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The paper consists in analyzing some of the researches on specialized literature regarding to gripping systems and proposing a new solution for a gripping mechanism that can fulfill the increasing requirements imposed by the flexible manufacturing systems regarding the orientation and positioning of parts with variable shape and dimensions. Some general consideration on state of the art in the field of gripping mechanism are presented and main development direction are indicated. The second part of the paper contains in the development of new gripper constructive solution. From the literature analysis the main requirement for a gripping system is the multi-tasking ability. The proposed designed solution uses four parallel open-close jaws/fingers controlled by two electric motors. The actuation of the jaws/fingers for clamping the part is accomplished by a primary motor. The main contribution/improvement refers to the introducing of a second/supplementary motor that is used for the movement of the position of the jaws in order to transform the gripper clamping system from a four-jaw construction to a two-jaw gripper construction and vice versa, thus increasing range of clamped parts.

Prehension movements in primates have been extensively studied for decades, and hand transport and hand grip adjustment are usually considered as the main components of any object reach-to-grasp action. Evident temporal patterns were found for the velocity of the hand during the transport phase and for the digits kinematics during pre-shaping and enclosing phases. However, such kinematics were always analysed separately in regard to time, and never studied in terms of dependence one from another. Nevertheless, if a reliable one-to-one relationship is proven, it would allow reconstructing the digit velocity (and position) simply by knowing the hand acceleration during reaching motions towards the target object, ceasing the usual dependence seen in literature from time of movement and distance from the target. In this study, the aim was precisely to analyse reach-to-grasp motions to explore if such relationship exists and how it can be formulated. Offline and real-time results not only seem to suggest the existence of a time-independent, one-to-one relationship between hand transport and hand grip adjustment, but also that such relationship is quite resilient to the different intrinsic and extrinsic properties of the target objects such as size, shape and position.

The purpose of this study was to investigate whether the anticipation of a mechanical perturbation applied to the arm during a reach-to-grasp movement elicits anticipatory adjustments in the reach and grasp components. Additionally, we aimed to evaluate whether anticipatory adjustments in the upper limb might be global or specific to the direction of the perturbation. Thirteen healthy participants performed reach-to-grasp with perturbations randomly applied to their dominant limb. Participants were presented with three types of trials: unperturbed (control), trials perturbed in a predictable manner (either Up or Down), or perturbed in a partially predictable manner (knowledge about the perturbation but not its specific direction). EMG activity of 16 muscles, as well as the kinematics of wrist, thumb, and index finger, were acquired and analyzed. When the perturbation was expected, EMG activity of the and muscles significantly increased about 50 - 200 ms before the perturbation onset. Peak acceleration of the reach was significantly higher and occurred earlier relative to control trials. Similar adjustments were observed in the grasp kinematics, reflected as significantly shorter time to peak aperture velocity and acceleration, as well as in increased activity of and 100-200 ms before perturbation onset. In summary, our data demonstrate that knowledge of an upcoming perturbation of reach during reach-to-grasp action triggers anticipatory adjustments not only in the muscles controlling the reach component, but also in those controlling grasp. Furthermore, our data revealed that the preparatory activations were generalized, rather than direction specific.

An evolutionary hallmark of anthropoid primates, including humans, is the use of vision to guide precise manual movements. These behaviors are reliant on a specialized visual input to the posterior parietal cortex. Here, we show that normal primate reaching-and-grasping behavior depends critically on a visual pathway through the thalamic pulvinar, which is thought to relay information to the middle temporal (MT) area during early life and then swiftly withdraws. Small MRI-guided lesions to a subdivision of the inferior pulvinar subnucleus (PIm) in the infant marmoset monkey led to permanent deficits in reaching-and-grasping behavior in the adult. This functional loss coincided with the abnormal anatomical development of multiple cortical areas responsible for the guidance of actions. Our study reveals that the transient retino–pulvinar–MT pathway underpins the development of visually guided manual behaviors in primates that are crucial for interacting with complex features in the environment.

