{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,9,7]],"date-time":"2024-09-07T22:52:24Z","timestamp":1725749544562},"reference-count":89,"publisher":"Fuji Technology Press Ltd.","issue":"1","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["JRM","J. Robot. Mechatron."],"published-print":{"date-parts":[[2019,2,20]]},"abstract":"Humanoid robot hands are expected to replace human hands in the dexterous manipulation of objects. This paper presents a review of humanoid robot hand research and development. Humanoid hands are also applied to multifingered haptic interfaces, hand rehabilitation support systems, sEMG prosthetic hands, telepalpation systems, etc. The developed application systems in our group are briefly introduced.<\/jats:p>","DOI":"10.20965\/jrm.2019.p0016","type":"journal-article","created":{"date-parts":[[2019,2,19]],"date-time":"2019-02-19T10:05:18Z","timestamp":1550570718000},"page":"16-26","source":"Crossref","is-referenced-by-count":30,"title":["Humanoid Robot Hand and its Applied Research"],"prefix":"10.20965","volume":"31","author":[{"given":"Haruhisa","family":"Kawasaki","sequence":"first","affiliation":[]},{"name":"Gifu University 1-1 Yanagido, Gifu 501-1193, Japan","sequence":"first","affiliation":[]},{"given":"Tetsuya","family":"Mouri","sequence":"additional","affiliation":[]}],"member":"8550","published-online":{"date-parts":[[2019,2,20]]},"reference":[{"key":"key-10.20965\/jrm.2019.p0016-1","doi-asserted-by":"crossref","unstructured":"J. K. Salisbury and J. J. Craig, \u201cArticulated hands: force control and kinematic issues,\u201d Int. J. of Robotics Research, Vol.1, No.1, pp. 4-17, 1982.","DOI":"10.1177\/027836498200100102"},{"key":"key-10.20965\/jrm.2019.p0016-2","doi-asserted-by":"crossref","unstructured":"S. C. Jacobsen, D. F. Wood, D. F. Knutti, and K. B. Biggers, \u201cThe Utah\/MIT dexterous hand: work in progress,\u201d Int. J. of Robotics Research, Vol.3, No.4, pp. 21-50, 1984.","DOI":"10.1177\/027836498400300402"},{"key":"key-10.20965\/jrm.2019.p0016-3","unstructured":"M. E. Rosheim, \u201cRobot Evolution \u2013 The Developments of Anthrobotics,\u201d John Wiley & Sons, 1994."},{"key":"key-10.20965\/jrm.2019.p0016-4","doi-asserted-by":"crossref","unstructured":"H. Liu, J. Butterfass, S. Knoch, P. Meusel, and G. Hirzinger, \u201cMultisensory articulated hand,\u201d IEEE Control Systems, Vol.19, No.2, pp. 47-54, 1999.","DOI":"10.1109\/37.753935"},{"key":"key-10.20965\/jrm.2019.p0016-5","doi-asserted-by":"crossref","unstructured":"R. S. Fearing, \u201cTactile sensing mechanisms,\u201d Int. J. of Robotics Research, Vol.9, No.3, pp. 3-23, 1990.","DOI":"10.1177\/027836499000900301"},{"key":"key-10.20965\/jrm.2019.p0016-6","doi-asserted-by":"crossref","unstructured":"R. D. Howe, \u201cTactile sensing and control of robotic manipulation,\u201d Advanced Robotics, Vol.8, No.3, pp. 245-261, 1994.","DOI":"10.1163\/156855394X00356"},{"key":"key-10.20965\/jrm.2019.p0016-7","doi-asserted-by":"crossref","unstructured":"H. Kawasaki and T. Komatsu, \u201cMechanism design of anthropomorphic robot hand: Gifu hand I,\u201d J. Robot. Mechatron., Vol.11, No.4, pp. 269-273, 1999.","DOI":"10.20965\/jrm.1999.p0269"},{"key":"key-10.20965\/jrm.2019.p0016-8","doi-asserted-by":"crossref","unstructured":"H. Kawasaki, T. Komatsu, and K. Uchiyama, \u201cDexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II,\u201d IEEE\/ASME Trans. on Mechatronics, Vol.7, No.3, pp. 296-303, 2002.","DOI":"10.1109\/TMECH.2002.802720"},{"key":"key-10.20965\/jrm.2019.p0016-9","unstructured":"T. Mouri, H. Kawasaki, K. Yoshikawa, J. Takai, and S. Ito, \u201cAnthropomorphic robot hand: Gifu hand III,\u201d Proc. of ICCAS\u201902, pp. 1288-1293, 2002."