ETD system

Electronic theses and dissertations repository

 

Tesi etd-07032015-183952


Thesis type
Tesi di laurea magistrale
Author
PIAZZA, CRISTINA
URN
etd-07032015-183952
Title
DESIGN, IMPLEMENTATION AND VALIDATION OF META-SYNERGISTIC BEHAVIOURS FOR AN UNDERACTUATED ROBOTIC HAND
Struttura
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Supervisors
relatore Prof. Bicchi, Antonio
relatore Ing. Catalano, Manuel Giuseppe
relatore Ing. Grioli, Giorgio
Parole chiave
  • robotic hand
  • synergy
Data inizio appello
23/07/2015;
Consultabilità
Parziale
Data di rilascio
23/07/2018
Riassunto analitico
The hand is one of the most characteristic organs of the human body. It allow us to know and explore the world and to perform different grasp and manipulation of objects in our everyday life. Moreover the hand represent a valid support to non verbal communication. Unfortunately, statistics show that million people live without a limb [30]. Limb losses are due to different causes, the most frequent being trauma.

After a careful research on the state of the art of robotic and prosthetic hands, this thesis is about the analysis and design of an artificial biomorphic under-actuated hand. In particular, this work introduces the possibility to modulate the closure shape of the hand as a function of the closure command. Doing so we implement the novel concept of dynamic synergy. This can be accomplished through the inclusion of viscous elements. This has been realized, within this thesis, building on the Pisa-IIT Softhand and its evolution in the prosthetic field Softhand Pro.
File