insufficient. Electric-powered (i.e., myoelectric) and body-powered (i.e., mechanical) devices have been developed to accommodate children’s needs, but the cost of maintenance and replacement represents an obstacle for many families. Due to the complexity and high cost of these Prosthetic Hands, they are not accessible to children from low-income, uninsured families or to children from developing countries. Advancements in computer-aided design (CAD) programs, additive manufacturing, and image editing software offer the possibility of designing, printing, and fitting Prosthetic Hands devices at a distance and at very low cost. The purpose of this preliminary investigation was to describe a low-cost three-dimensional (3D)-printed Prosthetic Hand for children with upper-limb reductions and to propose a prosthesis fitting methodology that can be performed at a distance. No significant mean differences were found between the anthropometric and range of motion measurements taken directly from the upper limbs of subjects versus those extracted from photographs. The Bland and Altman plots show no major bias and narrow limits of agreements for lengths and widths and small bias and wider limits of agreements for the range of motion measurements. The main finding of the survey was that our Prosthetic device may have a significant potential to positively impact quality of life and daily usage, and can be incorporated in several activities at home and in school. This investigation describes a low-cost 3D-printed Prosthetic Hand for children and proposes a distance fitting procedure. The Cyborg Beast Prosthetic Hand and the proposed distance-fitting procedures may represent a possible low-cost alternative for children in developing countries and those who have limited access to health care providers. Further studies should examine the functionality, validity, durability, benefits, and rejection rate of this type of low-cost 3D-printed Prosthetic device.
-
cyborg beast a low cost 3d printed Prosthetic Hand for children with upper limb differences
BMC Research Notes, 2015Co-Authors: Jorge M Zuniga, Dimitrios Katsavelis, Jean Peck, John Stollberg, Marc Petrykowski, Adam Carson, Cristina FernandezAbstract:Background There is an increasing number of children with traumatic and congenital Hand amputations or reductions. Children's Prosthetic needs are complex due to their small size, constant growth, and psychosocial development. Families’ financial resources play a crucial role in the prescription of prostheses for their children, especially when private insurance and public funding are insufficient. Electric-powered (i.e., myoelectric) and body-powered (i.e., mechanical) devices have been developed to accommodate children’s needs, but the cost of maintenance and replacement represents an obstacle for many families. Due to the complexity and high cost of these Prosthetic Hands, they are not accessible to children from low-income, uninsured families or to children from developing countries. Advancements in computer-aided design (CAD) programs, additive manufacturing, and image editing software offer the possibility of designing, printing, and fitting Prosthetic Hands devices at a distance and at very low cost. The purpose of this preliminary investigation was to describe a low-cost three-dimensional (3D)-printed Prosthetic Hand for children with upper-limb reductions and to propose a prosthesis fitting methodology that can be performed at a distance.
Hiroshi Yokoi - One of the best experts on this subject based on the ideXlab platform.
-
a gear driven Prosthetic Hand with major grasp functions for toddlers
Intelligent Robots and Systems, 2019Co-Authors: Xiaobei Jingl, Yinlai Jiang, Hiroshi Yokoi, Xu Yongl, Yoshiko Yabiki, Guanglin LiAbstract:This paper presents a gear-driven Prosthetic Hand designed for toddlers with transradial amputation. The Hand design considers three main issues: weight, cost, and operability. The Prosthetic Hand and the cosmetic silicon glove are made based on the dimensions of a real Hand. The simple, stable, and reliable gear-driven transmission helps to reduce the weight and the cost. A small actuator is embedded in the palm. During the grasp, the four fingers and the thumb flexes and extends as a unit to provide a wide range of holding area. The kinematics and static analysis in grasping was performed and the simulation results were compared with measured data. The motion performance and practical operability of the proposed Hand was verified experimentally by a test system and a transradial subject.
-
design and implementation of arch function for adaptive multi finger Prosthetic Hand
Sensors, 2019Co-Authors: Xu Yong, Yinlai Jiang, Xiaobei Jing, Hiroshi YokoiAbstract:Although arch motions of the palm substantially contribute to frequent Hand grasping, they are usually neglected in the development of Prosthetic Hands which focuses on digit movements. We designed the arch function for its implementation on an adaptive multi-finger Prosthetic Hand. The digits from the developed Hand can perform adaptive grasping, and two carpometacarpal joints enable the palm of the Prosthetic Hand to form an arch with the thumb. Moreover, the arch posture can be passively released, mimicking the human Hand switching between sphere and medium wrap grasps according to the situation. Other requirements such as weight, cost, and size limitations for Hand prostheses were also considered. As a result, we only used three actuators fully embedded in the palm through a novel tendon-driven transmission. Although the Prosthetic Hand is almost the same size of an adult Hand, it weighs only 146 g and can perform 70% of the 10 most frequent grasps.