},{"key":"key-10.20965\/jrm.2019.p0016-10","doi-asserted-by":"crossref","unstructured":"T. Mouri and H. Kawasaki, \u201cA novel anthropomorphic robot hand and its master slave system,\u201d M. Hackel (Eds.), \u201cHumanoid Robots, Human-like Machines,\u201d I-Tech Education and Publishing, pp. 29-42, 2007.","DOI":"10.5772\/4796"},{"key":"key-10.20965\/jrm.2019.p0016-11","unstructured":"B. Rubinger, M. Brousseau, J. Lymer, C. M. Gosselin, T. Laliberte, and J. Piedboeuf, \u201cA novel robotic hand-SARAH for operations on the international space station,\u201d Proc. of the ASTRA Workshop, 2002."},{"key":"key-10.20965\/jrm.2019.p0016-12","doi-asserted-by":"crossref","unstructured":"T. Takaki and T. Omata, \u201cHigh-Performance Anthropomorphic Robot Hand With Grasping-Force-Magnification Mechanism,\u201d IEEE-ASME Trans. Mechatronics, Vol.16, No.3, pp. 583-591, 2011.","DOI":"10.1109\/TMECH.2010.2047866"},{"key":"key-10.20965\/jrm.2019.p0016-13","unstructured":"T. Mouri, H. Kawasaki, S. Nakagawa, T. Endo, and T. Miura, \u201cHigh output humanoid robot hand,\u201d Proc. The 30th Annual Conf. of RSJ, RSJ2012AC2O2-3, 2012 (in Japanese)."},{"key":"key-10.20965\/jrm.2019.p0016-14","unstructured":"M. W. Spong, S. Mutchinson, and M. Vidyasagar, \u201cRobot Modeling and Control,\u201d John Willey & Sons, 2006."},{"key":"key-10.20965\/jrm.2019.p0016-15","doi-asserted-by":"crossref","unstructured":"H. Kawasaki, \u201cRobot Hands and Multi-Fingered Haptic Interfaces: Fundamentals and Applications,\u201d World Scientific Publishing, 2015.","DOI":"10.1142\/9400"},{"key":"key-10.20965\/jrm.2019.p0016-16","doi-asserted-by":"crossref","unstructured":"M. R. Cutkosky and I. Kao, \u201cComputing and controlling the compliance of a robot hand,\u201d IEEE Trans. on Robotics and Automation, Vol.5, No.2, pp. 151-165, 1989.","DOI":"10.1109\/70.88036"},{"key":"key-10.20965\/jrm.2019.p0016-17","doi-asserted-by":"crossref","unstructured":"K. Kosuge, H. Yoshida, T. Fukuda, K. Kanitani, M. Sakai, and K. Hariki, \u201cCoordinated motion control of manipulators based on impedance control,\u201d J. of the RSJ, Vol.13, No.3, pp. 404-410, 1995 (in Japanese).","DOI":"10.7210\/jrsj.13.404"},{"key":"key-10.20965\/jrm.2019.p0016-18","unstructured":"L. Birglen, T. Lalibert, and C. M. Gosselin, \u201cUnderactuated Robotic Hands,\u201d Springer Verlag, 2010."},{"key":"key-10.20965\/jrm.2019.p0016-19","doi-asserted-by":"crossref","unstructured":"X. Zheng, R. Nakashima, and T. Yoshikawa, \u201cOn dynamic control of finger sliding and object motion in manipulation with mutifingered hands,\u201d IEEE Trans. on Robotics and Automation, Vol.16, No.5, pp. 469-481, 2000.","DOI":"10.1109\/70.880798"},{"key":"key-10.20965\/jrm.2019.p0016-20","doi-asserted-by":"crossref","unstructured":"T. Yoshikawa and X. Zheng, \u201cCoordinated dynamic hybrid position\/force control for multiple robot manipulators handling one constrained object,\u201d Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1178-1183, 1990.","DOI":"10.1109\/ROBOT.1990.126156"},{"key":"key-10.20965\/jrm.2019.p0016-21","doi-asserted-by":"crossref","unstructured":"Y. Y. Hwang and I. Toda, \u201cCoordinated control of two direct-drive robots using neural networks,\u201d JSME Int. J. Series C, Mechanical Systems, Vol.37, pp. 335-341, 1994.","DOI":"10.1299\/jsmec1993.37.335"},{"key":"key-10.20965\/jrm.2019.p0016-22","doi-asserted-by":"crossref","unstructured":"T. Naniwa and S. Arimoto, \u201cLearning control for robot tasks under geometric endpoint constraints,\u201d IEEE Trans. on Robotics and Automation, Vol.2, No.3, pp. 