Traditional Hands Research Articles

Substitutor or Assistant: The Double-Edged Sword Effect of Artificial Intelligence Images on OTPs

Recently, the green concept has become integral to education, leading to the rise of paperless online teaching. With the rapid development of online teaching platforms (OTPs) due to the pandemic, studies on user behavior have gained momentum. However, most studies have focused on students’ online learning attitudes and behaviors, neglecting in-depth analysis of teachers’ behaviors on OTPs. OTPs can either assist or substitute teachers, enhancing efficiency but also causing anxiety. This paper proposes reframing OTPs as assistants to reduce teachers’ resistance. We investigate if the OTP image (assistant vs. substitutor) impacts teachers’ satisfaction in a specific online teaching context, exploring its explanatory mechanisms. A study of 2*2 group experiments revealed that teachers were less threatened by the assistant OTP image and thus more satisfied. Experiment 1 confirmed that the OTP image influenced teachers’ willingness to recommend and satisfaction. Experiment 2 again tested the effect of different images of OTP (facilitator vs. substitute vs. control group) on teacher satisfaction, and the pie verified the mediating role of identity threat in this effect. Experiment 3 verified that self-affirmation as a moderating variable mitigates identity threats due to the alternative image of the OTP. Therefore, in the future promotion of AI products, more emphasis should be placed on assisting users rather than completely replacing traditional human hands, thus weakening the identity threat posed by AI products to users. The findings of this study enrich the study on teachers’ attitudes towards OTPs, dissect the sources of users’ (teachers’) satisfaction with OTPs from the perspective of product/brand (OTP) image, and provide guidance on how OTPs can choose the appropriate image positioning and promotional language.

Developing a Novel Prosthetic Hand with Wireless Wearable Sensor Technology Based on User Perspectives: A Pilot Study.

Myoelectric hands are beneficial tools in the daily activities of people with upper-limb deficiencies. Because traditional myoelectric hands rely on detecting muscle activity in residual limbs, they are not suitable for individuals with short stumps or paralyzed limbs. Therefore, we developed a novel electric prosthetic hand that functions without myoelectricity, utilizing wearable wireless sensor technology for control. As a preliminary evaluation, our prototype hand with wireless button sensors was compared with a conventional myoelectric hand (Ottobock). Ten healthy therapists were enrolled in this study. The hands were fixed to their forearms, myoelectric hand muscle activity sensors were attached to the wrist extensor and flexor muscles, and wireless button sensors for the prostheses were attached to each user's trunk. Clinical evaluations were performed using the Simple Test for Evaluating Hand Function and the Action Research Arm Test. The fatigue degree was evaluated using the modified Borg scale before and after the tests. While no statistically significant differences were observed between the two hands across the tests, the change in the Borg scale was notably smaller for our prosthetic hand (p = 0.045). Compared with the Ottobock hand, the proposed hand prosthesis has potential for widespread applications in people with upper-limb deficiencies.

Comparison between tendon-driven and soft pneumatic actuators in soft robotic hands

Bionic robotic hands have huge potential for applications. Traditional rigid robotic hands have the disadvantages of complex control and poor compliance, while soft robotic hands can well overcome these difficult drawbacks. Tendon-driven actuators and soft pneumatic actuators are two main actuating methods in soft robotic hands which are increasingly used due to their good compliance. This article first reviews the basic principles and structures of these two actuating methods in order to develop a basic understanding of different actuating methods. Then through comparing the dexterity and grasp performance of two specific designs, this article analyzes the characteristics of both methods in terms of their structures. Through discussion of structural differences, the systematic impact of the two actuating methods on function is analyzed and a general conclusion about differences in applicability is drawn. This article aims to help researchers have a better understanding of the two main actuating methods for soft robotic hands before they choose a specific actuating method, which can contribute to better completion of expected functions.

