Results
Designs & Patents
Robotic gripper (utility model ES 1279269 Y, Number petition: U202131744, aproved on 5-01-2022))
Websites
Papers
F.J. Andrés, A. Pérez-González, C. Rubert, J. Fuentes, B. Sospedra. Comparison of grasping performance of tendon and linkage transmission systems systems in an electric powered low cost hand prosthesis. Journal of Mechanisms and Robotics, Feb 2019, 11(1): 011018, DOI:http://doi.org/10.1115/1.4040491.
I. Llop-Harillo, A. Pérez-González, J. Starke, T. Asfour. The anthropomorphic hand assessment protocol (AHAP). Robotics and Autonomous Systems, Volume 121, November 2019, 103259. DOI: https://doi.org/10.1016/j.robot.2019.103259
I. Llop-Harillo, A. Pérez-González, V. Gracia-Ibáñez. Anthropomorphism Index of Mobility for artificial hands. Applied Bionics and Biomechanics, Vol. 2019, Article ID 7169034. DOI: https://doi.org/10.1155/2019/7169034.
C. Rubert, D. Keppler, J. Bohg, A. Morales. Predicting Grasps Success in the Real World - A study of Quality Metrics and Human Assessment. Robotics and Autonomous Systems, 2019, Volume 121, November 2019, 103274. DOI: https://doi.org/10.1016/j.robot.2019.103274.
I. Llop-Harillo, A. Pérez-González, J. Andres-Esperanza. Anthropomorphism Indexes of the Kinematic Chain for Artificial Hands. Journal of Bionic Engineering volume 17, pages501–511 (2020). DOI: https://doi.org/10.1007/s42235-020-0040-5
I. Llop-Harillo, A. Pérez-González, J. Andrés-Esperanza. Grasping ability and motion synergies in affordable tendon-driven prothetic hands controlled by able-bodied subjects. Frontiers in Neurorobotics. Vol. 14, Art. 57. (2020). DOI: https://doi.org/10.3389/fnbot.2020.00057.
Cepriá-Bernal J, Pérez-González A. Dataset of Tactile Signatures of the Human Right Hand in Twenty-One Activities of Daily Living Using a High Spatial Resolution Pressure Sensor. Sensors. 2021; 21(8):2594. DOI: https://doi.org/10.3390/s21082594.
M. A. Roa et al., Mobile Manipulation Hackathon: Moving into Real World Applications, in IEEE Robotics & Automation Magazine, 2021, DOI: https://doi.org/10.1109/MRA.2021.3061951.
Nechyporenko, N.; Morales, A.; Cervera, E.; del Pobil, A.P. A Practical Approach for Picking Items in an Online Shopping Warehouse. Appl. Sci. 2021, 11, 5805. DOI: https://doi.org/10.3390/app11135805.
Daniel Cardin-Catalan, Simon Ceppetelli, Angel P. del Pobil, Antonio Morales, Design and analysis of a variable-stiffness robotic gripper, Alexandria Engineering Journal, 2021. DOI: https://doi.org/10.1016/j.aej.2021.06.045.
Javier Andrés-Esperanza, Jose L. Iserte-Vilar, Immaculada Llop-Harillo, Antonio Pérez-González, Affordable 3D-printed tendon prosthetic hands: expectations and benchmarking questioned. Engineering Science and Technology, An International Journal, 2021. DOI:https://doi.org/10.1016/j.jestch.2021.08.010.
Immaculada Llop-Harillo, José L. Iserte, Antonio Pérez-González, Benchmarking anthropomorphic hands through grasping simulations, Journal of Computational Design and Engineering, Journal of Computational Design and Engineering, Volume 9, Issue 2, April 2022, Pages 330-342. DOI: http://dx.doi.org/10.1093/jcde/qwac002.
(in preparation) D.Cardin-Catalan,I. Llop-Harillo, A.Morales, A.P. del Pobil, A. Perez-Gonzalez, Design and optimisation of a novel variable-stiffness gripper .
(in preparation) J. V. García-Ortiz, M. C. Mora, J. J. Arroyave-Salazar, A. Pérez-González, A protocol for evaluating hand prosthesis control.
