@inproceedings{b57de6a33c9149afaa38cae5bb9658b3,
title = "The Sixth-Finger: A modular extra-finger to enhance human hand capabilities",
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.",
author = "Domenico Prattichizzo and Monica Malvezzi and Irfan Hussain and Gionata Salvietti",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 23rd IEEE International Symposium on Robot and Human Interactive Communication, IEEE RO-MAN 2014 ; Conference date: 25-08-2014 Through 29-08-2014",
year = "2014",
month = oct,
day = "15",
doi = "10.1109/ROMAN.2014.6926382",
language = "British English",
series = "IEEE 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",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "993--998",
editor = "Rui Loureiro and Aris Alissandrakis and Adriana Tapus and Selma Sabanovic and Fumihide Tanaka and Yukie Nagai",
booktitle = "IEEE RO-MAN 2014 - 23rd IEEE International Symposium on Robot and Human Interactive Communication",
address = "United States",
}