The Effectiveness of Computer-Based Simulations and Traditional Hands-on Activities on Secondary School Students’ Performance and Science Process Skills in Practical Chemistry

Practical activities are used as a catalyst in understanding chemistry concepts because it helps students to develop science process skills. However, research investigating the use of computer-based simulation practical activities to improve students’ science process skills is scarce. Hence, the study compared the mean gain of students’ performance and science process skills (SPS) using computer-based simulation and traditional hands-on instructional strategies. The study utilized a quasi-experimental design, using a pre-test, post-test, and control variable. The sample for the study was 92 senior secondary students, 48 for the computer-based simulation (experimental) and 44 for the traditional hands-on (control group) purposively selected. Two research instruments were used, a tagged science process skills rating scale (SPSRS) and a 20-item multiple choice question (MCQ). The findings showed that traditional hands-on activities had a higher mean gain on students’ performance while computer-based simulation improved students' science process skills more than traditional hands on. The study recommended that there is a need to blend traditional hands-on activities with updated and computer- based simulations to improve students’ science process skills and performance in science classrooms.

Piezo robotic hand for motion manipulation from micro to macro

Multiple degrees of freedom (DOFs) motion manipulation of various objects is a crucial skill for robotic systems, which relies on various robotic hands. However, traditional robotic hands suffer from problems of low manipulation accuracy, poor electromagnetic compatibility and complex system due to limitations in structures, principles and transmissions. Here we present a direct-drive rigid piezo robotic hand (PRH) constructed on functional piezoelectric ceramic. Our PRH holds four piezo fingers and twelve motion DOFs. It achieves high adaptability motion manipulation of ten objects employing pre-planned functionalized hand gestures, manipulating plates to achieve 2L (linear) and 1R (rotary) motions, cylindrical objects to generate 1L and 1R motions and spherical objects to produce 3R motions. It holds promising prospects in constructing multi-DOF ultra-precision manipulation devices, and an integrated system of our PRH is developed to implement several applications. This work provides a new direction to develop robotic hand for multi-DOF motion manipulation from micro scale to macro scale.

Learning Haptic-Based Object Pose Estimation for In-Hand Manipulation Control With Underactuated Robotic Hands.

Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual perception of the hand and object can be limited in occluded or partly-occluded environments. In this paper, we aim to explore the use of haptics, i.e., kinesthetic and tactile sensing, for pose estimation and in-hand manipulation with underactuated hands. Such haptic approach would mitigate occluded environments where line-of-sight is not always available. We put an emphasis on identifying the feature state representation of the system that does not include vision and can be obtained with simple and low-cost hardware. For tactile sensing, therefore, we propose a low-cost and flexible sensor that is mostly 3D printed along with the finger-tip and can provide implicit contact information. Taking a two-finger underactuated hand as a test-case, we analyze the contribution of kinesthetic and tactile features along with various regression models to the accuracy of the predictions. Furthermore, we propose a Model Predictive Control (MPC) approach which utilizes the pose estimation to manipulate objects to desired positions solely based on haptics. We have conducted a series of experiments that validate the ability to estimate poses of various objects with different geometry, stiffness and texture, and show manipulation to goals in the workspace with relatively high accuracy.

Comparison of patient-reported and functional outcomes after transition from traditional upper limb prosthetics to multiarticulating hands in the user with a unilateral transradial amputation.

Multiarticulating hands (MAHs) have been commercially available for over 15 years. Despite this, their cost remains significantly higher than traditional electric hands, and they are not routinely available in many countries. The Scottish Specialist Prosthetic Service within the National Health Service has been prescribing MAHs since 2014. However, the benefits of MAHs provided in clinical settings are not well known. This study aimed to compare patient-reported and functional measures in unilateral transradial prosthetic users transitioning from a body-powered or traditional myoelectric prosthesis to a MAH. This was a retrospective cohort analysis of individuals with a unilateral transradial amputation provided with a MAH. Of 38 users provided with MAHs, 20 had complete data sets of patient-reported and functional measures before and 6 months after provision. These included Disabilities of the Arm, Shoulder, and Hand; Southampton Hand Assessment Procedure Index of Function; health-related quality of life (EQ-5D-5L Health Index); Trinity Amputation and Prosthesis Experience Scales satisfaction; and Box and Block Test. The mean age was 44 years (SD 16) (n = 20), and 75% were male. There were an 8-unit mean reduction in the Disabilities of the Arm, Shoulder, and Hand ( P = .01) and a 9.5-unit improvement in the Southampton Hand Assessment Procedure IOF ( P = .007) at 6 months after provision. Health-related quality of life did not change ( P = .581). Users reported a four-point improvement in their Trinity Amputation and Prosthesis Experience Scales ( P = .004) and transferred 3.3 blocks more completing the Box and Block Test ( P = .001). The evidence clearly supports continued provision of MAHs to this group of moderate users: the more function the user achieves, the less of a disability they perceive to have.

