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[IEEE 2019 Conference on Lasers and Electro-Optics Europe & European Quantum Electronics Conference (CLEO/Europe-EQEC) - Munich, Germany (2019.6.23-2019.6.27)] 2019 Conference on Lasers and Electro-Optics Europe & European Quantum Electronics Conference (CLEO/Europe-EQEC) - Optical Shielding of Ultracold <sup>39</sup> K-Cs Collision
摘要： To touch and be touched are vital to human development, well-being, and relationships. However, to those who have lost their arms and hands due to accident or war, touching becomes a serious concern that often leads to psychosocial issues and social stigma. In this paper, we demonstrate that the touch from a warm and soft rubber hand can be perceived by another person as if the touch were coming from a human hand. We describe a three-step process toward this goal. First, we made participants select artificial skin samples according to their preferred warmth and softness characteristics. At room temperature, the preferred warmth was found to be 28.4 C at the skin surface of a soft silicone rubber material that has a Shore durometer value of 30 at the OO scale. Second, we developed a process to create a rubber hand replica of a human hand. To compare the skin softness of a human hand and artificial hands, a robotic indenter was employed to produce a softness map by recording the displacement data when constant indentation force of 1 N was applied to 780 data points on the palmar side of the hand. Results showed that an artificial hand with skeletal structure is as soft as a human hand. Lastly, the participants' arms were touched with human and artificial hands, but they were prevented from seeing the hand that touched them. Receiver operating characteristic curve analysis suggests that a warm and soft artificial hand can create an illusion that the touch is from a human hand. These findings open the possibilities for prosthetic and robotic hands that are life-like and are more socially acceptable.
关键词： rubber hand illusion,biomimetics,Artificial skin,prosthetics
更新于2025-09-19 17:13:59
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Design of a wideband terahertz absorber composed of graphene patches
摘要： Recent advances in motor and gear designs have accelerated the development of multi-degree of freedom prosthetic limbs controlled by novel electromyographic signal processing techniques. Most of these new devices have focused on improved performance at the expense of other critical factors for clinical use, such as weight and bulk, which significantly affect cosmesis and comfort. This paper presents the mechatronic design of an anthropomorphic transhumeral prosthetic arm—the Rehabilitation Institute of Chicago (RIC) arm—that is small enough for a 25th percentile female and weighs only 1518 g. Specifically, we describe the design of the RIC arm, including the integration of custom external rotor motors, cycloid transmissions, nonbackdrivable clutches, and custom pattern recognition control. Mechanics and control performance of the RIC arm were evaluated within the laboratory, and clinical viability was preliminary evaluated during a take-home field trial by an individual with a transhumeral amputation.
关键词： prosthetics,exterior-rotor motor,lightweight robotic arm,Cycloid transmission,humanoid robots
更新于2025-09-19 17:13:59
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[IEEE 2019 6th Asia-Pacific Conference on Synthetic Aperture Radar (APSAR) - Xiamen, China (2019.11.26-2019.11.29)] 2019 6th Asia-Pacific Conference on Synthetic Aperture Radar (APSAR) - A Knowledge-based High Voltage Power Tower Identification Method for SAR
摘要： Recent advances in motor and gear designs have accelerated the development of multi-degree of freedom prosthetic limbs controlled by novel electromyographic signal processing techniques. Most of these new devices have focused on improved performance at the expense of other critical factors for clinical use, such as weight and bulk, which significantly affect cosmesis and comfort. This paper presents the mechatronic design of an anthropomorphic transhumeral prosthetic arm—the Rehabilitation Institute of Chicago (RIC) arm—that is small enough for a 25th percentile female and weighs only 1518 g. Specifically, we describe the design of the RIC arm, including the integration of custom external rotor motors, cycloid transmissions, nonbackdrivable clutches, and custom pattern recognition control. Mechanics and control performance of the RIC arm were evaluated within the laboratory, and clinical viability was preliminary evaluated during a take-home field trial by an individual with a transhumeral amputation.
关键词： Cycloid transmission,humanoid robots,lightweight robotic arm,exterior-rotor motor,prosthetics
更新于2025-09-19 17:13:59