Now showing items 1-20 of 52

    • A Design Implementation Process for Robotic Hand Synthesis 

      Hassanzadeh, Neda; He, Xianwei; Pérez Gracia, Alba (American Society of Mechanical Engineers (ASME), 2015)
      Conference report
      Restricted access - publisher's policy
    • A hybrid adaptive control strategy for a smart prosthetic hand 

      Chen, Cheng-Hung; Naidu, D. Subbaram; Pérez Gracia, Alba; Schoen, Marco P. (2009-09)
      Conference report
      Open Access
      This paper presents a hybrid of a soft computing technique of adaptive neuro-fuzzy inference system (ANFIS) and a hard computing technique of adaptive control for a two- dimensional movement of a prosthetic hand with a ...
    • A New Algorithm to Estimate Glenohumeral Joint Location Based on Scapula Rhythm 

      Heidari, Omid; Pourgharibshahi, Vahid; Urfer, Alex; Pérez Gracia, Alba (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Conference report
      Restricted access - publisher's policy
      This work analyzes the human shoulder complex workspace by introducing a new method to estimate the intra-articulation location of the glenohumeral (GH) joint. The proposed algorithm is based on the hypothesis of the GH ...
    • A new insight into the coupler curves of the RCCC four-bar linkage 

      Thomas, Federico; Pérez Gracia, Alba (Springer, 2017)
      Conference report
      Open Access
      Based on the condition for four points to lie on the unit sphere, derived using Distance Geometry, a new mathematical formulation for the coupler curves of the RCCC linkage is presented. The relevance of this formulation ...
    • A Task-based Design Methodology for Robotic Exoskeletons 

      Heidari, Omid; Wolbrecht, Eric; Pérez Gracia, Alba; Yihun, Yimesker (Sage Publications, 2018-11)
      Article
      Open Access
      This study is aimed at developing a task-based methodology for the design of robotic exoskeletons. This is in contrast to prevailing research efforts, which attempt to mimic the human limb, where each human joint is given ...
    • Bennet's Linkage and the Cylindroid 

      Pérez Gracia, Alba; McCarthy, John Michael (2002)
      Article
      Open Access
      Bennett’s linkage is a spatial 4R closed chain that can move with one degree of freedom. The set of relative displacement screws that form the one-dimensional workspace of this device defines a ruled surface known as a ...
    • Clifford Algebra Representation of Grasping and Manipulative Hand Actions for Kinematic Synthesis 

      Pérez Gracia, Alba; Thomas, Federico (Facultat d'Informàtica de Barcelona (UPC), 2015)
      Conference report
      Restricted access - publisher's policy
      The dimensional synthesis of wristed, multi-fingered hands for simultaneous tasks of all fingertips is an active field of research. When defining unconstrained positions for the fingers, this problem is solved by equating ...
    • Coupling Mechanisms for Multi-Fingered Robotic Hands with Skew Axes 

      Deemyad, Taher; Hassanzadeh, Neda; Pérez Gracia, Alba (Springer, 2018)
      Conference report
      Restricted access - publisher's policy
      The design of wristed, multi-fingered robotic hands for specific tasks usually leads to solutions in which the position of the joint axes have little to do with those of anthropomorphic hands. Joint axes tend to be skewed, ...
    • De tierra firme a la nube en un salto: Teoría de Máquinas y Mecanismos y Vibraciones Mecánicas en la ETSEIB 

      Jordi Nebot, Lluïsa; Puig Ortiz, Joan; Zayas Figueras, Enrique Ernesto; Pérez Gracia, Alba (2021)
      Conference lecture
      Restricted access - publisher's policy
      Este trabajo expone las medidas adoptadas en el cambio de docencia presencial a no presencial en las asignaturas de Teoría de Máquinas y Mecanismos y Vibraciones Mecánicas en la Escuela Técnica Superior de Ingeniería ...
    • Design method for a reconfigurable mechanism for finger rehabilitation 