A humanoid robotic hand capable of internal assembly and measurement in spacesuit gloves

PurposeTo identify the dexterity of spacesuit gloves, they need to undergo bending tests in the development process. The ideal way is to place a humanoid robotic hand into the spacesuit glove, mimicking the motions of a human hand and measuring the bending angle/force of the spacesuit glove. However, traditional robotic hands are too large to enter the narrow inner space of the spacesuit glove and perform measurements. This paper aims to design a humanoid robot hand that can wear spacesuit gloves and perform measurements.Design/methodology/approachThe proposed humanoid robotic hand is composed of five modular fingers and a parallel wrist driven by electrical linear motors. The fingers and wrist can be delivered into the spacesuit glove separately and then assembled inside. A mathematical model of the robotic hand is formulated by using the geometric constraints and principle of virtual work to analyze the kinematics and statics of the robotic hand. This model allows for estimating the bending angle and output force/torque of the robotic hand through the displacement and force of the linear motors.FindingsA prototype of the robotic hand, as well as its testing benches, was constructed to validate the presented methods. The experimental results show that the whole robotic hand can be transported to and assembled in a spacesuit glove to measure the motion characteristics of the glove.Originality/valueThe proposed humanoid robotic hand provides a new method for wearing and measuring the spacesuit glove. It can also be used to other gloves for special protective suits that have highly restricted internal space.

V-Shape Pneumatic Torsional Actuator: A Building Block for Soft Grasper and Manipulator.

Robotic joints are fundamental components in artificial graspers and manipulators, and they are designed to achieve high dexterity to carry out various tasks. Traditional robotic hands are often driven by rigid joints, such as tendons and electric motors, resulting in bulky and complex designs. Soft robotics, composed of flexible and compliant materials, offers promising solutions to mimic the human hands and handle delicate objects safely. In this article, we propose a simple yet effective V-shape pneumatic torsional actuator (V-PTA) as the building blocks of soft grasper and manipulators. The proposed actuator is capable of producing large angular changes and twisting torque, responding fast to pneumatic changes, and scaling to appropriate dimensions easily. Because the design is generic and modular in nature, these lightweight actuators could also be assembled to form a variety of patterns of structures to suit the needs of individual tasks. We further fabricated robotic graspers and manipulators based on multiple V-PTA and demonstrated that our design could offer solutions to execute daily laboratory operations that interact with small and irregular components. Experimental data confirmed that the V-PTA building block structure could potentially pave the path forward for miniature robotic automation in laboratory or industrial settings.

New Technology and New Shadow Play: New Media's Technical Promotion of Shadow Play

Shadow Play is an ancient traditional folk art, which has been included in the Representative List of the Intangible Cultural Heritage of Humanity at present. Different forms of entertainment sources have appeared one after another with the rapid development of society. Because of its lack of competitiveness, Shadow Play has disappeared from the public's eye increasingly. In the meanwhile, different digital media technologies are used in a wide range of all aspects of life and entertainment. It’s also a particular fine opportunity for Shadow Play to develop itself again. This article attempts to discuss the application of digital media art in the content and stage of Shadow Play and combine digital media art with the stage presentation of Shadow Play. There is some advice that is come up for the development of Shadow Play in the contemporary society, which also provides a better conservation for traditional art and hands it down.