432-441, 1995.","DOI":"10.1109\/70.388787"},{"key":"key-10.20965\/jrm.2019.p0016-23","doi-asserted-by":"crossref","unstructured":"R. Ozawa, S. Arimoto, S. Nakamura, and J. Bae, \u201cControl of an object with parallel surfaces by a pair of finger robots without object sensing,\u201d IEEE Trans. on Robotics and Automation, Vol.21, No.5, pp. 965-976, 2005.","DOI":"10.1109\/TRO.2005.852263"},{"key":"key-10.20965\/jrm.2019.p0016-24","doi-asserted-by":"crossref","unstructured":"Y. Su and Y. Stepanenco, \u201cAdaptive sliding mode coordinated control of multiple robot arms attached to a constrained object,\u201d IEEE Trans. on Systems, Man, and Cybernetics, Vol.25, pp. 871-877, 1995.","DOI":"10.1109\/21.376500"},{"key":"key-10.20965\/jrm.2019.p0016-25","doi-asserted-by":"crossref","unstructured":"S. Ueki, H. Kawasaki, and T. Mouri, \u201cAdaptive coordinated control of multi-fingered hands with sliding contact,\u201d Proc. of SICE-ICASE Int. Joint Conf., pp. 5893-5898, 2006.","DOI":"10.1109\/SICE.2006.315525"},{"key":"key-10.20965\/jrm.2019.p0016-26","doi-asserted-by":"crossref","unstructured":"H. Kawasaki, S. Ueki, and S. Ito, \u201cDecentralized adaptive coordinated control of multiple robot arms without using force sensor,\u201d Automatica, Vol.42, No.3, pp. 481-488, 2006.","DOI":"10.1016\/j.automatica.2005.11.009"},{"key":"key-10.20965\/jrm.2019.p0016-27","doi-asserted-by":"crossref","unstructured":"S. Ueki, H. Kawasaki, and T. Mouri, \u201cAdaptive Coordinated Control of Multi-Fingered Robot Hand,\u201d J. Robot. Mechatron., Vol.21, No.1, pp. 36-43, 2009.","DOI":"10.20965\/jrm.2009.p0036"},{"key":"key-10.20965\/jrm.2019.p0016-28","doi-asserted-by":"crossref","unstructured":"T. Mouri, H. Kawasaki, and S. Ito, \u201cUnknown object grasping strategy imitating human grasping reflex for anthropomorphic robot hand,\u201d J. of Advanced Mechanical Design, Systems, and Manufacturing, Vol.1, No.1, pp. 1-11, 2007.","DOI":"10.1299\/jamdsm.1.1"},{"key":"key-10.20965\/jrm.2019.p0016-29","doi-asserted-by":"crossref","unstructured":"H. Kawasaki and T. Mouri, \u201cDesign and control of five-fingered haptic interface opposite to human hand,\u201d IEEE Trans. on Robotics, Vol.23, No.5, pp. 909-918, 2007.","DOI":"10.1109\/TRO.2007.906258"},{"key":"key-10.20965\/jrm.2019.p0016-30","doi-asserted-by":"crossref","unstructured":"H. Kawasaki, M. Kayukawa, H. Sakaeda, and T. Mour, \u201cLearning System for Myoelectric Prosthetic Hand Control by Forearm Amputees,\u201d Proc. of ROMAN2014, pp. 899-904, 2014.","DOI":"10.1109\/ROMAN.2014.6926367"},{"key":"key-10.20965\/jrm.2019.p0016-31","doi-asserted-by":"crossref","unstructured":"T. Mouri, H. Kawasaki, T. Aoki, Y. Nishimoto, S. Ito, and S. Ueki, \u201cTelerehabilitation for Fingers and Wrist Using a Hand Rehabilitation Support System and Robot Hand,\u201d Preprints of SYROCO\u201909, pp. 751-756, 2009.","DOI":"10.3182\/20090909-4-JP-2010.00102"},{"key":"key-10.20965\/jrm.2019.p0016-32","doi-asserted-by":"crossref","unstructured":"T. Mouri, Y. Imada, Y. Ishigure, and H. Kawasaki, \u201cHaptic interface robotic measurement system for breast engorgement,\u201d Proc. of BMEI\u201912, pp. 670-675, 2012.","DOI":"10.1109\/BMEI.2012.6513020"},{"key":"key-10.20965\/jrm.2019.p0016-33","doi-asserted-by":"crossref","unstructured":"V. Daniulaitis, M. O. Alhalabi, H. Kawasaki, Y. Tanaka, and T. Hori, \u201cMedical palpation of deformable tissue using physics-based model for Haptic Interface RObot (HIRO),\u201d Proc. of IROS2004, pp. 3907-3911, 2004.","DOI":"10.1109\/IROS.2004.1390024"},{"key":"key-10.20965\/jrm.2019.p0016-34","doi-asserted-by":"crossref","unstructured":"T. Mouri, H. Kawasaki, Y. Nishimoto, T. Aoki, Y. Ishigure, and