Abstract: Prior research on robotic hands predominantly focused on high degreesoffreedom of fully actuated fingers to replicate a natural human hand or on creative designs of underactuated fingers to make a selfadaptive motion. ...

Abstract: Prior research on robotic hands predominantly focused on high degrees-of-freedom of fully actuated fingers to replicate a natural human hand or on creative designs of underactuated fingers to make a self-adaptive motion. ...

Abstract: Abstract. This article introduces a novel stiffness-based assist-as-needed (AAN) control strategy aimed at optimizing the balance between robotic assistance and patient engagement in wrist rehabilitation. Central to the ...