Validations of various in-hand object manipulation strategies employing a novel tactile sensor developed for an under-actuated robot hand.

ABSTRACT: Prisma Hand II is an under-actuated prosthetic hand developed at the University of Naples, Federico II to study in-hand manipulations during grasping activities. 3 motors equipped on the robotic hand drive 19 joints using elastic tendons. The operations of the hand are achieved by combining tactile hand sensing with under-actuation capabilities. The hand has the potential to be employed in both industrial and prosthetic applications due to its dexterous motion capabilities. However, currently there are no commercially available tactile sensors with compatible dimensions suitable for the prosthetic hand. Hence, in this work, we develop a novel tactile sensor designed based on an opto-electronic technology for the Prisma Hand II. The optimised dimensions of the proposed sensor made it possib

SUBMITTER: Singh A 

PROVIDER: S-EPMC11464259 | biostudies-literature | 2024

REPOSITORIES: biostudies-literature