Robotic prosthesis are usually intended as artificial device extensions replacing a missing part of a human body. A new approach regarding robotic limbs is presented here. A modular robot is used not only for replacing a missing part of the body but also as an extra-limb in order to enhance manipulation dexterity and enlarge the workspace of human beings. In this work, the model and control of an additional finger, the Sixth-Finger, is presented as a case study of this type of robotic limbs. The robotic finger has been placed on the wrist opposite to the hand palm. This solution allows to enlarge the hand workspace, increasing the grasp capability of the user. An object-based mapping algorithm is proposed to control the robotic extra-finger by interpreting the whole hand motion in grasping action. A four DoFs modular prototype is presented along with numerical simulations and real experiments. The proposed Sixth-Finger can lead to a wide range of applications in the direction of augmenting human capabilities through wearable robotics.

Prattichizzo, D., Malvezzi, M., Hussain, I., & Salvietti, G. (2014). The Sixth-Finger: A modular extra-finger to enhance human hand capabilities. In The 23rd IEEE International Symposium on Robot and Human Interactive Communication, 2014 RO-MAN (pp.993-998). New York : IEEE [10.1109/ROMAN.2014.6926382].

The Sixth-Finger: A modular extra-finger to enhance human hand capabilities

PRATTICHIZZO, DOMENICO;MALVEZZI, MONICA;HUSSAIN, IRFAN;SALVIETTI, GIONATA
2014

Abstract

Robotic prosthesis are usually intended as artificial device extensions replacing a missing part of a human body. A new approach regarding robotic limbs is presented here. A modular robot is used not only for replacing a missing part of the body but also as an extra-limb in order to enhance manipulation dexterity and enlarge the workspace of human beings. In this work, the model and control of an additional finger, the Sixth-Finger, is presented as a case study of this type of robotic limbs. The robotic finger has been placed on the wrist opposite to the hand palm. This solution allows to enlarge the hand workspace, increasing the grasp capability of the user. An object-based mapping algorithm is proposed to control the robotic extra-finger by interpreting the whole hand motion in grasping action. A four DoFs modular prototype is presented along with numerical simulations and real experiments. The proposed Sixth-Finger can lead to a wide range of applications in the direction of augmenting human capabilities through wearable robotics.
9781479967636
Prattichizzo, D., Malvezzi, M., Hussain, I., & Salvietti, G. (2014). The Sixth-Finger: A modular extra-finger to enhance human hand capabilities. In The 23rd IEEE International Symposium on Robot and Human Interactive Communication, 2014 RO-MAN (pp.993-998). New York : IEEE [10.1109/ROMAN.2014.6926382].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11365/966460