Exploring the existence of better hands for manipulation than the human hand based on hand proportions

Step by step enhancement of aesthetics for distal phalangeal prosthetic replacement using neoteric stamp technique: A case report

This case study delineates the proficient creation of a silicone finger prosthesis, tailored for a patient contending with partial digit amputation. The prosthesis was devised with the overarching goal of reinstating not only the physiological dexterity of the hand but also its aesthetic integrity and the patient's psychological equilibrium. The crafting process entailed a meticulous technique to replicate the intricate texture of the skin in order to guarantee a near normal appearance. Post-prosthesis integration, the patient exhibited enhancements in manual functionality and articulated a heightened self-assuredness because of the indiscernible prosthesis. This illustrative case underscores the efficacy of silicone finger prosthetics in conferring both functional and aesthetic restitution to those afflicted with partial digit amputations.

Longitudinal multiparametric MRI of traumatic spinal cord injury in animal models

Multi-parametric MRI (mpMRI) technology enables non-invasive and quantitative assessments of the structural, molecular, and functional characteristics of various neurological diseases. Despite the recognized importance of studying spinal cord pathology, mpMRI applications in spinal cord research have been somewhat limited, partly due to technical challenges associated with spine imaging. However, advances in imaging techniques and improved image quality now allow longitudinal investigations of a comprehensive range of spinal cord pathological features by exploiting different endogenous MRI contrasts. This review summarizes the use of mpMRI techniques including blood oxygenation level-dependent (BOLD) functional MRI (fMRI), diffusion tensor imaging (DTI), quantitative magnetization transfer (qMT), and chemical exchange saturation transfer (CEST) MRI in monitoring different aspects of spinal cord pathology. These aspects include cyst formation and axonal disruption, demyelination and remyelination, changes in the excitability of spinal grey matter and the integrity of intrinsic functional circuits, and non-specific molecular changes associated with secondary injury and neuroinflammation. These approaches are illustrated with reference to a nonhuman primate (NHP) model of traumatic cervical spinal cord injuries (SCI). We highlight the benefits of using NHP SCI models to guide future studies of human spinal cord pathology, and demonstrate how mpMRI can capture distinctive features of spinal cord pathology that were previously inaccessible. Furthermore, the development of mechanism-based MRI biomarkers from mpMRI studies can provide clinically useful imaging indices for understanding the mechanisms by which injured spinal cords progress and repair. These biomarkers can assist in the diagnosis, prognosis, and evaluation of therapies for SCI patients, potentially leading to improved outcomes.

Co-optimization of robotic design and skill inspired by human hand evolution

During evolution of the human hand, evolutionary morphology has been closely related to behavior in complicated environments. Numerous researchers have revealed that learned skills have affected hand evolution. Inspired by this phenomenon, a co-optimization approach for underactuated hands is proposed that takes grasping skills and structural parameters into consideration. In our proposal, hand design, especially the underactuated mechanism, can be parameterized and shared with all the local agents. These mechanical parameters can be updated globally by the independent agents. In addition, we also train human-like 'feeling' of grasping: grasping stability is estimated in advance before the object drops, which can speed up grasping training. In this paper, our method is instantiated to address the optimization problem for the torsion spring mechanical parameters of an underactuated robotic hand with multi-actuators, and then the optimized results are transferred to the actual physical robotic hand to test the improvement of grasping. This collaborative evolution process leverages the dexterity of the multi-actuators and the adaptivity of the underactuated mechanism.

A science-driven method for determining morphological parameters of prosthetic hands

The unique morphological bases of human hands, which are distinct from other primates, endow them with excellent grasping and manipulative abilities. However, the lack of understanding of human hand morphology and its parametric features is a major obstacle in the scientific design of prosthetic hands. Existing designs of prosthetic hand morphologies mostly adopt engineering-based methods, which depend on human experience, direct measurements of human hands, or numerical simulation/optimization. This paper explores for the first time a science-driven design method for prosthetic hand morphology, aiming to facilitate the development of prosthetic hands with human-level dexterity. We first use human morphological, movement, and postural data to quantitatively cognize general morphological characteristics of human hands in static, dynamic, functional, and non-functional perspectives. Taking these cognitions as bases, we develop a method able to quickly transfer human morphological parameters to prosthetic hands and endow the prosthetic hands with great grasping/manipulative potential at the same time. We apply this method to the design of an advanced prosthetic hand (called X-hand II) embedded with compact actuating systems. The human-size prosthetic hand can reach wide grasping/manipulative ranges close to those of human hands, replicate various daily grasping types and even execute dexterous in-hand manipulation. This science-driven method may also inspire other artificial limb and bionic robot designs.

Hand morphometrics, electrodermal activity, and stone tools haptic perception

OBJECTIVES

Tool use requires integration among sensorial, biomechanical, and cognitive factors. Taking into account the importance of tool use in human evolution, changes associated with the genus Homo are to be expected in all these three aspects. Haptics is based on both tactile and proprioceptive feedbacks, and it is associated with emotional reactions. Previous analyses have suggested a difference between males and females, and during haptic exploration of different typologies of stone tools. Here, we analyze the correlation between electrodermal reactions during stone tool handling and hand morphology to provide evidence of possible allometric factors shared by males and females.

METHODS

Electrodermal analysis was used to investigate some specific parameters involved in these reactions, such as changes in the level of attention and arousal. We analyzed the responses of 46 right-handed adults to 20 distinct stone tools while blindfolded.

RESULTS

Females have smaller hands and a wider range of electrodermal reactions. Within males and females, hand diameters and general hand size do not correlate with the degree of electrodermal level and response.

CONCLUSIONS

Sex differences in electrodemal reaction during stone tool handling are apparently not due to the effect of hand size or proportions. Differences between males and females are better interpreted as real sex differences, either due to a biological or cultural influences. Hand size does not influence the degree of arousal or attention during tool exploration, suggesting that other factors trigger individual reactions. These results add to a general cognitive approach on hand-tool evolution and tool sensing.

Active Haptic Perception in Robots: A Review

In the past few years a new scenario for robot-based applications has emerged. Service and mobile robots have opened new market niches. Also, new frameworks for shop-floor robot applications have been developed. In all these contexts, robots are requested to perform tasks within open-ended conditions, possibly dynamically varying. These new requirements ask also for a change of paradigm in the design of robots: on-line and safe feedback motion control becomes the core of modern robot systems. Future robots will learn autonomously, interact safely and possess qualities like self-maintenance. Attaining these features would have been relatively easy if a complete model of the environment was available, and if the robot actuators could execute motion commands perfectly relative to this model. Unfortunately, a complete world model is not available and robots have to plan and execute the tasks in the presence of environmental uncertainties which makes sensing an important component of new generation robots. For this reason, today's new generation robots are equipped with more and more sensing components, and consequently they are ready to actively deal with the high complexity of the real world. Complex sensorimotor tasks such as exploration require coordination between the motor system and the sensory feedback. For robot control purposes, sensory feedback should be adequately organized in terms of relevant features and the associated data representation. In this paper, we propose an overall functional picture linking sensing to action in closed-loop sensorimotor control of robots for touch (hands, fingers). Basic qualities of haptic perception in humans inspire the models and categories comprising the proposed classification. The objective is to provide a reasoned, principled perspective on the connections between different taxonomies used in the Robotics and human haptic literature. The specific case of active exploration is chosen to ground interesting use cases. Two reasons motivate this choice. First, in the literature on haptics, exploration has been treated only to a limited extent compared to grasping and manipulation. Second, exploration involves specific robot behaviors that exploit distributed and heterogeneous sensory data.