M. Tanahashi, \u201cRobot Hand Imitating Disabled Person for Education\/Training of Rehabilitation,\u201d J. Robot. Mechatron., Vol.20, No.2, pp. 280-288, 2008.","DOI":"10.20965\/jrm.2008.p0280"},{"key":"key-10.20965\/jrm.2019.p0016-35","doi-asserted-by":"crossref","unstructured":"Y. Adachi, T. Kumano, A. Ikemoto, A. Hattori, and M. Suzuki, \u201cDevelopment of a haptic device for multi fingers by macro-micro structure,\u201d J. of the RSJ, Vol.20, No.7, pp. 725-733, 2002 (in Japanese).","DOI":"10.7210\/jrsj.20.725"},{"key":"key-10.20965\/jrm.2019.p0016-36","doi-asserted-by":"crossref","unstructured":"M. Montoy, M. Oyarzabal, M. Ferre, A. Campos, and J. Barrio, \u201cMasterFinger: multi-finger haptic interface for collaborative environment,\u201d Proc. of EuroHaptics2008, pp. 411-419, 2008.","DOI":"10.1007\/978-3-540-69057-3_54"},{"key":"key-10.20965\/jrm.2019.p0016-37","doi-asserted-by":"crossref","unstructured":"H. Kawasaki and T. Hayashi, \u201cForce Feedback Glove for Manipulation of Virtual Objects,\u201d J. Robot. Mechatron., Vol.5, No.1, pp. 79-84, 1993.","DOI":"10.20965\/jrm.1993.p0079"},{"key":"key-10.20965\/jrm.2019.p0016-38","doi-asserted-by":"crossref","unstructured":"H. Kawasaki, J. Takai, Y. Tanaka, C. Murad, and T. Mouri, \u201cControl of multi-fingered haptic interface opposite to human hand,\u201d Proc. of IROS\u201903, pp. 2707-2712, 2003.","DOI":"10.1109\/IROS.2003.1249279"},{"key":"key-10.20965\/jrm.2019.p0016-39","doi-asserted-by":"crossref","unstructured":"H. Kawasaki and T. Mouri, \u201cDesign and control of five-fingered haptic interface opposite to human hand,\u201d IEEE Trans. on Robotics, Vol.23, No.5, pp. 909-918, 2007.","DOI":"10.1109\/TRO.2007.906258"},{"key":"key-10.20965\/jrm.2019.p0016-40","doi-asserted-by":"crossref","unstructured":"T. Endo, H. Kawasaki, T. Mouri, Y. Ishigure, H. Shimomura, M. Matsumura, and K. Koketsu, \u201cFive-fingered haptic interface robot: HIRO III,\u201d IEEE Trans. on Haptics, Vol.4, No.1, pp. 14-27, 2011.","DOI":"10.1109\/TOH.2010.62"},{"key":"key-10.20965\/jrm.2019.p0016-41","doi-asserted-by":"crossref","unstructured":"O. Halabi, V. Daniulaitis, H. Kawasaki, T. Mouri, and Y. Ohtuka, \u201cFuture Haptic Science Encyclopedia: Realistic Stable Haptic Interaction with Highly Deformable Objects Using HIRO-II,\u201d J. Robot. Mechatron., Vol.18, No.4, pp. 409-417, 2006.","DOI":"10.20965\/jrm.2006.p0409"},{"key":"key-10.20965\/jrm.2019.p0016-42","unstructured":"T. Kawai, T. Mouri, T. Endo, and H. Kawasaki, \u201cBreast cancer palpation training system using five-fingered haptic interface robot and GPGPU,\u201d Proc. of AROB\u201913, pp. 547-550, 2013."},{"key":"key-10.20965\/jrm.2019.p0016-43","doi-asserted-by":"crossref","unstructured":"T. Endo, S. Tanimura, and H. Kawasaki, \u201cDevelopment of tool-type devices for a multi-fingered haptic interface robot,\u201d IEEE Trans. on Robotics, Vol.29, No.1, pp. 68-81, 2013.","DOI":"10.1109\/TRO.2012.2212831"},{"key":"key-10.20965\/jrm.2019.p0016-44","doi-asserted-by":"crossref","unstructured":"T. Endo and H. Kawasaki, \u201cA Fine Motor Skill Training System Using Multi-Fingered Haptic Interface Robot,\u201d Int. J. of Human-Computer Studies, Vol.84, pp. 41-50, 2015.","DOI":"10.1016\/j.ijhcs.2015.08.006"},{"key":"key-10.20965\/jrm.2019.p0016-45","doi-asserted-by":"crossref","unstructured":"M. Hioki, H. Kawasaki, H. Sakaeda, Y. Nishimoto, and T. Mouri, \u201cFinger rehabilitation support system using a multifingered haptic interface controlled by a surface electromyogram,\u201d J. of Robotics, Article ID 167516, 