Book chapters
Pérez-González A., Llop-Harillo I. (2020) Optimization of the Kinematic Chain of the Thumb for a Hand Prosthesis Based on the Kapandji Opposition Test. In: Ateshian G., Myers K., Tavares J. (eds) Computer Methods, Imaging and Visualization in Biomechanics and Biomedical Engineering. CMBBE 2019. Lecture Notes in Computational Vision and Biomechanics, vol 36. Springer, Cham. DOI:https://doi.org/10.1007/978-3-030-43195-2_22
Repositories
Antonio Pérez-González and Immaculada Llop-Harillo (2019), 3D models of the objects selected (from YCB set) for the different grasp types in the Anthropomorphic Hand Assessment Protocol (AHAP), DOI: 10.5281/zenodo.3560735
Andrés-Esperanza, Javier, Llop-Harillo, Immaculada, Pérez-González, Antonio, & Iserte-Vilar, José L. (2020, September 30). 3D models of the objects proposed for the benchmarking of affordable prosthetic hands (Version 1). Zenodo. http://doi.org/10.5281/zenodo.4059311
Antonio Pérez-González, & Javier Cepria-Bernal. (2021). Dataset of tactile signatures of the human hand in twenty one activities of daily living [Data set]. Zenodo. http://doi.org/10.5281/zenodo.4607289
Andrés-Esperanza, Javier, Llop-Harillo, Immaculada, Pérez-González, Antonio, Iserte-Vilar, José L., García-Ortiz, José V., & Mora-Aguilar, Marta C. (2021). Test-Bench for tendon prosthetic hands. Zenodo. https://doi.org/10.5281/zenodo.4718017
Immaculada Llop-Harillo, Antonio Pérez-González, Julia Starke, Tamim Asfour (2021). Data of "The Anthropomorphic Hand Assessment Protocol (AHAP)" paper. http://doi.org/10.5281/zenodo.5704891.
Contributions to international congresses
I. Llop-Harillo, C. Rubert, A. Pérez-González (2018). Computation of grasp quality metrics in OpenHand simulator to improve a 3-D printed prosthetic hand. Computer Methods in Biomechanics and Biomedical Engineering Congress, Lisboa.
García-Ortiz, J.V., Mora, M.C., Andrés, J., Pérez-González, A., Fuentes, J.F. (2018). Linear Identification procedure to obtain a low computational cost model for hand grasping in anthropomorphic hands. Computer Methods in Biomechanics and Biomedical Engineering Congress, Lisboa.
Immaculada Llop-Harillo, Verónica Gracia-Ibáñez and Antonio Pérez-González (2018) Analysis of anthropometric dimensions and joints range of motion of the human hand for application to the design of hand prostheses, 8th World Congress of Biomechanics (WCB 2018). Dublin, Ireland.
A. Pérez-González, I. Llop-Harillo (2019). Optimization of the kinematic chain of the thumb for a hand prosthesis based on the Kapandji opposition test. 16th International Symposium on Computer Methods in Biomechanics and Biomedical Engineering (CMBBE2019), New York.
I. Llop-Harillo, A. Pérez-González, J. Cantero-Ramis (2019). Analysis of motion synergies in grasping tasks for a 6-DOF tendon-driven prosthetic hand. 16th International Symposium on Computer Methods in Biomechanics and Biomedical Engineering (CMBBE2019), New York.
García-Ortiz J.V. , Cantero-Ramis J.A. , Mora M.C. , Pérez-González A. (2019). Model Based predictive control applied to prosthetic hands. 16th International Symposium on Computer Methods in Biomechanics and Biomedical Engineering (CMBBE2019), New York.
I. Llop-Harillo, A. Pérez-González, J. Cantero-Ramis, F. Javier Andrés, J. Fuentes (2019). Effect of the subject on the control of tendon-driven prosthetic hands with an able-bodied adaptor. 25th Congress of the European Society of Biomechanics, Viena.
Mora, M.C., García-Ortiz, J. V., Pérez-González, A. (2019). Exploring new HMI devices for controlling multi-DOF low-cost prosthetic hands: the MYO armband. 25th Congress of the European Society of Biomechanics, Viena.
I. Llop-Harillo, A. Pérez-González, F. Javier Andrés (2021). Motion synergies in tendon-driven prosthetic hands actuated by able-bodied subjects. 26th Congress of the European Society of Biomechanics, Milan.