-
semg sensor using polypyrrole coated nonwoven fabric sheet for practical control of Prosthetic Hand
Frontiers in Neuroscience, 2017Co-Authors: Yinlai Jiang, Masami Togane, Baoliang Lu, Hiroshi YokoiAbstract:One of the greatest challenges of using a myoelectric Prosthetic Hand in daily life is to conveniently measure stable myoelectric signals. This study proposes a novel surface electromyography (sEMG) sensor using polypyrrole-coated nonwoven fabric sheet as electrodes (PPy electrodes) to allow people with disabilities to control Prosthetic limbs. The PPy electrodes are sewn on an elastic band to guarantee close contact with the skin and thus reduce the contact electrical impedance between the electrodes and the skin. The sensor is highly customizable to fit the size and the shape of the stump so that people with disabilities can attach the sensor by themselves. The performance of the proposed sensor was investigated experimentally by comparing measurements of Ag/AgCl electrodes with electrolytic gel and the sEMG from the same muscle fibers. The high correlation coefficient (0.87) between the two types of sensors suggests the effectiveness of the proposed sensor. Another experiment of sEMG pattern recognition to control myoelectric Prosthetic Hands showed that the PPy electrodes are as effective as Ag/AgCl electrodes for measuring sEMG signals for practical myoelectric control. We also investigated the relation between the myoelectric signals’ signal-to-noise ratio and the source impedances by simultaneously measuring the source impedances and the myoelectric signals with a switching circuit. The results showed that differences in both the norm and the phase of the source impedance greatly affect the common mode noise in the signal.
-
structure design for a two dof myoelectric Prosthetic Hand to realize basic Hand functions in adls
International Conference of the IEEE Engineering in Medicine and Biology Society, 2015Co-Authors: Suguru Hoshigawa, Yinlai Jiang, Tatsuhiro Nakamura, Ryu Kato, Soichiro Morishita, Yoshiko Yabuki, Hiroshi YokoiAbstract:Prosthetic Hands are desired by those who have lost a Hand or both Hands not only for decoration but also for the functions to help them with their activities of daily living (ADL). Prosthetic robotic Hands that are developed to fully realize the function of a human Hand are usually too expensive to be economically available, difficult to operate and maintain, or over heavy for longtime wearing. The aim of this study is therefore to develop a simplified Prosthetic Hand (sim-PH), which is to be controlled by myoelectric signals from the user, to realize the most important grasp motions in ADL by trading off the cost and performance. This paper reports the structure design of a two-DoF sim-PH with two motors to drive the CM joint of the thumb and the interlocked MP joints of the other four fingers. In order to optimize the structure, the model of the sim-PH was proposed based on which 7 sim-PHs with different structural parameters were manufactured and tested in a pick-and-place experiment. Correspondence analysis of the experimental results clarified the relationship between the Hand functions and the shapes of fingers.
-
development of mobile controller for emg Prosthetic Hand with tactile feedback
International Conference on Advanced Intelligent Mechatronics, 2011Co-Authors: Taketomo Hirata, Tatsuhiro Nakamura, Ryu Kato, Soichiro Morishita, Hiroshi YokoiAbstract:In this paper, we introduce a mobile controller for a five-fingered myoelectric Prosthetic Hand with tactile feedback. When constructing a system for use in daily life, the following design requirements should be satisfied: 1) limitations on the total weight of the system; 2) sufficient degrees of freedom of motion; and 3) sufficient sensory feedback information for the result of the interaction with circumstance. At first, we limited the degrees of operations for the wrist motion and switching operations, because too many degrees of freedom cause an increase in overall weight. Next, we constructed the controller, which has a suitable processing performance with mobile PC and microcomputer. Moreover, for lightweight tactile feedback system, we employed the technique of Phantom Sensation (PS) with only two electrodes. Finally, we discuss the appropriate parameter combinations for PS.
Jorge M Zuniga - One of the best experts on this subject based on the ideXlab platform.