2011.","DOI":"10.1155\/2011\/167516"},{"key":"key-10.20965\/jrm.2019.p0016-46","doi-asserted-by":"crossref","unstructured":"H. Kawasaki, S. Nanmo, T. Mouri, and S. Ueki, \u201cVirtual Robot Teaching for Humanoid Hand Robot Using Muti-Fingered Haptic Interface,\u201d Proc. of CCCA\u201911, 2011.","DOI":"10.1109\/CCCA.2011.6031431"},{"key":"key-10.20965\/jrm.2019.p0016-47","doi-asserted-by":"crossref","unstructured":"T. Endo, H. Aoyama, S. Nakagawa, and H. Kawasaki, \u201cHaptic Display by a Side-Faced-Type Multi-Fingered Haptic Interface,\u201d Preprint of SYROCO 2012, pp. 367-372, 2012.","DOI":"10.3182\/20120905-3-HR-2030.00052"},{"key":"key-10.20965\/jrm.2019.p0016-48","doi-asserted-by":"crossref","unstructured":"R. S. Johanson and A. B. Vallbo, \u201cTactile Sensibility in the Human Hand: Relative and Absolute Densities of Four Types of Mechanoreceptive Units in Glabrous Skin,\u201d J. of Physiol, Vol.286, pp. 283-300, 1979.","DOI":"10.1113\/jphysiol.1979.sp012619"},{"key":"key-10.20965\/jrm.2019.p0016-49","doi-asserted-by":"crossref","unstructured":"H. Kawasaki, Y. Doi, S. Koide, T. Endo, and T. Mouri, \u201cHand Haptic Interface Incorporating 1D Finger Pad and 3D Fingertip Force Display Devices,\u201d Proc. of ISIE 2010, pp. 1869-1874, 2010.","DOI":"10.1109\/ISIE.2010.5637546"},{"key":"key-10.20965\/jrm.2019.p0016-50","doi-asserted-by":"crossref","unstructured":"T. Endo, A. Kusakabe, Y. Kazama, and H. Kawasaki, \u201cHaptic Interface for Displaying Softness at Multiple Fingers: Combining a Side-Faced-Type Multi-Fingered Haptic Interface Robot and Improved Softness-Display Devices,\u201d IEEE\/ASME Trans. on Mechatronics, Vol.21, No.5, pp. 2343-2351, 2016.","DOI":"10.1109\/TMECH.2016.2567453"},{"key":"key-10.20965\/jrm.2019.p0016-51","unstructured":"X. Yang, W. F. Bischof, and P. Boulanger, \u201cPerception of Haptic Force Magnitude during Hand Movements,\u201d Proc. of ICRA2008, pp. 2061-2066, 2008."},{"key":"key-10.20965\/jrm.2019.p0016-52","doi-asserted-by":"crossref","unstructured":"I. Elhajj, H. Weerasinghe, A. Dika, and R. Hansen, \u201cHuman Perception of Haptic Force Direction,\u201d Proc. of IROS2006, pp. 989-993, 2006.","DOI":"10.1109\/IROS.2006.281780"},{"key":"key-10.20965\/jrm.2019.p0016-53","doi-asserted-by":"crossref","unstructured":"H. Kawasaki, Y. Ohtuka, S. Koide, and T. Mouri, \u201cPerception and Haptic Rendering of Friction Moments,\u201d IEEE Trans. on Haptics, Vol.4, No.1, pp. 28-38, 2011.","DOI":"10.1109\/TOH.2010.42"},{"key":"key-10.20965\/jrm.2019.p0016-54","doi-asserted-by":"crossref","unstructured":"T. Endo, T. Kanno, M. Kobayashi, and H. Kawasaki, \u201cHuman Perception Test of Discontinuous Force and a Trial of Skill Transfer Using a Five-Fingered Haptic Interface,\u201d J. of Robotics, Vol.2010, Article ID 542360, 2010.","DOI":"10.1155\/2010\/542360"},{"key":"key-10.20965\/jrm.2019.p0016-55","unstructured":"J. Park, A. J. Doxon, W. R. Provancher, D. E. Johnson, and H. Z. Hong, \u201cEdge Sharpness Perception with Force and Contact Location Information,\u201d Proc. of WHC2011, pp. 21-24, 2011."},{"key":"key-10.20965\/jrm.2019.p0016-56","unstructured":"L. B. Prorquis, M. Konyo, and S. Tadokoro, \u201cEnhancement of Human Force Perception by Multi-point Tactile Stimulation,\u201d Proc. of IROS2011, pp. 3488-3493, 2011."},{"key":"key-10.20965\/jrm.2019.p0016-57","unstructured":"H. Kawasaki and T. Mouri, \u201cForce Discrimination Using Improved Hand Haptic Interface,\u201d Proc. of ISCEAS 2015, pp. 372-381, 2015."