A Soft-Robotic Approach to Anthropomorphic Robotic Hand Dexterity

The development of suitable models for mechanical fingers, whether they are part of prosthetic device or of a robotic hand, is a powerful tool to predict the behaviour of their components since the early stages of design, especially for underactuated mechanisms. Experimental data can improve the reliability of such models and promote their application to build proper control strategies especially for prosthetic hands. Here, we have developed a multi-jointed model of a mechanical finger. The finger is part of the Federica hand: an underactuated mechanical hand that was conceived for prosthetic purpose. The model accounts for friction phenomena in the finger and it is tuned with experimental data acquired through a digital image correlation device. The model allowed us to write kinematics relations of the phalanges and evaluate finger configurations in relation to the closure velocity. Moreover, it was possible to estimate the tendon force and the work analysis occurring during the closure tasks, both in free mode and in presence of objects.

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Grasp Force Analysis of Four-finger Tendon Actuated Robotic Hand

Proceedings of the Advances in Robotics 2019 ◽

10.1145/3352593.3352602 ◽

2019 ◽

Author(s):

Eram Neha ◽

Mohd Suhaib ◽

Sudipto Mukherjee

Keyword(s):

Robotic Hand ◽

Force Analysis ◽

Grasp Force

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Robotic Hand Exoskeleton With Tactile Force Feedback For Post-Stroke Spasticity Rehabilitation

2021 International Seminar on Intelligent Technology and Its Applications (ISITIA) ◽

10.1109/isitia52817.2021.9502261 ◽

2021 ◽

Author(s):

Hanan Yumna ◽

Achmad Arifin ◽

Atar Fuady Babgei

Keyword(s):

Force Feedback ◽

Robotic Hand ◽

Post Stroke ◽

Hand Exoskeleton

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Bone Fracture Reduction Surgery-aimed Bone Connection Robotic Hand

Journal of Bionic Engineering ◽

10.1007/s42235-021-0023-1 ◽

2021 ◽

Vol 18 (2) ◽

pp. 333-345

Author(s):

Jianxing Yang ◽

Yan Xiong ◽

Xiaohong Chen ◽

Yuanxi Sun ◽

Wensheng Hou ◽

...

Keyword(s):

Bone Fracture ◽

Fracture Reduction ◽

Robotic Hand

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Robotic Pneumonectomy for Lung Cancer: Perioperative Outcomes and Factors Leading to Conversion to Thoracotomy

Innovations Technology and Techniques in Cardiothoracic and Vascular Surgery ◽

10.1177/1556984520978227 ◽

2021 ◽

pp. 155698452097822

Author(s):

Byron D. Patton ◽

Daniel Zarif ◽

Donna M. Bahroloomi ◽

Iam C. Sarmiento ◽

Paul C. Lee ◽

...

Keyword(s):

Lung Cancer ◽

Statistical Significance ◽

Patient Characteristics ◽

Perioperative Outcomes ◽

Safe Procedure ◽

Open Approach ◽

Robotic Approach ◽

Robotic Group ◽

Robot Assisted ◽

Estimated Blood Loss

Objective In the tide of robot-assisted minimally invasive surgery, few cases of robot-assisted pneumonectomy exist in the literature. This study evaluates the perioperative outcomes and risk factors for conversion to thoracotomy with an initial robotic approach to pneumonectomy for lung cancer. Methods This study is a single-center retrospective review of all pneumonectomies for lung cancer with an initial robotic approach between 2015 and 2019. Patients were divided into 2 groups: surgeries completed robotically and surgeries converted to thoracotomy. Patient demographics, preoperative clinical data, surgical pathology, and perioperative outcomes were compared for meaningful differences between the groups. Results Thirteen total patients underwent robotic pneumonectomy with 8 of them completed robotically and 5 converted to thoracotomy. There were no significant differences in patient characteristics between the groups. The Robotic group had a shorter operative time ( P < 0.01) and less estimated blood loss ( P = 0.02). There were more lymph nodes harvested in the Robotic group ( P = 0.08) but without statistical significance. There were 2 major complications in the Robotic group and none in the Conversion group. Neither tumor size nor stage were predictive of conversion to thoracotomy. Conversions decreased over time with a majority occurring in the first 2 years. There were no conversions for bleeding and no mortalities. Conclusions Robotic pneumonectomy for lung cancer is a safe procedure and a reasonable alternative to thoracotomy. With meticulous technique, major bleeding can be avoided and most procedures can be completed robotically. Larger studies are needed to elucidate any advantages of a robotic versus open approach.

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