Amputation of the upper limb brings heavy burden to amputees, reduces their quality of life,
and limits their performance in activities of daily life. The realization of natural control for …

The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining
a good grasp requires algorithms to automatically determine proper contact points on the …

Natural control methods based on surface electromyography (sEMG) and pattern
recognition are promising for hand prosthetics. However, the control robustness offered by …

In this paper, we analyze and compare existing human grasp taxonomies and synthesize
them into a single new taxonomy (dubbed “The GRASP Taxonomy” after the GRASP project …

Recent advances in rehabilitation robotics suggest that it may be possible for hand-
amputated subjects to recover at least a significant part of the lost hand functionality. The …

The usefulness and versatility of a robotic end-effector depends on the diversity of grasps it
can accomplish and also on the complexity of the control methods required to achieve them …

The present article shows the development of a gripper for general purposes with gras**
and holding capabilities enabled by a simple control scheme. This objective has been …

This article surveys manipulation, including both biological and robotic manipulation.
Biology inspires robotics and demonstrates aspects of manipulation that are far in the future …

In this paper, we characterize the Ninapro database and its use as a benchmark for hand
prosthesis evaluation. The database is a publicly available resource that aims to support …

In this work, we discuss the design of soft robotic fingers for robust precision gras**.
Through a conceptual analysis of the finger shape and compliance during gras**, we …