},{"key":"key-10.20965\/jrm.2019.p0016-58","doi-asserted-by":"crossref","unstructured":"S. A. Dalley, T. E. Wiste, T. J. Withrow, and M. Goldfarb, \u201cDesign of a multifunctional anthropomorphic prosthetic hand with extrinsic actuation,\u201d IEEE\/ASME Trans. on Mechatronics, Vol.14, No.6, pp. 699-706, 2009.","DOI":"10.1109\/TMECH.2009.2033113"},{"key":"key-10.20965\/jrm.2019.p0016-59","doi-asserted-by":"crossref","unstructured":"N. Bu, M. Okamoto, and T. Tsuji, \u201cA hybrid motion classification approach for EMG-based human-robot interface using Bayesian and neural networks,\u201d IEEE Trans. on Robotics, Vol.25, No.3, pp. 502-511, 2009.","DOI":"10.1109\/TRO.2009.2019782"},{"key":"key-10.20965\/jrm.2019.p0016-60","unstructured":"T. Hara, H. Kawasaki, and T. Mouri, \u201cDevelopment of a Prosthetic Hand Having High Grasp Force and 2-dof Wrist,\u201d Proc. of IEEE BIOROB 2010 Workshop: \u201cBridging Human Hand Research and the Development of Robotic Technology for Hands,\u201d 2010."},{"key":"key-10.20965\/jrm.2019.p0016-61","doi-asserted-by":"crossref","unstructured":"M. Hioki and H. Kawasaki, \u201cEstimation of Finger Joint Angles From sEMG Using a Neural Network Including Time Delay Factor and Recurrent Structure,\u201d ISRN Rehabilitation, Vol.2012, 2012.","DOI":"10.5402\/2012\/604314"},{"key":"key-10.20965\/jrm.2019.p0016-62","unstructured":"M. H. Asyal, M. Yilamaz, M. Tokmakc, K. Sedef, B. H. Aksebzec, and R. Mittal, \u201cDesign and implementation of a voice-controlled prosthetic hand,\u201d Turk J. Elec. Eng. & Comp. Sci., Vol.19, No.1, pp. 33-46, 2011."},{"key":"key-10.20965\/jrm.2019.p0016-63","doi-asserted-by":"crossref","unstructured":"H. Kawasaki, T. Mouri, K. Iwase, and H. Sakaeda, \u201cProsthetic Hand Control Using Speech and sEMG,\u201d Proc. of the 2014 IEEE Int. Conf. on Robotics and Biomimetics, pp. 1136-1141, 2014.","DOI":"10.1109\/ROBIO.2014.7090485"},{"key":"key-10.20965\/jrm.2019.p0016-64","unstructured":"C. G. Burger, P. S. Lum, P. C. Shor, and H. F. Machiel Van der Loos, \u201cDevelopment of robots for rehabilitation therapy: The Palo Alto VA\/Stanford experience,\u201d J. of Rehabilitation Research and Development, Vol.37, No.6, pp. 663-673, 2000."},{"key":"key-10.20965\/jrm.2019.p0016-65","doi-asserted-by":"crossref","unstructured":"R. T. Lauer, K. L. Kilgore, and P. H. Peckham, \u201cThe function of the finger intrinsic muscles in response to electrical stimulation,\u201d IEEE Trans. Rehabilitation Engineering, Vol.7, No.1, pp. 19-26, 1999.","DOI":"10.1109\/86.750547"},{"key":"key-10.20965\/jrm.2019.p0016-66","doi-asserted-by":"crossref","unstructured":"J. Oblak, I. Cikajlo, and Z. Matjacic, \u201cUniversal haptic drive: a robot for arm and wrist rehabilitation,\u201d IEEE Trans. on Neural Systems and Rehabilitation Engineering, Vol.18, No.3, pp. 293-302, 2010.","DOI":"10.1109\/TNSRE.2009.2034162"},{"key":"key-10.20965\/jrm.2019.p0016-67","doi-asserted-by":"crossref","unstructured":"L. Dovat, O. Lambercy, R. Gassert, T. Maeder, T. Milner, T. C. Leong, and E. Burdet, \u201cHandCARE: a cableactuated rehabilitation system to train hand function after stroke,\u201d IEEE Trans. on Neural Systems and Rehabilitation Engineering, Vol.16, No.6, pp. 582-591, 2008.","DOI":"10.1109\/TNSRE.2008.2010347"},{"key":"key-10.20965\/jrm.2019.p0016-68","doi-asserted-by":"crossref","unstructured":"D. Jack, \u201cVirtual reality-enhanced stroke rehabilitation,\u201d IEEE Trans. Neural Systems and Rehabilitation Engineering, Vol.9, No.3, pp. 308-318, 2001.","DOI":"10.1109\/7333.948460"},{"key":"key-10.20965\/jrm.2019.p0016-69","doi-asserted-by":"crossref","unstructured":"M. Guti\u00e9rrez, P. Lemoine, D. Thalman, and F. Vexo, \u201cTelerehabilitation: Controlling haptic virtual environments through handheld