Mechatronic designs for a robotic hand to explore human body experience and sensory-motor skills: a Delphi study

Beckerle P, Bianchi M, Salvietti G, Castellini C (2018)

Publication Type: Journal article

Publication year: 2018

Journal

Advanced Robotics Taylor & Francis

Book Volume: 32

Pages Range: 670-680

Journal Issue: 12

DOI: 10.1080/01691864.2018.1489737

Abstract

To bridge the gap between users' expectations and technological solutions, a better understanding of human body experience and sensory-motor skills is mandatory. This could pave the way towards a novel generation of robotic hands, which can be successfully employed in everyday life e.g. in prosthetics and assistive robotics. Available robotic hands are still far from matching the requirements of the corresponding experimental and real-world applications, e.g. fast motions might be achieved at the expense of accuracy. Knowledge of the users' sensory-motor skills can guide technical developments, e.g. prosthetic design processes. This paper presents design solutions developed in a Delphi study. Explorative questionnaires are prepared to acquire and elaborate expert opinions to improve the design of previously developed robotic anthropomorphic hands. By gathering and fusing expert opinions, novel robotic hand and wrist concepts specifically optimized regarding body experience and sensory-motor skill research are developed. In three rounds, experts with experience in robotic hand design and/or control analyze, develop, and rank solutions for mechanisms, actuators, and control, which result in overall design concepts. The technical concepts and implications resulting from the study are discussed considering psychological and biomechanical aspects.

Authors with CRIS profile

Philipp Beckerle
Claudio Castellini

Involved external institutions

Technische Universität Darmstadt DE Germany (DE) University of Pisa / Università di Pisa (UniPi) IT Italy (IT) Università degli Studi di Siena (UNISI) / University of Siena IT Italy (IT) Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) / German Aerospace Center DE Germany (DE)

How to cite

APA:

Beckerle, P., Bianchi, M., Salvietti, G., & Castellini, C. (2018). Mechatronic designs for a robotic hand to explore human body experience and sensory-motor skills: a Delphi study. Advanced Robotics, 32(12), 670-680. https://dx.doi.org/10.1080/01691864.2018.1489737

MLA:

Beckerle, Philipp, et al. "Mechatronic designs for a robotic hand to explore human body experience and sensory-motor skills: a Delphi study." Advanced Robotics 32.12 (2018): 670-680.

BibTeX: Download