This study focused on the relationship between percentage of vocabulary known in a text and level of comprehension of the same text. Earlier studies have estimated the percentage of vocabulary necessary for second language learners to understand written texts as being between 95% (Laufer, 1989) and 98% (Hu & Nation, 2000). In this study, 661 participants from 8 countries completed a vocabulary measure based on words drawn from 2 texts, read the texts, and then completed a reading comprehension test for each text. The results revealed a relatively linear relationship between the percentage of vocabulary known and the degree of reading comprehension. There was no indication of a vocabulary \"threshold,\" where comprehension increased dramatically at a particular percentage of vocabulary knowledge. Results suggest that the 98% estimate is a more reasonable coverage target for readers of academic texts.

ObjectiveThe Frontal Assessment Battery (FAB) is a neuropsychological tool largely used to assess executive functions. Prior studies found a marked ceiling effect for the prehension behavior subtest (PBT) in healthy and clinical populations. Aims of the present study were (i) to examine the psychometric properties of the FAB without the contribution of PBT and (ii) to provide normative data for a revised version of the FAB after exclusion of PBT (FAB15).MethodsThe normative sample included 1,187 healthy participants. PBT had near-zero variance, poor content validity, and no discrimination power. Internal consistency increased when PBT was excluded. We assessed the FAB15 factorial structure, interrater, and test–retest reliabilities. Normative data for the FAB15 were extracted through a regression-based procedure according to sex, age, and education.ResultsThe principal component analysis revealed a single “executive factor” or alternatively a bifactorial solution reflecting the different degree of discriminative capability vs. difficulty of the subtests. The FAB15 demonstrated excellent interrater and test–retest reliabilities. Regression analysis showed that sex (lowly educated women < lowly educated men), higher age, and lower education affected FAB15 score. Accordingly, three grids for adjustment of raw scores (men, women, and both) were constructed. The cut-off was fixed at the non-parametric outer tolerance limit on the fifth centile (9.36, 95% CI).ConclusionThe observation of a ceiling effect in healthy subjects makes PBT not suitable for inclusion in a neuropsychological battery. The FAB15 may successfully replace the conventional FAB as a more severe and valid short screening tool to assess executive functioning.

Visual feedback normally helps guide movements to their goal. When moving one’s hand, such guidance has to deal with a sensorimotor delay of about 100 ms. When moving a cursor, it also has to deal with a delay of tens of milliseconds that arises between the hand moving the mouse and the cursor moving on the screen. Moreover, the cursor is presented at a certain rate, so only positions corresponding with the position of the mouse at certain moments are presented. How does the additional delay and the rate at which cursor positions are updated influence how well the cursor can be guided to the goal? We asked participants to move a cursor to consecutive targets as quickly as they could. They did so for various additional delays and presentation rates. It took longer for the mouse to reach the target when the additional delay was longer. It also took longer when a lower presentation rate was achieved by not presenting the cursor all the time. The fraction of the time during which the cursor was present was more important than the rate at which the cursor’s position was updated. We conclude that the way human arm movements are guided benefits from continuous access to recent visual feedback.

The size of an object equals the distance between the positions of its opposite edges. However, human sensory processing for perceiving positions differs from that for perceiving size. Which of these two information sources is used to control grip aperture? In this paper, we answer this question by prism adaptation of single-digit movements of the index finger and thumb. We previously showed that it is possible to adapt the index finger and thumb in opposite directions and that this adaptation induces an aftereffect in grip aperture in grasping. This finding suggests that grasping is based on the perceived positions of the contact points. However, it might be compatible with grasping being controlled based on size provided that the opposing prism adaptation leads to changes in visually perceived size or proprioception of hand opening. In that case, one would predict a similar aftereffect in manually indicating the perceived size. In contrast, if grasping is controlled based on information about the positions of the edges, the aftereffect in grasping is due to altered position information, so one would predict no aftereffect in manually indicating the perceived size. Our present experiment shows that there was no aftereffect in manually indicating perceived size. We conclude that grip aperture during grasping is based on perceived positions rather than on perceived size.