Dynamic manipulation of pneumatically controlled soft finger for home automation

Soft robots have the advantage of inherent flexibility, adaptability, compliance, and safety in human interaction, and therefore attracted significant research attention in recent years. They have found interesting applications in industrial automation where soft robotic hands are fitted as end-effector on traditional rigid robotic arms to handle delicate objects. Their inherent compliance with the shape of the object reduces the complexity of sensing and actuation mechanisms required for the safe operation of traditional robotic hands. They also have the potential application in the home automation, since the operation of robots in indoor environment impose a stringent requirement on safety and compliant design. Despite this, the dynamic manipulation of soft robots remains challenging because their inherent flexibility makes their mathematical model highly nonlinear. Existing works either use model-free control, e.g., PID, which owing to its general formulation, does not account for the peculiarity of soft robots, or they use the Finite-Element-Method based approach, which, apart from being computationally expensive, requires an exact model of the soft robots. In this paper, we take a holistic approach by first developing a low-order approximate mathematical model for computational efficiency and then adding a feedback loop using an inverse dynamics controller to compensate for modeling errors. Theoretical analysis is presented to prove the convergence and stability of the proposed controller. Extensive experimental and comparison results also prove the superiority of the proposed controller over other algorithms.

Wearable Robotic Glove Design Using Surface-Mounted Actuators.

We propose a novel wearable robotic glove or exo-glove design scalable to the variation of the hand kinematics. While most of the traditional robot hand is driven by rotating the joint directly with a rigid body, our exo-glove deforms a robotic finger's skin and, thus, the hand skeleton joints. Multiple tendons woven on the exo-glove's surface can make multi-DOF finger joint motions. We allocated tendons to mimic a hand's intrinsic and extrinsic muscles. Thus, a robotic hand actuated with the exo-glove can perform natural finger motions, including abduction/adduction and flexion/extension of finger joints. Moreover, additional tendons for the thumb enable power grips and the robotic hand's human-like motion. The proposed design approach places all the actuators on the surface without directly actuating any of the hand skeleton's joint. Therefore, a random hand skeleton can work as a robotic hand by putting the wearable robotic glove on it. Thus, the proposed model provides a high degree of freedom on choosing hand skeletons. We expect the aforementioned biomimetic features of our proposed method will benefit not only traditional robotic hands design but also the design of prosthetic hands and robot power-assisted hand glove.

Halo-pelvic traction combined with stageⅡsurgical correction for the treatment of severe and rigid scoliosis

To investigate the clinical effects of the Halo-pelvic traction combined with posterior instrumentation correction and internal fixation for the treatment of severe and rigid scoliosis. From January 2015 to 2019 May, 16 patients with severe and rigid scoliosis were treated by the Halo-pelvic traction combined with posterior instrumentation correction. There were 7 males and 9 females, aged 14 to 28 years with an average of 17.6 years, Cobb angle was 90° to 140° with an average of (108.84±17.93) °. Including congenital scoliosis in 10 cases (6 cases of dyssegmented scoliosis, 3 cases of dysplasia, 1 case of mixed scoliosis), idiopathic scoliosis in 4 cases and neurofibromatosis in 2 cases. All patients in group had scoliosis corrected by Halo-pelvic distraction combined with posterior instrumentation correction and internal fixation. Among them, 7 cases were treated with self-made guide device for iliac bone puncture, and the other cases with traditional bare hands. The height, scoliosis Cobb angle, kyphosis Cobb angle and correction rate of 16 patients before and after surgery were observed. The body height was corrected from (144.88±6.32) cm to (154.56±7.87) cm ; Cobb angle of scoliosis was corrected from (108.84±17.93) ° to (42.12±7.29) °, Cobb angle of kyphosis was corrected from (64.18±16.39) ° to (33.81±6.06) °. After the Halo pelvic traction, the body height increase, Cobb angle of scoliosis and kyphosis were changed with the mean of (7.06± 5.65) cm, (41.50±9.09)%, (30.52±9.66)%, respectively. After the stage Ⅱ surgical correction, the body height increase, Cobb angle of scoliosis and kyphosis were changed with the mean of (2.63±1.78) cm, (32.47±10.80)%, (15.55±9.47)% (The baseline Cobb angle referenced by the correction rate was the Cobb angle of the previous treatment). The body height increase and correction rate of Cobb angle of scoliosis and kyphosis with staged traction combined with surgery was (9.69±5.42) cm, (61.09 ± 5.03)%, (46.07±8.60)%. There was significant difference in body height increase, correction rate of Cobb angle of scoliosis and kyphosis between before and after each period of treatment (P<0.05). Treatment of severe and rigid scoliosis with Halo-pelvic traction combined with stage Ⅱ surgical correction can significantly correct deformities and improve appearance, and has fewer surgical complications and strong clinical operability.