Marta C. Mora, Jeremy Colzy, José V. García-Ortiz, Joaquín Cerdá-Boluda. Improving the communications between an EMG-based HDMI for hand prosthetic users with ANN. 26th Congress of the European Society of Biomechanics, Milan.
Contributions to national congresses
I. Llop Harillo, A. Pérez González (2018), Comparación de la cadena cinemática de manos antropomorfas artificiales con la de la mano humana. XXII Congreso Nacional de Ingeniería Mecánica, Madrid.
I. Llop Harillo, A. Pérez González, (2018). Evaluación y comparación del antropomorfismo de manos artificiales. VIII Reunión del Capítulo Español de la European Society of Biomechanics. Castellón.
C. Corella Mora, A. Pérez González, I. Llop Harillo, (2018). Índice de movilidad de una mano protésica basado en el índice de Kapandji modificado. VIII Reunión del Capítulo Español de la European Society of Biomechanics. Castellón.
V. Bayarri Porcar, M. Vergara, A. Pérez-González (2018). Diseño y desarrollo de prótesis pediátricas de miembro superior orientado a la estética y el diseño afectivo.VIII Reunión del Capítulo Español de la European Society of Biomechanics. Castellón.
J.V. García-Ortiz, M.C. Mora, A. Pérez-González, J. Cantero-Ramis (2018). Plataforma automática de control de manos Antropomórficas y Robóticas (PACMAR). VIII Reunión del Capítulo Español de la European Society of Biomechanics. Castellón.
C. Corella Mora, A. Pérez González, (2019). Análisis de ángulos anatómicos de la muñeca humana en el transporte de objetos. Aplicación al diseño de prótesis de muñeca. IV Jornada Estudia e Investiga, Universitat Jaume I.
C. Corella Mora, A. Pérez González (2019). Análisis preliminar de la cinemática de la muñeca humana en el transporte de objetos. Aplicación al diseño de prótesis de muñeca. IX Reunión del Capítulo Español de la Sociedad Europea de Biomecánica (ESB). Las Palmas.
Immaculada Llop Harillo, Antonio Pérez González, Jesús Cantero Ramis, F. Javier Andrés (2019). Evaluación y comparación de manos protésicas de impresión 3D mediante el Anthropomorphic Hand Assessment Protocol (AHAP). IX Reunión del Capítulo Español de la Sociedad Europea de Biomecánica (ESB). Las Palmas.
Andrés F. J., Iserte J. L., Fuentes J., Pérez A. (2019). Estudio del efecto de abducción del pulgar en una prótesis de mano de bajo coste: una propuesta de Benchmark. IX Reunión del Capítulo Español de la Sociedad Europea de Biomecánica (ESB). Las Palmas.
J. Andrés-Esperanza, I. Llop-Harillo, V. Roda-Casanova, J.L. Iserte-Vilar, A. Pérez-González (2021). Adecuación del Southampton Hand Assessment Procedure para manos protésicas de bajo coste. XXIII Congreso Nacional de Ingeniería Mecánica. Jaén.
Andrés-Esperanza J., Iserte-Vilar J.L., Llop-Harillo I., Pérez-González A. (2021). Benchmarking para prótesis de bajo coste actuadas por tendón. X Reunión del Capítulo Español de la Sociedad Europea de Biomecánica. Granada.
Awards and mentions
I. Llop Harillo, A. Pérez González (2018), Comparación de la cadena cinemática de manos antropomorfas artificiales con la de la mano humana. XXII Congreso Nacional de Ingeniería Mecánica, Madrid. Award to the best communication in Applied Research.
C. Corella Mora, A. Pérez González, I. Llop Harillo, (2018). Índice de movilidad de una mano protésica basado en el índice de Kapandji modificado. VIII Reunión del Capítulo Español de la European Society of Biomechanics. Castellón. Special mention as one of the four best communications of the meeting.
C. Corella Mora and the Biomechanics and Ergonomics group (2019) are awarded with a prize from the Banco Sabadell Foundation for the best student practices in the framework of the "Study and Research" program of the Jaume I University. The work done by César was the design of two versions of a low-cost wrist prosthesis.
