This letter presents the Soft-SixthFinger, a wearable robotic extra-finger designed to be used by chronic stroke patients compensate for missing hand function of their paretic limb. The is an underactuated modular structure worn on forearm means elastic band. device and hand/arm act like two parts gripper working together hold object. patient can control flexion/extension finger through eCap, electromyography-based (EMG) interface embedded in cap. user contracting frontalis muscle. Such...

The wearable electronics business has powered over $14 billion in 2014 and it is estimated to power $70 by 2024. However, commercially-available devices still provide very limited haptic feedback, mainly focusing on vibrotactile sensations. Towards a more realistic feeling of interacting with virtual remote objects, we propose novel cutaneous device for the proximal finger phalanx, called "hRing". It consists two servo motors that move belt placed contact user's skin. When spin opposite...

Supernumerary robotic limbs (SRLs) are wearable robots designed to enhance the sensorimotor abilities of humans. SRLs can be used compensate for lost functions in patients with motor deficits and, more general, augment capabilities humans interact environment. The design and control present several challenges. must have high levels ergonomics wearability depending on application, they might also require enhanced robustness strength. robotics differs from collaborative robotics, since not...

Tomatoes are a major crop worldwide, and accurately classifying their maturity is important for many agricultural applications, such as harvesting, grading, quality control. In this paper, the authors propose novel method tomato classification using convolutional transformer. The transformer hybrid architecture that combines strengths of neural networks (CNNs) transformers. Additionally, study introduces new dataset named KUTomaData, explicitly designed to train deep-learning models...

High resolution (HR) images consist of higher quality and more detail information in comparison to low-resolution images. But obtaining HR entails costs requires a larger workforce. The solution is using super-resolution (SR) Single image SR the process creating from single image. Obtaining well-known problem domains computer vision processing. Advancement technology has given rise many algorithms. perceptual assessment super-resolved can be used benchmark techniques employed for SR. In this...

Robotic prosthesis are usually intended as artificial device extensions replacing a missing part of human body. A new approach regarding robotic limbs is presented here. modular robot used not only for the body but also an extra-limb in order to enhance manipulation dexterity and enlarge workspace beings. In this work, model control additional finger, Sixth-Finger, case study type limbs. The finger has been placed on wrist opposite hand palm. This solution allows workspace, increasing grasp...

A novel solution to compensate hand grasping abilities is proposed for chronic stroke patients. The goal provide the patients with a wearable robotic extra-finger that can be worn on paretic forearm by means of an elastic band. prototype, Robotic Sixth Finger, modular articulated device adapt its structure grasped object shape. and act like two parts gripper cooperatively holding object. We evaluated feasibility approach four performing qualitative test, Frenchay Arm Test. In this proof...

Advances in soft robotics and material science have enabled rapid progress grippers. The ability to 3D print materials with softer, more elastic properties is a recent development key enabling technology for the of robots. However, obtaining desired mechanical (e.g., stiffness) joints information about parameters select printers often not straightforward. In this article, we propose use interpenetrating phase composites (IPCs) mathematically generated topologies based on triply periodic...

This paper presents the design, analysis, fabrication, experimental characterization, and evaluation of two prototypes robotic extra fingers that can be used as grasp compensatory devices for a hemiparetic upper limb. The are results sessions with chronic stroke patients consultations clinical experts. Both share common principle work, which consists in opposing device to paretic hand or wrist so restrain motion an object. They by compensate grasping several activities daily living (ADLs)...

Advances in technology, design, and manufacturing processes are leading to noticeable improvements rehabilitation management. In this paper, we introduce MGlove-TS, an actuated soft glove based on twisted string actuators (TSAs) developed assist support individuals with hand impairments limiting active movements grasping force their process daily living. The is designed be lightweight, portable, easy wear use, comfortable for prolonged periods, a little encumbrance, flexible adaptable,...

The underwater environment presents unique challenges (color distortions, reduced contrast, blurriness) hindering accurate analysis. This work introduces MuLA-GAN, a novel approach leveraging Generative Adversarial Networks (GANs) and specifically adapted Multi-Level Attention for comprehensive image enhancement. MuLA-GAN integrates within the GAN architecture to prioritize learning discriminative features crucial precise restoration. These relevant encompass information on local details...

ABSTRACT This paper presents an autonomous aerial system specifically engineered for operation in challenging marine GNSS‐denied environments, aimed at transporting small cargo from a target vessel. In these characterized by weakly textured sea surfaces with few feature points, chaotic deck oscillations due to waves, and significant wind gusts, conventional navigation methods often prove inadequate. Leveraging the DJI M300 platform, our is designed autonomously navigate transport while...

Compliant manipulators equipped with Variable Stiffness Actuation (VSA) possess the ability to safely interact their environment and adapt complex tasks. However, tracking performance of such is significantly influenced by intrinsic compliance varying stiffness. This paper presents a robust control strategy for compliant Discrete (DVSA), aimed at enhancing under both fixed stiffness conditions. By compensating nonlinear dynamics, joint coupling, frictions, variability uncertainties through...

<title>Abstract</title> Volumetric radiographic data analysis poses significant challenges due to its 3D structure and variable input lengths. Moreover, the unpredictable distribution of diseased regions, often spanning multiple slices interspersed with normal tissue within abnormal volumes, further complicates analysis. Despite advancements, existing volumetric methods predominantly rely on 2D slice selection expert intervention, limiting scalability efficiency. Additionally, a prevailing...

Abstract The importance of gastric cancer (GC) and the role deep learning techniques in categorizing GC histopathology images have recently increased. Identifying drawbacks traditional models, including lack interpretability, inability to capture complex patterns, adaptability, sensitivity noise. A multi-channel attention mechanism-based framework is proposed that can overcome limitations conventional models by dynamically focusing on relevant features, enhancing extraction, capturing...

In this paper, we propose a novel electromyographic (EMG) control interface to motion and joints compliance of supernumerary robotic finger. The fingers are recently introduced class wearable robotics that provides users additional limbs in order compensate or augment the existing abilities natural without substituting them. Since supposed closely interact perform actions synergy with human limbs, principles extra finger should have similar behavior as human's ones including ability...

In this letter, we propose a method to design tendon-driven underactuated hands whose fingertips can track predefined trajectory, when actuated. We focus on passively compliant composed of deformable joints and rigid links. first introduce procedure determine suitable stiffness tendon routing, then possible realization robotic finger is shown. The kinematic kinetostatic analysis necessary define the overall values joints. A structural element constituting each passive joint allowed relation...

Haptic interfaces are mechatronic devices designed to render tactile sensations; although they typically based on robotic manipulators external the human body, recently, interesting wearable solutions have been presented. Toward a more realistic feeling of virtual and remote environment interactions, we propose novel skin stretch device for upper limb called "hBracelet." It consists two main parts coupled with linear actuator. Each part contains servo actuators that move belt. The is capable...