BioMechatronic design and control of an anthropomorphic artificial hand for prosthetics and robotic applications

Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006

Volumn 2006, Issue , 2006, Pages 402-407

  Zollo, L ^a   Roccella, S ^c   Tucci, R ^b   Siciliano, B ^b   Guglielmelli, E ^a   Carrozza, M C ^c   Dario, P ^c  

^a UNIVERSITY CAMPUS BIO MEDICO   (Italy)

^b UNIVERSITY OF NAPLES FEDERICO II   (Italy)

^c SCUOLA SUPERIORE SANT ANNA   (Italy)

Author keywords

Biomechatronic prostheses; Biorobotics; Prostheses control systems

Indexed keywords

ANTHROPOMORPHIC ROBOTS; BIOMIMETIC MATERIALS; COMPUTER SIMULATION; CONTROL SYSTEMS; PROSTHETICS; ROBOTIC ARMS;

BIOMECHATRONIC PROSTHESES; BIOROBOTICS; PROSTHESES CONTROL SYSTEMS;

MECHATRONICS;

EID: 33845583895     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BIOROB.2006.1639121     Document Type: Conference Paper

References (18)

1. th Edition, Elsevier, Churchill Livingstone.
2. R. M. Murray, S. S. Sastry, A Mathematical Introduction to Robotic Manipulation, Boca Raton, CRC Press, 1993.
3. A. Bicchi, "Hand for dexterous manipulation and robust grasping: a difficult road toward simplicity", IEEE Trans. on Robotics and Automation, vol.16, pp. 652-662, 2000.
4. W.T. Townsend, "The BarrettHand grasper-programmably flexible part handling and assembling", Industrial Robot, vol. 27, pp. 181-188, 2000.
5. J. Butterfass, M. Grebenstein, H. Liu, G. Hirzinger, "DLR-hand II: Next generation of a dexterous robot hand", 2007 IEEE International Conference on Robotics and Automation, pp. 109-114, Seoul, Korea, 2001.
6. A. Ramos, I.A. Gravagne, I.D. Walker, "Goldfinger: a non anthropomorphic, dexterous robot hand", 1999 IEEE International Conference on Robotics and Automation, pp. 913-919, Detroit, Michigan, 1999.
7. A. Eusebi, C. Fantuzzi, C. Melchiorri, M. Sandri, A. Tondelli, "The UB Hand II control system: design features and experimental results", IEEE International Conference on Industrial Electronics, Control and Instrumentation, vol.2, pp. 781-786, 1994.
8. D. Reynaerts, Control Methods and Actuation Technology for Whole-Hand dexterous Manipulation, PhD thesis, PMA, KU Leuven, 1995.
9. L. Biagiotti, F. Lotti, C. Melchiorri, G. Vassura, "An integrated approach to the design of complex robotic end-effectors", Advanced Intelligent Mechatronics, 2003, vol. 1.
10. P. Scherillo, B. Siciliano, L. Zollo, M.C. Carrozza, E. Guglielmelli, P. Dario, "Parallel force/position control of a novel biomechatronic hand prosthesis", 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 920-925, 2003.
11. D.G. Kamper, E.G. Cruz., M.P. Siegel, "Stereotypical fingertip trajectories during grasp", Journal of Neurophysiology, vol. 90, pp. 3702-3710, 2003.
12. X. Luo, T. Kline, H.C. Fisher, K. A. Stubblefield, R.V. Kenyon, D.G. Kamper, "Integration of Augmented Reality and Assistive Devices for Post-Stroke Hand Opening Rehabilitation", International Conference of the IEEE Engineering in Medicine and Biology Society, Shanghai, China, 2005.
13. B. Siciliano, L. Villani, Robot Force Control, Kluwer Academic Publishers, Boston, MA, 1999.
14. L.Zollo, B. Siciliano, C. Laschi, G. Teti, P. Dario, "An experimental study on compliance control for a redundant personal robot arm", Robotics and Autonomous Systems, vol.44, pp. 101-129, 2003.
15. B. Massa, S. Roccella, M. C. Carrozza, P. Dario, "Design and Development of an Underactuated Prosthetic Hand", 2002 IEEE International Conference on Robotics and Automation, Washington, DC, pp. 3374-3379, 2002.
16. S. Hirose, Y. Umetani, "The development of soft gripper for the versatile robot hand", Mechanism and Machine Theory, vol. 13, pp. 351-359, 1978.
17. M. C. Carrozza, C. Suppo, F. Sebastiani, B. Massa, F. Vecchi, R. Lazzarini, M.R. Cutkosky, P. Dario, "The Spring Hand: Development of a self adaptive prosthesis for restoring natural grasping", Autonomous Robots, vol. 16, pp. 125-141, 2004.
18. L. Sciavicco, B. Siciliano, Modelling and Control of Robot Manipulators, 2nd Ed., Springer-Verlag, London, UK, 2000.