Joan Martínez Rubert (2020) is awarded with the 2º prize to the best Bachelor Thesis of the Professional Association of Mechanical Engineers (Diseño de un dispositivo para medición de fuerza de agarre en manos artificiales).
Joan Martínez Rubert (2020) is awarded with the 2º prize to the best Bachelor Thesis of the Aula Torrecid-UJI (Diseño de un dispositivo para medición de fuerza de agarre en manos artificiales)
C. Corella Mora (2021) is awarded with the Prize EcoSistecMas to the best Bachelor Final Project for his work done in the framework of the BENCH-HAND project: Diseño de dos prótesis de muñeca.
Imma Llop is awarded as a runner-up for the Best Doctoral thesis in the conference of the European Society of Biomechanics, 2021 held in Milan.
Imma Llop is awarded as a runner-up for the Best Doctoral Thesis 2020, a prize of the Spanish Association of Mechanical Engineering.
Imma Llop is awarded with a prize in the call for projects in social commitment "I Convocatoria para Proyectos de Investigación en Compromiso Social – Banco Santander. Año 2021. " for the work entitled "Design and evaluation of prosthetic hands".
Doctoral theses
Carlos Rubert Escuder, Application and use of quality metrics for the prediction of grasp success and evaluation of artificial hands. Supervisor: Antonio Morales. Date: Oct-2018.
Immaculada Llop Harillo, Methods for the design and evaluation of anthropomorphic artificial hands. Supervisor: Antonio Pérez. Date: 26-June-2020.
Daniel Cardin Catalan, Design and evaluation of variable-stiffness robotic grippers . Supervisor: A. Pascual del Pobil, Antonio Morales. Date: Feb-2022.
Bachelor and Master Projects
Paloma Oliván Cardona, Diseño de un banco de ensayo para la evaluación de capacidades prensiles de prótesis de mano, Bachelor Final Project, 2018.
Jesús A. Cantero Ramis, Desarrollo y puesta a punto de una plataforma de ensayos de manos protésicas antropomorfas y robóticas, Master Thesis Project, 2019.
Carlos Pla Bernad, Diseño de una prótesis de mano electromecánica de bajo coste para la consecución de una serie de agarres, Master Thesis Project, 2019.
Adrián Martínez Márquez, Sistema de acoplamiento y accionamiento de manos artificiales para un robot manipulador, Master Thesis Project, 2019.
Joan Martínez Rubert, Diseño de un dispositivo para medición de fuerza de agarre en manos artificiales, Bachelor Final Project, 2020.
Joan Espinosa Sánchez, Diseño e implementación de un sistema mecatrónico para el control de una mano protésica y su validación experimental, Bachelor Final Project, 2020.
Lledó Fortea Pallarés, Desarrollo e implementación de diversos tests de evaluación para manos robóticas y/o protésicas, centrados en agarre y fuerza, Master Thesis Project, 2020.
Federico Bernabei, Design of the haptic and control systems of the BRUJA hand, Master Thesis Project, 2020.
César Corella, Diseño de dos prótesis de muñeca, Bachelor Final Project, 2020.
Jhon Jairo Arroyave Salazar, Desarrollo, implementación y puesta en marcha de un protocolo de ensayo para la evaluación experimental de funcionamiento de prótesis de mano para amputados transradiales, Master Thesis Project, 2021.
Miguel Martínez Collado, Diseño de prótesis de mano subactuada de accionamiento mecánico, (under development).
Courses and training activities
Javier Andrés delivered a course on "Analysis of the human gait using motion tracking: biomechanical models and data analysis with VICON" during the VIII Meeting of the Spanish Chapter of the European Society of Biomechanics, in Castellón (Spain).
Networking activities
On 2-October-2018, Antonio Pérez met with Carlos Laguna, president of COCEMFE, Spanish Association for People with Disability, in order to initiate collaborations in the context of the project.
On 13-November-2018 took place a meeting in Castellón between the UJI researchers of the BENCH-HAND project and Arjan Buis and Sarah Day, from the University of Strathclyde, also included in the research team of the project. The meeting helped to establish ideas for cooperation in the mark of the project and also in future research.
The group organises the VIII Meeting of the Spanish Chapter of the European Society of Biomechanics in Castellón during the 22 and 23 of November, 2018. More than 60 researchers presented their research in the area of Biomechanics.
