Start Date: 2006
End
Date: 2010
Prof. Ing. Simon Fabri
Dr Ing. Conrad Pace
Mr David J. Cassar
Ing. Carmel Ellul
Mr Matthew J. Farrugia
The objective of this
project was to carry out
exploratory research into
the development of a
multi-degree-of-freedom,
multi-sensory
anthropomorphic hand for a
wide range of potential
applications. This involved
the exploration of various
aspects including hand and
finger kinematics, finger
actuation, sensory issues,
dexterous hand design and
development, dexterity
studies, and glove device
design and development for
tele-operation.
Various key results were
obtained, including the
development of a robot
finger with integrated
actuation, the development
of an anthropomorphic
robot hand with remotely
located actuators and
sensors, preliminary
quantification of the
contribution to dexterity
of specific features of an
anthropomorphic hand, and
the development of a glove
input/output device with
haptic feedback based on a
magneto-rheological fluid
actuator.
Publications:
D. J. Cassar and M. A.
Saliba, “A Force
Feedback Glove Based on
Magnetorheological
Fluid: Prototype
Development and
Evaluation”, Proceedings
of the 1st IEEE
International Conference
on Applied Bionics and
Biomechanics
(ICABB-2010), Venice,
Italy, October
2010.
download
C. Ellul and M. A.
Saliba, “Comparative
Analysis of Artificial
Hands: The Need for
Reporting and Test
Standards”, Proceedings
of the 1st IEEE
International Conference
on Applied Bionics and
Biomechanics
(ICABB-2010), Venice,
Italy, October
2010.
download
D. J. Cassar and M. A.
Saliba, “A Force
Feedback Glove Based on
Magnetorheological
Fluid: Preliminary
Design Issues”, The 15th
IEEE Mediterranean
Electrotechnical
Conference (MELECON
2010), Valletta, Malta,
April 2010, pp.
618-623.
download
D. J. Cassar and M. A.
Saliba, “Control System
Development for a
Dexterous Robot Hand
with Remotely Located
Actuators and Sensors”,
10th International
Workshop on Research and
Education in
Mechatronics (REM 2009)
Glasgow, UK, September
2009.
download
M. A. Saliba and M.
Axiak, “Design of a
Compact, Dexterous Robot
Hand with Remotely
Located Actuators and
Sensors”, Proceedings of
the 15th IEEE
Mediterranean Conference
on Control and
Automation (MED’07),
Athens, Greece, June
2007.
download
M. J. Farrugia and M.
A. Saliba, "Optimisation
of Anthropomorphic Robot
Hand Design through
Human Manual Dexterity
Testing", Proceedings of
the 37th IFR
International Symposium
of Robotics (ISR 2006),
Munich, Germany, May
2006.
download
N. Mifsud, A. M. Grech,
M. A. Saliba, and S. G.
Fabri, "Development of
an Anthropomorphic Robot
Finger: Mechanical and
Kinematic Aspects",
Proceedings of the 37th
IFR International
Symposium of Robotics
(ISR 2006), Munich,
Germany, May
2006.
download
M. A. Saliba, D.
Camilleri and M. J.
Farrugia, “Development
of an Anthropomorphic
Robot Hand and Wrist for
Teleoperation
Applications”,
Proceedings of the IEEE
International Conference
on Information and
Automation (ICIA 2005),
Colombo, Sri Lanka,
December
2005.
download
M. A. Saliba, F.
Farrugia, and A.
Giordmaina, “A Compact
Glove Input Device to
Measure Human Hand,
Wrist and Forearm Joint
Positions for
Teleoperation
Applications”,
Proceedings of the IEEE
/ APS International
Conference on
Mechatronics and
Robotics (MechRob 2004),
Aachen, Germany,
September
2004.
download
C. M.
Seguna and M. A. Saliba,
“The Mechanical and
Control System Design of
a Dexterous Robotic
Gripper”, Proceedings of
the IEEE International
Conference on
Electronics, Circuits,
and Systems (ICECS
2001), Malta, September
2001, pp. 1195 - 1201
vol.
3.
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