interfaces,\u201d Proc. of VRST\u201904, pp. 195-200, 2004.","DOI":"10.1145\/1077534.1077577"},{"key":"key-10.20965\/jrm.2019.p0016-70","doi-asserted-by":"crossref","unstructured":"N. Petroff et al., \u201cFuzzy-Control of a Hand Orthosis for Rehabilitation Tip Pinch, Lateral Pinch, and Cylindrical Prehensions to Patients with Elbow Flexion Intact,\u201d IEEE Trans. on Neural Systems and Rehabilitation Engineering, Vol.9, No.2, pp. 225-231, 2001.","DOI":"10.1109\/7333.928582"},{"key":"key-10.20965\/jrm.2019.p0016-71","doi-asserted-by":"crossref","unstructured":"H. Kawasaki, S. Kimura, S. Ito, Y. Nishimoto, H. Hayashi, and H. Sakaed, \u201cHand Rehabilitation Support System Based on Self-Motion Control, with a Clinical Case Report,\u201d Proc. of WAC 2006, 2006.","DOI":"10.1109\/WAC.2006.375977"},{"key":"key-10.20965\/jrm.2019.p0016-72","doi-asserted-by":"crossref","unstructured":"S. Ito, H. Kawasaki, Y. Ishigure, M. Natsume, T. Mouri, and Y. Nishimoto, \u201cA design of fine motion assist equipment for disabled hand in robotic rehabilitation system,\u201d J. of the Franklin Institute, Vol.348, Issue 1, pp. 79-89 , 2011.","DOI":"10.1016\/j.jfranklin.2009.02.009"},{"key":"key-10.20965\/jrm.2019.p0016-73","doi-asserted-by":"crossref","unstructured":"S. Ueki, H. Kawasaki, S. Ito, Y. Nishimoto, M. Abe, T. Aoki, Y. Ishigure, T. Ojika, and T. Mouri, \u201cDevelopment of a hand-assist robot with multi-degrees-of-freedom for rehabilitation therapy,\u201d IEEE\/ASME Trans. on Mechatronics, Vol.17, No.1, pp. 136-146, 2012.","DOI":"10.1109\/TMECH.2010.2090353"},{"key":"key-10.20965\/jrm.2019.p0016-74","unstructured":"W. Yoon, T. Goshozono, H. Kawabe, M. Kinami, Y. Tsumaki, M. Uchiyama, M. Oda, and T. Doi, \u201cModel-Based Teleoperation of a Space Robot on ETS-VII Using a Haptic Interface,\u201d Proc. of ICRA 2001, pp. 407-412, 2001."},{"key":"key-10.20965\/jrm.2019.p0016-75","doi-asserted-by":"crossref","unstructured":"P. Berkelman, \u201cThe University of Hawaii Teleoperated Robotic Surgery System,\u201d Proc. of IROS 2007, pp. 2565-2566, 2007.","DOI":"10.1109\/IROS.2007.4399550"},{"key":"key-10.20965\/jrm.2019.p0016-76","doi-asserted-by":"crossref","unstructured":"A. Heuser, H. Kourtev, S. Winter, D. Fensterheim, G. Burdea, V. Hentz, and P. Forducey, \u201cTelerehabilitation Using the Rutgers Master II Grove Following Carpal Tunnel Release Surgery: Proof-of-Concept,\u201d IEEE Trans. on Neural Systems and Rehabilitation Engineering, Vol.15, No.1, pp. 43-49, 2007.","DOI":"10.1109\/TNSRE.2007.891393"},{"key":"key-10.20965\/jrm.2019.p0016-77","unstructured":"T. Mouri, H. Kawasaki, T. Aoki, Y. Nishimoto, S. Ito, and S. Ueki, \u201cTele-rehabilitation for Fingers and Hand,\u201d Proc. of Automatics 2008, pp. 965-967, 2008."},{"key":"key-10.20965\/jrm.2019.p0016-78","doi-asserted-by":"crossref","unstructured":"G. Hwang, P. Chantanakajornfung, and H. Hashimoto, \u201cVersatile Robotic Biomanipulation with Haptic Interface,\u201d J. Robot. Mechatron., Vol.19, No.5, pp. 585-591, 2007.","DOI":"10.20965\/jrm.2007.p0585"},{"key":"key-10.20965\/jrm.2019.p0016-79","doi-asserted-by":"crossref","unstructured":"M. P. W. J. van Osch, D. Bera, Y. Koks, and K. M. van Hee, \u201cTele-Operated Service Robots for Household and Care, Gerontechnology,\u201d Vol.11, No.2, pp. 225-226, 2012.","DOI":"10.4017\/gt.2012.11.02.194.00"},{"key":"key-10.20965\/jrm.2019.p0016-80","doi-asserted-by":"crossref","unstructured":"D. A. Lawrence, \u201cStability and Transparency in Bilateral Teleoperation,\u201d IEEE Trans. on Robotics and Automation, Vol.9, No.5, pp. 624-637, 