The human hand plays an important role in daily life. It is the interface between the human and the exterior world by positioning, orienting, touching and grasping objects. The human hand has multiple degrees of freedom (DOFs) to enable mobility and dexterity. A virtual human hand model can be inserted into CAD (Computer Aided Design) models to assess the manipulation capabilities in the early design stage to reduce design time and cost. Joystick assessment is one of the important design cases. This study is a first step towards a comprehensive hand simulation tool to simulate the manipulation and grasping of objects. This paper presents a novel 25 DOFs' hand skeletal model based on hand anatomy and hand kinematics: (1) joint range of motion, (2) Denavit–Hartenberg method to define the joint relationship and (3) finger workspace determination. Novelty for this hand model includes arching the palm with the four DOFs added in the carpometacarpal and wrist joints for the ring and small fingers.

This paper presents a novel synthesis and analysis of a flexible elephant trunk robot (biological continuum–style manipulator). The robot includes eight flexible segments, although it can be extend...

The modelling of high pressure grinding rolls is described by the population balance model, a mass balance which includes several functions that are related to the mineral characteristics, material kinetics and operative conditions of the device. The breakage distribution function is one of these functions and refers to the way in which the daughter particles are generated by the process of comminution. The piston-die press is presented as a methodology to determine the breakage distribution function of two different materials, from the mechanical response point of view: altered granite and a cal-silicate material. The aim is to determine the relation between the operative conditions and the mineral characteristics in order to explain and predict the breakage function parameters. The materials were characterised using XRD and single compression strength tests. The altered granite is a brittle material, which generates more fines under single compression conditions compared to bed compression conditions, mainly due to the mineral composition and the response of the material to the breakage action. The cal-silicate material shows a normal trend in its breakage behaviour. As is expected, the mineralogical characterisation is a useful tool to predict the values of the parameters of the breakage distribution function.

The Action Research Arm Test (ARAT) can provide subjective results due to the difficulty assessing abnormal patterns in stroke patients. The aim of this study was to identify joint impairments and compensatory grasping strategies in stroke patients with left (LH) and right (RH) hemiparesis. An experimental study was carried out with 12 patients six months after a stroke (three women and nine men, mean age: 65.2 ± 9.3 years), and 25 healthy subjects (14 women and 11 men, mean age: 40.2 ± 18.1 years. The subjects were evaluated during the performance of the ARAT using a data glove. Stroke patients with LH and RH showed significantly lower flexion angles in the MCP joints of the Index and Middle fingers than the Control group. However, RH patients showed larger flexion angles in the proximal interphalangeal (PIP) joints of the Index, Middle, Ring, and Little fingers. In contrast, LH patients showed larger flexion angles in the PIP joints of the Middle and Little fingers. Therefore, the results showed that RH and LH patients used compensatory strategies involving increased flexion at the PIP joints for decreased flexion in the MCP joints. The integration of a data glove during the performance of the ARAT allows the detection of finger joint impairments in stroke patients that are not visible from ARAT scores. Therefore, the results presented are of clinical relevance.