| Description |
1 online resource (155 pages) |
| Series |
Biosystems and Biorobotics ; v. 26 |
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Biosystems & biorobotics ; 26.
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| Contents |
Intro -- Preface -- Contents -- About the Authors -- 1 Introduction -- 2 Enhancing Human Hand Manipulation Abilities Through Supernumerary Robotic Fingers -- 2.1 Introduction -- 2.2 The Task-Based Mapping Algorithm -- 2.2.1 The Whole-Hand Mapping Algorithm -- 2.2.2 The Partial-Hand Mapping Algorithms -- 2.3 Numerical Simulation -- 2.4 Design Guidelines for Robotic Extra-Fingers -- 2.4.1 Fully Actuated Finger -- 2.4.2 Underactuated Compliant Finger -- 2.5 Experiments -- 2.6 Conclusion -- 3 Compensating Hand Function in Chronic Stroke Patients Through the Supernumerary Robotic Finger |
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3.1 Introduction -- 3.2 The Supernumerary Robotic Finger -- 3.2.1 Device Structure and Low-Level Control -- 3.2.2 EMG User Interface -- 3.2.3 Device Positioning in the Patient Paretic Limb -- 3.3 Pilot Experiment -- 3.4 Discussion -- 3.5 Conclusion and Perspectives -- 4 Design and Development of Soft Supernumerary Robotic Fingers for Grasp Compensation in Chronic Stroke Patients -- 4.1 Introduction -- 4.2 The Soft Sixth Finger and the Double Soft Sixth Finger -- 4.2.1 The Soft Sixth Finger -- 4.3 Fingertip Trajectory Definition Through Joint Stiffness Design -- 4.3.1 Problem Definition |
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4.3.2 Modular Element Modeling -- 4.3.3 Passive Joint Design -- 4.3.4 Actuator Force Evaluation -- 4.3.5 Finger Module Stiffness Evaluation -- 4.3.6 Simulations -- 4.3.7 Experiments -- 4.3.8 The Double Soft Sixth Finger -- 4.3.9 Wearability and Device Positioning at Forearm -- 4.4 Tests with Chronic Stroke Patients -- 4.4.1 Kitchen Scenario -- 4.4.2 Tools Activities -- 4.4.3 Active Hook -- 4.4.4 Questionnaires -- 4.5 Results and Discussion -- 4.6 Conclusion -- 5 Wearable Sensory Motor Interfaces for Supernumerary Robotic Fingers -- 5.1 Introduction |
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5.2 Vibrotactile Haptic Feedback for Intuitive Control of Supernumerary Robotic Fingers -- 5.2.1 Sensorized Supernumerary Robotic Finger -- 5.2.2 Grasping Procedure and Compliance Regulation -- 5.2.3 Absolute and Differential Thresholds -- 5.2.4 Experimental Evaluation -- 5.2.5 Conclusion -- 5.3 The hRing as a Wearable Haptic Interface for Supernumerary Robotic Fingers -- 5.3.1 The hRing Structure -- 5.3.2 Differential Thresholds -- 5.3.3 Normal Stimuli -- 5.3.4 Conclusions -- 6 Wearable EMG Interfaces for Motion Control of Supernumerary Robotic Fingers -- 6.1 Introduction |
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6.2 The Frontalis Muscle Cap: A Wireless EMG System ... -- 6.2.1 Tests with Chronic Patients -- 6.3 An EMG Interface for the Control of Motion and Compliance ... -- 6.3.1 The Fully Actuated Supernumerary Robotic Finger -- 6.3.2 One Channel EMG Electrodes Interface and Robotic Device Compliance Regulation -- 6.4 Experiments -- 6.4.1 Compensation of Paretic Hand Functions -- 6.4.2 Augmenting Healthy Hand Function Through the Proposed System -- 6.5 Results and Discussion -- 6.5.1 Conclusion -- 7 From Grasp Compensation Towards Hemiparetic Upper Limb Rehabilitation -- 7.1 Introduction |
| Summary |
This book offers a timely report on an emerging topic in the field of wearable assistive technology: the design and development of robotic extra fingers. After a concise review of the state of the art and a description of earlier prototypes, it discusses the authors efforts to address issues such as portability and wearability of the devices, including strategies to reduce fatigue and to integrate the motion of the extra fingers with that of the human hand. The book also explores optimized control algorithms and the design of wearable sensorimotor interfaces, and presents a set of tests carried out on healthy subjects and chronic stroke patients. Merging concepts from robotics, biomechanics, human factors and control theory and offering an overview of supernumerary robotic fingers, including the challenges, this book will inspire researchers involved in the development of wearable robotic devices and interfaces based on the principles of wearability, safety, ergonomics and user comfort |
| Notes |
7.2 The Proposed System |
| Bibliography |
Includes bibliographical references |
| Notes |
Print version record |
| Subject |
Robot hands.
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Wearable technology.
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Self-help devices for people with disabilities.
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Human beings.
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Robotics -- instrumentation
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Wearable Electronic Devices -- trends
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Self-Help Devices
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Humans
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Homo sapiens (species)
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Robotics.
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User interface design & usability.
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Biomedical engineering.
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Technology & Engineering -- Robotics.
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Computers -- User Interfaces.
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Technology & Engineering -- Biomedical.
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Robot hands
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Wearable technology
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| Genre/Form |
Electronic books
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| Form |
Electronic book
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| Author |
Prattichizzo, Domenico, 1965-
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| ISBN |
9783030520021 |
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3030520021 |
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