On 28-May-2019, Huang Hai, Associate Professor in the Harbin Institute of Technology (China), meets with the research group of the project and presents his research on prosthetic hands design and underwater manipulation.
On 19-February-2020, Antonio Pérez presents the activity undertaken in the project at the follow-up meeting of the Spanish Network for Research in Biomechanics held in Barcelona.
On 11-March-2020, Javier Andrés presented the research activity and results of BENCH-HAND and DEVALHAND projects to the research group of Steve Davis at the University of Salford. Steve Davis is Lecturer in Manufacturing, Automation & Robotics, and his research interests include actuators, biomimetics, dexterous grippers, humanoid robots and automation for the food industry.
Between 1-Oct-2020 and 31-Dec-2020, Imma Llop, researcher of the BENCH-HAND project, undertakes a research stay in the "Institut de Robòtica i Informàtica Industrial", a Joint Research Center of the Spanish Council for Scientific Research (CSIC) and the Technical University of Catalonia (UPC), in Barcelona. She collaborate in the design of benchmarks for understanding grasping in cloth manipulation, in the context of the CHIST-ERA European Project BURG.
On 24-Nov-2020 took place a meeting with IRI researchers for establishing a possible collaboration to obtain database of kinematic parameters for the human hands in cloth manipulation, in line with the objective of the European Project BURG.
On 16-Feb-2021 Imma Llop delivered a seminar in the Mathematical Institute of the Serbian Academy of Sciences and Arts with the title "Experimental, analytical and simulation methods applicable during the design process of anthropomorphic artificial hands", presenting some of the achievements of the BENCH-HAND project.
On May-2021 Antonio Pérez and other members of the BE group had a meeting with Dr. Juan Vázquez from the Hospital la Magadalena in Castellón, to study possible collaborations in rehabilitation of grasping in strokes patients and to present a proposal for the UJISABIO call for exploring collaborative research between universities and hospitals. Finally some of the member of the team participated in this proposal that was finally funded with 5000 € with a project entitled "Development of an exoskeleton for the rehabilitation of the pinch grasp in stroke patients".
Relation with companies
The PI of the project, Antonio Pérez conducted a meeting on 1-March-2019 with the company EMO, dedicated to orthopaedic and prosthetic components, whose headquarters are located in Valencia, in order to cooperate for incorporating standard elements to the prototypes of prostheses developed in the project.
The group collaborates with the company Blautic Design, for the use of the system of IMU sensors PikkuLab in the control of prosthetic hands.
Antonio Morales and Antonio Pérez (PIs of the project) had a telematic meetings with Rich Walker (26-January-2021), CEO of Shadow Robot Company, in order to establish mutual interests and possible future actions in the area of robotic grasping. Later (9-March-2021), they met also with Radhika Gudipati for a follow-up meeting.
Antonio Morales and Antonio Pérez (PIs of the project) interviewed on 4-May-2021 with the CEO of the company Robotnik devoted to mobile robotics solutions to start a collaboration for the new call for Proof of Concept research projects in order to accelerate the transfer to market of the new robotic gripper, which is one of the results partially obtained in this project. Finally the project was approved and started in Dec-2021.
Outreach
Antonio Pérez gives a conference on technologies to improve universal accessibility within the framework of the XVII Informative Conference on present and future of disability, organized by COCEMFE Castellón, dedicated to universal accessibility. He presents part of the work undertaken in the project. The newspaper Levante gives diffusion through a new published in Dec 19, 2018.
Javier Andres exposes the experience of the group about artificial prosthetic hands, and the results obtained in the project, in a seminar about 3D printing organized by the UJI FabLab in Dec-2019.
Javier Andrés and José Fuentes participate in Feb-2020 in the event "Dona i Xiqueta en la ciencia" to promote the participation of the female population in scientific and engineering activities, disseminating the work carried out by the group in the field of artificial hands.
Imma Llop was invited to give a seminar with a lecture entitled “Benchmarks for the design and evaluation of artificial hands” at Institut de Robòtica i Informàtica Industrial, Barcelona, 2020.
Imma Llop was invited to give a seminar with a lecture entitled "Manos artificiales antropomorfas" to the 3rd year students of the Biomedical Engineering Degree of the Universitat Politècnica de València. (2021)