Manos Robóticas Antropomórficas: una revisión

This paper presents a review on main topic regarding to anthropomorphic robotic hands developed in the last years, taking into account the more important mechatronics designs submit on the literature, and making a comparison between them. The next chapters deepen on level of anthropomorphism and dexterity in advanced actuated hands and upper limbs prostheses, as well as a brief overview on issues such as grasping, transmission mechanisms, sensory and actuator system, and also a short introduction on under-actuated robotic hands is reported.Este artículo presenta una revisión de los principales desarrollos que se han hecho en los últimos años en manos robóticas antropomórficas. Las primeras secciones tratan temas como el grado de antropomorfismo y de destreza en las manos robóticas más avanzadas, incluyendo una comparación entre ellas. También se abordan temas como la capacidad de agarre de los efectores finales, los mecanismos de trasmisión, el sistema actuador y sensórico, así como una breve introducción al tema de manos robóticas sub-actuadas. Dirección de correspondencia: Carrera 11 # 101-80, Bogotá (Colombia)

Mutual adaptation among man and machine by using f-MRI analysis

A prosthetic device for disabled people requires new and reliable robotics technology. This paper describes the interesting reaction of our brain to an adaptable prosthetic system. The adaptable prosthetic system is composed of an EMG signal controlled robot hand with an EMG pattern recognition learning function for Transradial (below elbow) prostheses. The mutual adaptation between the system and the human body is analyzed using functional magnetic resonance imaging (f-MRI) in order to clarify the plasticity of the motor and sensory cortex area according to the changes in the prosthetic system. The developed prosthetic hand has 13 DOF: three motors on the thumb, two motors for each finger, and two motors for the wrist. The tactile feedback is applied by using surface electrical stimulus. The f-MRI data shows the process of replacement from a phantom limb image to the prosthetic hand image