-
cyborg beast a low cost 3d printed Prosthetic Hand for children with upper limb differences
BMC Research Notes, 2015Co-Authors: Jorge M Zuniga, Dimitrios Katsavelis, Jean Peck, John Stollberg, Marc Petrykowski, Adam Carson, Cristina FernandezAbstract:There is an increasing number of children with traumatic and congenital Hand amputations or reductions. Children's Prosthetic needs are complex due to their small size, constant growth, and psychosocial development. Families’ financial resources play a crucial role in the prescription of prostheses for their children, especially when private insurance and public funding are insufficient. Electric-powered (i.e., myoelectric) and body-powered (i.e., mechanical) devices have been developed to accommodate children’s needs, but the cost of maintenance and replacement represents an obstacle for many families. Due to the complexity and high cost of these Prosthetic Hands, they are not accessible to children from low-income, uninsured families or to children from developing countries. Advancements in computer-aided design (CAD) programs, additive manufacturing, and image editing software offer the possibility of designing, printing, and fitting Prosthetic Hands devices at a distance and at very low cost. The purpose of this preliminary investigation was to describe a low-cost three-dimensional (3D)-printed Prosthetic Hand for children with upper-limb reductions and to propose a prosthesis fitting methodology that can be performed at a distance. No significant mean differences were found between the anthropometric and range of motion measurements taken directly from the upper limbs of subjects versus those extracted from photographs. The Bland and Altman plots show no major bias and narrow limits of agreements for lengths and widths and small bias and wider limits of agreements for the range of motion measurements. The main finding of the survey was that our Prosthetic device may have a significant potential to positively impact quality of life and daily usage, and can be incorporated in several activities at home and in school. This investigation describes a low-cost 3D-printed Prosthetic Hand for children and proposes a distance fitting procedure. The Cyborg Beast Prosthetic Hand and the proposed distance-fitting procedures may represent a possible low-cost alternative for children in developing countries and those who have limited access to health care providers. Further studies should examine the functionality, validity, durability, benefits, and rejection rate of this type of low-cost 3D-printed Prosthetic device.
-
cyborg beast a low cost 3d printed Prosthetic Hand for children with upper limb differences
BMC Research Notes, 2015Co-Authors: Jorge M Zuniga, Dimitrios Katsavelis, Jean Peck, John Stollberg, Marc Petrykowski, Adam Carson, Cristina FernandezAbstract:Background There is an increasing number of children with traumatic and congenital Hand amputations or reductions. Children's Prosthetic needs are complex due to their small size, constant growth, and psychosocial development. Families’ financial resources play a crucial role in the prescription of prostheses for their children, especially when private insurance and public funding are insufficient. Electric-powered (i.e., myoelectric) and body-powered (i.e., mechanical) devices have been developed to accommodate children’s needs, but the cost of maintenance and replacement represents an obstacle for many families. Due to the complexity and high cost of these Prosthetic Hands, they are not accessible to children from low-income, uninsured families or to children from developing countries. Advancements in computer-aided design (CAD) programs, additive manufacturing, and image editing software offer the possibility of designing, printing, and fitting Prosthetic Hands devices at a distance and at very low cost. The purpose of this preliminary investigation was to describe a low-cost three-dimensional (3D)-printed Prosthetic Hand for children with upper-limb reductions and to propose a prosthesis fitting methodology that can be performed at a distance.
P Dario - One of the best experts on this subject based on the ideXlab platform.
-
a cosmetic Prosthetic Hand with tendon driven under actuated mechanism and compliant joints ongoing research and preliminary results
International Conference on Robotics and Automation, 2005Co-Authors: M C Carrozza, F Zaccone, Silvestro Micera, G Cappiello, G Stellin, F Vecchi, P DarioAbstract:This paper presents recent results aimed at developing a functional Prosthetic Hand characterized by an EMG-control and by a simple and low cost fabrication technology. In order to overcome some limitations of current Prosthetic Hands mainly related to the poor functionality and controllability, the Prosthetic Hand has been designed following a biomechatronic approach based on biologically-inspired design solutions. The core of the project described in this paper is the fabrication of a compliant under-actuated Prosthetic Hand: the structure of the Hand (both palm and fingers) is moulded as a soft polymeric single part with compliant joints and embedded tendon driven underactuated mechanism for providing adaptive grasp. In order to make user trials, the Hand is equipped with simple but functional EMG-based control of the single motor incorporated in the Hand, and is integrated with a prosthesis socket. The paper presents the biomechatronics design, the fabrication process, the integration of the Prosthetic device and first experimental results.