      Sands, Davin; Pérez Gracia, Alba; McCormack, Jay; Wolbrecht, Eric T. (2010)
      Conference report
      Open Access
      This paper presents a design method for a reconfigurable single degree-of-freedom mechanism for robotic assisted finger therapy following a stroke. The mechanism is a four-bar linkage that in combination with variable link ...
    • Design of a Dexterous Hand for a Multi-Hand Task 

      Hassanzadeh, Neda; Movassagh-Kaniki, Reza; Pérez Gracia, Alba (Springer, 2016)
      Conference report
      Restricted access - publisher's policy
      Kinematic synthesis applied to tree topologies is a tool for the design of multi-fingered robotic hands, for a simultaneous task of all fingertips. Dexterous multi-fingered robotic hands can be designed to perform collaborative ...
    • Design of a Multi-palm Robotic Hand for Assembly Tasks 

      Movassagh-Kaniki, Reza; Hassanzadeh, Neda; Makhal, Abhijit; Pérez Gracia, Alba (2016)
      Conference report
      Restricted access - publisher's policy
      Some robotic tasks, especially those in which there are interactions between manipulated objects, require the collaborative work of two robotic arms equipped with end-effector grippers or robotic hands. Most of the current ...
    • Design of a Prosthetic Hand with Remote Actuation 

      Scott, K.; Pérez Gracia, Alba (Institute of Electrical and Electronics Engineers (IEEE), 2013)
      Conference report
      Restricted access - publisher's policy
      One of the main issues of prosthetic hands is to be able to fulfill all the specifications about speed, torque, weight and inertia while placing all the components within the prosthetic hand. This is especially true when ...
    • Design of a robotic hand and simple EMG input controller with a biologically-inspired parallel actuation system for prosthetic applications 

      Crawford, Anthony; Molitor, Jeffrey; Pérez Gracia, Alba; Chiu, Steve (2010)
      Conference report
      Open Access
      This paper presents the mechatronic design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the ...
    • Design of a robotic hand with a biologically-inspired parallel actuation system for prosthetic applications 

      Crawford, Anthony; Pérez Gracia, Alba (ASME PRESS, 2010)
      Conference report
      Restricted access - publisher's policy
      This paper presents the design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the behavior/strength ...
    • Design of an Exoskeleton as a Finger-Joint Angular Sensor 

      Pérez Gracia, Alba; Yihun, Yimesker; Rahman, M.S. (2012)
      Conference report
      Restricted access - publisher's policy
      Estimation of joint angles for human joints is important for many applications in bioengineering. Most of the existing angular joint sensors rely on the approximate assumption of the knowledge of the type of motion and ...
    • Design of non-anthropomorphic robotic hands for anthropomorphic tasks 

      Simó Serra, Edgar; Moreno-Noguer, Francesc; Pérez Gracia, Alba (2011)
      Conference report
      Open Access
      In this paper, we explore the idea of designing non- anthropomorphic multi-fingered robotic hands for tasks tha t replicate the motion of the human hand. Taking as input data a finite set of rigid-body positions for the ...
    • Dimensional Synthesis of Bennett Linkages 

      Pérez Gracia, Alba; McCarthy, John Michael (2000)
      Conference report
      Restricted access - publisher's policy
      This paper presents a synthesis procedure for a spatial 4R linkage, known as Bennett’s linkage. It is known that the two solutions of the RR chain synthesis equations form a Bennett linkage. While analytical solutions to ...
    • Dimensional Synthesis of CRR Serial Chains 

      Pérez Gracia, Alba; McCarthy, John Michael (American Society of Mechanical Engineers (ASME), 2003)
      Conference report
      Restricted access - publisher's policy
      This paper presents the kinematic synthesis of a CRR serial chain. This is a four-degree-of-freedom chain constructed from a cylindric joint and two revolute joints in series. The design equations for this chain are obtained ...
    • Dimensional Synthesis of One-Jointed Multi-Fingered Hands 

      Pérez Gracia, Alba (Springer, 2015)
      Conference report
      Restricted access - publisher's policy
      Wristed, multi-fingered hands can be designed for specific tasks, leading to an optimized performance and simplicity. In this work we present the design of the simplest family of multi-fingered hands, with one revolute ...