1993.","DOI":"10.1109\/70.258054"},{"key":"key-10.20965\/jrm.2019.p0016-81","doi-asserted-by":"crossref","unstructured":"N. Chopra, M. W. Spong, R. Ortega, and N. E. Barabanov, \u201cOn Tracking Performance in Bilateral Teleoperation,\u201d IEEE Trans. on Robotics, Vol.22, No.4, pp. 861-866, 2006.","DOI":"10.1109\/TRO.2006.878942"},{"key":"key-10.20965\/jrm.2019.p0016-82","doi-asserted-by":"crossref","unstructured":"R. Cortesao, J. Park, and O. Khatib, \u201cReal-Time Adaptive Control for Haptic Telemanipulation with Kalman Active Observers,\u201d IEEE Trans. on Robotics, Vol.22, No.5, pp. 987-999, 2006.","DOI":"10.1109\/TRO.2006.878787"},{"key":"key-10.20965\/jrm.2019.p0016-83","doi-asserted-by":"crossref","unstructured":"D. Lee and P. Y. Li, \u201cPassive Bilateral Control and Tool Dynamics Rendering for Nonlinear Mechanical Teleoperators,\u201d IEEE Trans. on Robotics, Vol.21, No.5, pp. 936-951, 2005.","DOI":"10.1109\/TRO.2005.852259"},{"key":"key-10.20965\/jrm.2019.p0016-84","doi-asserted-by":"crossref","unstructured":"S. Tachi, K. Komoriya, K. Sawada, T. Nishiyama, T. Itoko, M. Kobayashi, and K. Inoue, \u201cTelexistence Cockpit for Humanoid Robot Control,\u201d J. of Advanced Robotics, Vol.17, No.3, pp. 199-217, 2003.","DOI":"10.1163\/156855303764018468"},{"key":"key-10.20965\/jrm.2019.p0016-85","doi-asserted-by":"crossref","unstructured":"T. Mouri, H. Kawasaki, and K. Umebayashi, \u201cDevelopments of New Anthropomorphic Robot Hand and its Master Slave System,\u201d Proc. of IROS 2005, pp. 3474-3479, 2005.","DOI":"10.1109\/IROS.2005.1545508"},{"key":"key-10.20965\/jrm.2019.p0016-86","doi-asserted-by":"crossref","unstructured":"M. Bouzit, G. Burdea, G. Popescu, and R. Boian, \u201cThe Rutgers Masster II \u2013 New Design Force-Feedback Glove,\u201d IEEE\/ASME Trans. Mechatron., Vol.7, No.2, pp. 256-263, 2002.","DOI":"10.1109\/TMECH.2002.1011262"},{"key":"key-10.20965\/jrm.2019.p0016-87","doi-asserted-by":"crossref","unstructured":"F. Kobayashi, G. Ikai, W. Fukui, and F. Kojima, \u201cTwo-Fingered Haptic Device for Robot Hand Tele-Operation,\u201d J. of Robotics, Vol.2011, Article ID 419465, 2011.","DOI":"10.1155\/2011\/419465"},{"key":"key-10.20965\/jrm.2019.p0016-88","doi-asserted-by":"crossref","unstructured":"T. Mouri, S. Ueki, and H. Kawasaki, \u201cBilateral Tele-operated Hand Robot with Communicational Time Delay?,\u201d Proc. of IFAC 2017 World Congress, pp. 13260-13265, 2017.","DOI":"10.1016\/j.ifacol.2017.08.1824"},{"key":"key-10.20965\/jrm.2019.p0016-89","doi-asserted-by":"crossref","unstructured":"S. Ueki, T. Mouri, T. Endo, and H. Kawasaki, \u201cStudy on stiffness visualization and safety control based on will-consensus building for tele-palpation robot system,\u201d Artificial Life and Robotics, Vol.21, Issue 1, pp. 31-36, 2016.","DOI":"10.1007\/s10015-015-0254-5"}],"container-title":["Journal of Robotics and Mechatronics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.fujipress.jp\/main\/wp-content\/themes\/Fujipress\/phyosetsu.php?ppno=ROBOT003100010002","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,11,17]],"date-time":"2019-11-17T09:05:37Z","timestamp":1573981537000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.fujipress.jp\/jrm\/rb\/robot003100010016"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,2,20]]},"references-count":89,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2019,2,20]]},"published-print":{"date-parts":[[2019,2,20]]}},"URL":"https:\/\/doi.org\/10.20965\/jrm.2019.p0016","relation":{},"ISSN":["1883-8049","0915-3942"],"issn-type":[{"type":"electronic","value":"1883-8049"},{"type":"print","value":"0915-3942"}],"subject":[],"published":{"date-parts":[[2019,2,20]]}}}