Papers by Keyword: Hand

Abstract: Assuring the comfort of the human body is one of the most important functions of sportswear and leisure wear. Knitted fabrics should have high air permeability for easily transmit of the perspiration from the skin to the atmosphere as well as to feature with good hand thus making the wearer to feel comfortable. In this research, both hand and air permeability of eight commercially available polyester knitted fabrics and their adhesive bonds were investigated. There was shown that textile structure and adhesive bonds make the significant influence on textile hand and permeability to air making them being worse.

Abstract: In the current study, a novel wool dissolving system based on NaHSO₃, azone and LKZ-610 (Trisubstituted organic phosphorus, an anti-shrink finishing agent for wool and cashmere) was prepared and employed to process wool fibers into keratin solution at 90°C for 7 hrs, where 65g wool fibers, 30g NaHSO₃ and 5g azone were dissolved in 1L LKZ-610, resulting in high molecular weight keratin solution. The anti-pilling rating reached at Grade 4.5 with good hand when the cashmere fabric was treated for 50min at 50°C in the previously prepared wool keratin solution under the condition of 1:20 bath ratio, 8% owf keratin solution and 5% owf LKZ-610.

Abstract: Our study deals with inverse kinematic model of humanoid robot hand. It is important for modeling to know biomechanics of biological human hand, what is discussed in the second section. Based on theoretical aspect of kinematic configuration of the hand, the hand consisting of 24 degrees of freedom is assumed. Subsequently, there are four numerical methods of inverse kinematics used, namely pseudoinverse method, Jacobian transpose method, damped least squares and optimization method. Each of them is simulated in software Matlab and the results are compared and discussed. In the conclusion the best method from the view of solution time and number of iteration cycles is evaluated.

Abstract: The Mechanical and Technological Innovation Centre (CDMIT) of the National Autonomous University of Mexico has a research area focused on the design of upper limb prosthesis. A large number of prosthesis have been developed and tested. This paper presents the analysis made to different proposals of myoelectric hands based on TRIZ. Two TRIZ tools were applied: The Innovation Situation Questionnaire (ISQ) and the Radar of Evolution. The analysis was made in terms of time, space and the user interface. The ISQ helps to better define the scope of the problem through six basic questions; each question provides a different view of the problem. The radar of evolution helps to make a selection of trends of evolution depending on the product or system, as an analogy of a benchmark. The analysis was made considering the state-of-the-art hand prosthesis: i-limb, be-bionic, Michelangelo and Myohand against the prosthesis prototypes developed by the CDMIT. The result of this tool is a diagram that reveals the level and opportunities of evolution. These opportunities imply a strengthening of research areas not only in the CDMIT but around the world. The conclusion achieved is that different design paradigms linked to bio-mimics criteria are needed to design more innovative user-friendly prosthesis.

Abstract: The importance of joint integrity is a priority of the hand and wrist joints mobility is crucial for any individual. Motion control is achieved by the somatic nervous system composed of those formations which are designed to integrate body in the external environment, to achieve body relationship with this environment. Dynamic biomechanical models serve for quantitative analysis required in planning surgery on tendons [6] or to assess the transfer of nervous signals controlling the effectors [5]. Some others are dedicated to model various operations for design and implementation of the prosthetic components [13]. Recent models have approximately the same configuration: changing dimensional structure is not taken into account, but only the resulting physiological movement and rotation are analyzed for a single predominantly degree of freedom around a defined axis. Many scientists have tried over time to reproduce the hand kinematics, but not so many are those who have tried to design a guiding hand mechanism to reproduce its natural movements. The aim of this paper is to achieve the cinematic scheme of such a mechanism, able to lead fingers on path as possible as close to their natural movements.

Abstract: Studies and researches in medical devices made evident the need of new systems and technologies for locomotors recovery of human body as to reduce the reintegration time in normal activities and, not the least, to improve the recovery quality, to give the possibility to perform natural movements identical to those before the suffered injury. Thus, the purpose of this paper is to obtain the 3D virtual model of a mechanism describing the hand kinematics, and a real medical prototype device to be used in locomotors recovery of the hand. In order to perform the movements, pneumatic fluidic actuators are used, considering that they are flexible, small, made especially for this project. A specialized software for assisted design is used to obtain the virtual model and for the fabrication of device component parts Rapid-Prototyping technology is applied, the Fused Deposition Modeling principle (FDM).

Abstract: The design and control problems involved in the development process of robotic grippers have been active research topics in the last three decades. In this paper it is presented a new developed dexterous robotic hand whose mechanical structure is based on a biomechatronic approach. The control system for this artificial hand relies on modern software and hardware components which allow precise positioning of the fingers.

Abstract: As stroke is one of the most morbidity disease, some rehabilitation devices has been developed to solve the problem, but there isn’t maturation in hand. This paper presents a new hand exoskeleton rehabilitation device to improve the result of rehabilitation and help doctors to perfect theory about hand rehabilitation. We set 8 DOF in this three fingers device, with 2 active DOF and 1 coupled DOF in index or middle finger, 1 active DOF and 1 passive DOF in thumb. The 5 active DOF is driven by motors. The transmission consists of screw nut and multi-link mechanism. We control the device through a typical secondary control system. As this device is designed to help patients not only regain the range of flexion/extension but also complete some typical simple grasping movements. To substantiate the feasibility, an experiment has been carried out. Finally, Suggestions for improvement are given.