The Sixth-Finger: A modular extra-finger to enhance human hand capabilities

Domenico Prattichizzo, Monica Malvezzi, Irfan Hussain, Gionata Salvietti

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

79 Scopus citations

Abstract

Robotic prosthesis are usually intended as artificial device extensions replacing a missing part of a human body. A new approach regarding robotic limbs is presented here. A modular robot is used not only for replacing a missing part of the body but also as an extra-limb in order to enhance manipulation dexterity and enlarge the workspace of human beings. In this work, the model and control of an additional finger, the Sixth-Finger, is presented as a case study of this type of robotic limbs. The robotic finger has been placed on the wrist opposite to the hand palm. This solution allows to enlarge the hand workspace, increasing the grasp capability of the user. An object-based mapping algorithm is proposed to control the robotic extra-finger by interpreting the whole hand motion in grasping action. A four DoFs modular prototype is presented along with numerical simulations and real experiments. The proposed Sixth-Finger can lead to a wide range of applications in the direction of augmenting human capabilities through wearable robotics.

Original languageBritish English
Title of host publicationIEEE RO-MAN 2014 - 23rd IEEE International Symposium on Robot and Human Interactive Communication
Subtitle of host publicationHuman-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions
EditorsRui Loureiro, Aris Alissandrakis, Adriana Tapus, Selma Sabanovic, Fumihide Tanaka, Yukie Nagai
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages993-998
Number of pages6
ISBN (Electronic)9781479967636
DOIs
StatePublished - 15 Oct 2014
Event23rd IEEE International Symposium on Robot and Human Interactive Communication, IEEE RO-MAN 2014 - Edinburgh, United Kingdom
Duration: 25 Aug 201429 Aug 2014

Publication series

NameIEEE RO-MAN 2014 - 23rd IEEE International Symposium on Robot and Human Interactive Communication: Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions

Conference

Conference23rd IEEE International Symposium on Robot and Human Interactive Communication, IEEE RO-MAN 2014
Country/TerritoryUnited Kingdom
CityEdinburgh
Period25/08/1429/08/14

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