Background Virtual reality (VR) offers unprecedented opportunity as a scientific tool to study visuomotor interactions, training, and rehabilitation applications. However, it remains unclear if haptic-free hand-object interactions in a virtual environment (VE) may differ from those performed in the physical environment (PE). We therefore sought to establish if the coordination structure between the transport and grasp components remain similar whether a reach-to-grasp movement is performed in PE and VE. Method Reach-to-grasp kinematics were examined in 13 healthy right-handed young adults. Subjects were instructed to reach-to-grasp-to-lift three differently sized rectangular objects located at three different distances from the starting position. Object size and location were matched between the two environments. Contact with the virtual objects was based on a custom collision detection algorithm. Differences between the environments were evaluated by comparing movement kinematics of the transport and grasp components. Results Correlation coefficients, and the slope of the regression lines, between the reach and grasp components were similar for the two environments. Likewise, the kinematic profiles of the transport velocity and grasp aperture were strongly correlated across the two environments. A rmANOVA further identified some similarities and differences in the movement kinematics between the two environments - most prominently that the closure phase of reach-to-grasp movement was prolonged when movements were performed in VE. Conclusions Reach-to-grasp movement patterns performed in a VE showed both similarities and specific differences compared to those performed in PE. Additionally, we demonstrate a novel approach for parsing the reach-to-grasp movement into three phases- initiation, shaping, closure- based on established kinematic variables, and demonstrate that the differences in performance between the environments are attributed to the closure phase. We discuss this in the context of how collision detection parameters may modify hand-object interactions in VE. Our study shows that haptic-free VE may be a useful platform to study reach-to-grasp movements, with potential implications for haptic-free VR in neurorehabilitation.

Virtual reality (VR) has garnered much interest as a training environment for motor skill acquisition, including for neurological rehabilitation of upper extremities. While the focus has been on gross upper limb motion, VR applications that involve reaching for, and interacting with, virtual objects are growing. The absence of true haptics in VR when it comes to hand-object interactions raises a fundamentally important question: can haptic-free immersive virtual environments (hf-VEs) support naturalistic coordination of reach-to-grasp movements? This issue has been grossly understudied, and yet is of significant importance in the development and application of VR across a number of sectors. In a previous study (Furmanek et al., J Neuroeng Rehabil 16:78, 2019), we reported that reach-to-grasp movements are similarly coordinated in both the physical environment (PE) and hf-VE. The most noteworthy difference was that the closure phase—which begins at maximum aperture and lasts through the end of the movement—was longer in hf-VE than in PE, suggesting that different control laws might govern the initiation of closure between the two environments. To do so, we reanalyzed data from Furmanek et al. (J Neuroeng Rehabil 16:78, 2019), in which the participants reached to grasp three differently sized physical objects, and matching 3D virtual object renderings, placed at three different locations. Our analysis revealed two key findings pertaining to the initiation of closure in PE and hf-VE. First, the respective control laws governing the initiation of aperture closure in PE and hf-VE both included state estimates of transport velocity and acceleration, supporting a general unified control policy for implementing reach-to-grasp across physical and virtual environments. Second, the aperture was less informative to the control law in hf-VE. We suggest that the latter was likely because transport velocity at closure onset and aperture at closure onset were less independent in hf-VE than in PE, ultimately resulting in an aperture at closure onset having a weaker influence on the initiation of closure. In this way, the excess time and muscular effort needed to actively bring the fingers to a stop at the interface of a virtual object was factored into the control law governing the initiation of closure in hf-VE. Critically, this control law remained applicable, albeit with different weights in hf-VE, despite the absence of terminal haptic feedback and potential perceptual differences.