Synthesis of 3-[P][S] Parallel Mechanism-Inspired Multimode Dexterous Hands With Parallel Finger Structure

Abstract Dexterous hands are an important end-effector of robots, but their relatively low carrying capacity, small workspace and poor task adaptability are the key factors that restrict their wide application. To overcome these shortcomings of dexterous hands, a novel Lie-group-based synthesis method that extends the 3-[P][S] parallel mechanisms (PMs) to dexterous hands is presented, and a class of three-finger dexterous hands with parallel finger structure is obtained. The multimode operation is proposed by designing a double-slider palm that provides the hands with a large workspace and high task adaptability. The operation types are presented, and the dexterous in-hand manipulations in all modes are analyzed by means of Lie group theory. In addition, the equivalent structural characteristics of pinching objects are classified to elucidate the motion types and the rotational properties of the pinched objects. The inverse kinematics of fingers is presented and is used to identify the input–output relationships. Finally, the workspaces of the fingers are determined according to the result of the inverse kinematics, and the relationships between the size and displacements of the pinched object are presented. The proposed dexterous hands overcome the problems of low carrying capability, small workspace, and weak in-hand manipulation ability that are encountered with the traditional dexterous hands, which are underactuated and are built with a series finger structure, and can be potentially applied to various application domains, such as services, industry, and rescue.

Application of problem-based learning mode combined with case teaching in in-service training of junior nurses

Objective To investigate the application of problem-based learning mode combined with case teaching in in-service training of junior nurses. Methods From January 2015 to August 2017, 30 junior nurses working in department of traditional Chinese medicine of this hospital were divided into observation group and control group according to in-service training plan, 15 cases in each group.The control group used traditional Green Hands Guided by Old Hand training mode, and the observation group used problem-based learning mode combined with case teaching method for training.The two groups received the in-service training for a period of 3 months.The examination results of nursing ability of traditional Chinese medicine, the superior rate of examination results, attitude towards training and patient satisfaction with nursing of two groups were compared. Results ① The evaluation results of TCM nursing ability: the scores of TCM theory, the routine of TCM nursing, the operation of TCM nursing, the application of four diagnosis methods, the establishment of TCM nursing diagnosis, the determination of TCM nursing plan, the implementation of TCM nursing measures, the humanistic care and accomplishment of the observation group were higher than those of the control group, and the differences were statistically significant(P<0.05). ② The superior rate of examination results: the superior rate in the observation group was 93.33% (14/15), higher than that in the control group 60.00% (9/15), and the difference was statistically significant(P<0.05). ③ Attitude towards training: the value of patients very interested in training in the observation group was 80.00% (12/15), which was higher than that in the control group 40.00% (6/15), and the difference was statistically significant(P<0.05). ④Patient satisfaction: the scores of respecting the patients and sincere attitude, kind and appropriate address, explaining the problem carefully and patiently, clear expression and easy understanding of language, and having a sense of trust in nurses in the observation group were higher than those in the control group, and the differences were statistically significant(P<0.05). Conclusion Application of problem-based learning mode combined with case teaching in in-service training of junior nurses is beneficial to improve the interest of junior nurses in training, improve the nursing ability and the superior rate of examination results.And it also plays a positive role in improving patients' nursing satisfaction. Key words: In-service training; Case teaching; Nursing competency

An example of computer modeling to teach energy conservation concepts

Energy is a concept widely used in all areas of science but its meaning is not completely understood. It is a subtle concept and a straightforward definition is not available. There have been many studies on its meaning and on the different metaphors used to describe it. The present work uses a pragmatic approach to mechanical energy and its conservation by using computer simulations inspired on the work of Chabay and Sherwood. We report the results of modifying the calculus based University Physics sequence at Northeastern Illinois University. The modifications include a revision of the laboratory activities adding computer based activities to the more traditional hands on measurements. A more substantial change was the inclusion of mini-research projects that were part of the National Science Foundation—Improving Undergraduate STEM Education (NSF-IUSE) funded project Peer Enhanced Experiential Research in STEM (PEERS). In this manuscript, we discuss a student project that helps us understand energy, energy exchanges, and energy conservation. We discuss how the chosen student project helps in the understanding on how conserving potentials can lead to apparent non-energy conservation.