-
experimental analysis of the proprioceptive and exteroceptive sensors of an underactuated Prosthetic Hand
Lecture Notes in Control and Information Sciences, 2004Co-Authors: Massimiliano Zecca, M C Carrozza, S Roccella, P Dario, G Cappiello, F Vecchi, F Sebastiani, Anna ValderaAbstract:In general, cosmetics requirements force the engineers to incorporate the Prosthetic device in a glove, and to keep size and mass of the entire device compatible with those of the human Hand. The combination of robust design goals, cosmetics, and limitations of available components, can be matched only with a drastic reduction of DoFs, as compared to those of the natural Hand [6]. Due to this, prostheses are characterized by low grasping functionality, and thus they do not allow adequate encirclement of objects in comparison to the human Hand. This low flexibility and low adaptability of artificial fingers lead to an instability of the grasp in presence of an external perturbation, as illustrated in [7]. The development of a Prosthetic Hand able to replicate as much as possible the grasping and sensory features of the natural Hand represents an ambitious project for scientists. State of the art technology is still far to provide engineers with components with similar performance of their natural models, and active Prosthetic Hands can be only a pale replication of the missing natural limb. This paper presents the current research efforts towards the development of a self-adaptative and anthropomorphic Prosthetic Hand. In particular, the paper is focused on the problem of replicating the natural sensory system of the Hand with an artificial proprioceptive and exteroceptive sensory system. In order to enhance the dexterity of Prosthetic Hands by keeping an intrinsic actuation solution and a simple control algorithm, we adopted an innovative design approach based on underactuated mechanisms [8,9]. The result of these efforts is a three fingered anthropomorphic Hand called RTR II Hand (Figure 1) [5].
-
the cyberHand on the design of a cybernetic Prosthetic Hand intended to be interfaced to the peripheral nervous system
Intelligent Robots and Systems, 2003Co-Authors: M C Carrozza, S Roccella, P Dario, F Vecchi, Massimiliano Zecca, F SebastianiAbstract:The objective of the project described in this paper is the development of a cybernetic prosthesis, replicating as much as possible the sensory-motor capabilities of the natural Hand. The human Hand is not only an effective tool but also an ideal instrument to acquire information from the external environment. The development of a truly human-like artificial Hand is probably the most widely known paradigm of "bionics". The CyberHand Project aims to obtain a cybernetic Prosthetic Hand interfaced to the peripheral nervous system. In particular this paper is focused on the Hand mechanisms design and it presents preliminary results in developing the three fingered anthropomorphic Hand prototype and its sensory system.
-
the development of a novel Prosthetic Hand ongoing research and preliminary results
IEEE-ASME Transactions on Mechatronics, 2002Co-Authors: M C Carrozza, Silvestro Micera, B Massa, Massimiliano Zecca, R Lazzarini, P DarioAbstract:An "ideal" upper limb prosthesis should be perceived as part of the natural body by the amputee and should replicate sensory-motor capabilities of the amputated limb. However, such an ideal "cybernetic" prosthesis is still far from reality: current Prosthetic Hands are simple grippers with one or two degrees of freedom (DOF), which barely restore the capability of the thumb-index pinch. This paper describes the development of a novel Prosthetic Hand based on a "biomechatronic" design. The proposed Hand is designed to augment the dexterity of traditional Prosthetic Hands while maintaining approximately the same dimension and weight. Our approach is aimed at providing enhanced grasping capabilities and "natural" sensory-motor coordination to the amputee, by integrating miniature mechanisms, sensors, actuators, and embedded control. A biomechatronic Hand prototype with three fingers and a total of six independent DOFs has been designed and fabricated. The paper is focused on the actuators system, which is based on miniature electromagnetic motors.
-
design and development of an underactuated Prosthetic Hand
International Conference on Robotics and Automation, 2002Co-Authors: B Massa, M C Carrozza, S Roccella, P DarioAbstract:Current Prosthetic Hands are basically simple grippers with one or two degrees of freedom, which barely restore the capability of the thumb-index pinch. Although most amputees consider this performance as acceptable for usual tasks, there is ample room for improvement by exploiting recent progresses in mechatronic design and technology. This paper focus on an innovative approach for the design and development of Prosthetic Hands based on underactuated mechanisms. Furthermore, it describes the development and a preliminary analysis of a first prototype of an underactuated Prosthetic Hand.