The use of simulation training module to train surgical residents in the focused assessment with sonography for trauma (FAST)

Introduction: The focused assessment with sonography for trauma (FAST) is a commonly used and life-saving tool in the initial assessment of trauma patients. Surgical residents being trained through lectures and hands-on learning of ultrasound can be challenging; inclusion of novel educational strategies, such as simulation can be utilized. Thus this study ought to evaluate whether ultrasound simulator is a suitable alternative method for ultrasound education than the traditional methods. Method: Observational analytical study. Sixteen surgical residents were taken for the study, by lottery chit system they were segregated into to arm of eight each. One arm was with traditional hands on training and another arm was taught in Simulation skill lab on interpretation of FAST. The duration of study was 6 weeks, 2 hours per week. Knowledge content of FAST evaluated trough Pre-test and Post MCQ test (Identical) and OSCE assessment was done for their skill and interpretation of FAST. Evaluator was blinded to both groups. Chi square and student t test was used for statistical analysis. Result: All students showed significant improvement from pre- to post-test scores and significant improvement in comfort level using ultrasound in general and on FAST (p Conclusion: These findings suggest that an ultrasound simulator is a suitable alternative method for ultrasound education.

VGS Hand: A Novel Hybrid Grasping Modes Robot Hand with Variable Geometrical Structure

Robot hand is the device used for robots to interact with the environments, it has many potential applications. Traditional robot hands cannot translate their finger end along a straight line, which makes them not suitable for grasping thin objects on a flat surface. In order to overcome the bottleneck of traditional hands and enlarge the application possibility of robot hands, this paper develops a novel hybrid grasping modes hand with the variable geometrical structure (called VGS hand). The hand consists of 4-DOF (degree of freedom), two actuators and two fingers. It can perform both linear-parallel and self-adaptive grasping modes. Kinematics, dynamics, and contact forces analysis are conducted to provide a theoretical reference for the design. A prototype was manufactured for grasping experiments; the results of the experiments indicate that the hand has a good grasping performance and can meet different application requirements.

Soft under-actuated hand with fin-ray structure

When the traditional under-actuated hands pinch the small objects, they tend to be unstable. To solve this problem, a new soft under-actuated hand is designed in this paper, which combines the soft fin-ray structure and the parallel under-actuated linkage mechanism. Compared with the traditional hands, the new design not only has the adaptive grasping mode, but also has the soft pinching mode, and through the pinching mode the small objects can be pinched stably. For tractable analysis, the design of the new hand is fully presented in this paper. Moreover, the force analysis and simulation are provided simultaneously. Finally, the experiments are conducted to verify the performance of the new design. The results indicate that the new hand could pinch small objects stably.

A flexible self-adaptive underactuated hand with series passive joints

PurposeThis paper aims to propose a novel hand to bridge the gap between the traditional rigid robot hands and the soft hands to obtain a better grasping performance.Design/methodology/approachThe proposed hand consists of three fingers. Each finger has 15 degrees of freedom and three phalanxes, which can bend in one direction when load is applied, but they are rigid toward the opposite direction at the initial position. The grasping process and simulations of the fingers are discussed in this paper. Both kinematic and dynamics analyses are performed to predict the performance of the hand. Subsequently, a prototype of the hand is developed for experiments.FindingsBoth kinematics and dynamics analyses indicate good grasping performance of the hand. Simulations and experiments confirm the feasibility of the finger design. The hand can execute hybrid grasping modes with more uniform force distribution and a larger workspace than traditional rigid fingers. The proposed hand has much potential in the industrial sector.Originality/valueA new method to obtain better grasping performance and to bridge the gap between the rigid finger and the soft finger has been presented and verified. The hand combines the advantages of both the rigid phalanxes and the soft fingers. Compared with some traditional rigid fingers, the proposed design has a more uniform force distribution and a bigger workspace.