Results

Products

    • IMMA hand, a new prosthetic cable-driven hand prototype

    • BRUJA hand, a new prosthetic hand with three models (B: linkage driven, T: tendon driven, BT: mixed model).

Software

Websites

Bachelor and Master Final Projects

  1. Bruno Sospedra, Diseño mecánico de prótesis de mano multidedo antropomórfica infractuada. Feb, 2015. Mechanical Engineering Final Project.

  2. Daniel Cardin, Simulación mecánica y propuesta de control para una mano protésica de 6 grados de libertad. Jul, 2015. Mechanical Engineering Final Project.

  3. Imma Llop, Diseño, construcción y evaluación experimental de una mano antropomórfica accionada por cable. Sep, 2016. Master in Industrial Engineering Final Project.

  4. Pablo Palanques, Optimización del sistema de accionamiento mecánico de los dedos para una prótesis de mano antropomorfa. Sep, 2016. Master in Industrial Engineering Final Project. Prize to the best final Master project in 2015-16.

  5. Ana Rubert, Diseño de un equipo de laboratorio para medida de fuerza de agarre con la mano humana. Nov, 2016. Master in Industrial Engineering Final Project.

  6. Bruno Sospedra, Optimización del diseño de una mano mecánica antropomorfa fabricada con tecnología de impresión 3D para mejorar su capacidad de agarre. Jul. 2017. Master in Industrial Engineering Final Project.

  7. Daniel Cardín, Diseño y evaluación de garras robóticas. Feb. 2017. Máster on Design and Manufacturing Final Project.

PhD Theses

Papers

  1. C. Rubert, B. León, J., A. Morales, J. Sancho-Bru (2017). Characterisation of grasp quality metrics. Journal of Intelligent & Robotic Systems. doi:10.1007/s10846-017-0562-1

  2. Cepriá-Bernal, J., Pérez-González, A., Mora, M., Sancho-Bru, J. (2017). Grip force and force sharing in two different manipulation tasks with bottles. Ergonomics. 2017 ,Vol. 60 (7):957-966. doi: 10.1080/00140139.2016.1235233.

  3. Immaculada Llop-Harillo & Antonio Pérez-González (2017) System for the experimental evaluation of anthropomorphic hands. Application to a new 3D-printed prosthetic hand prototype, International Biomechanics, 4:2, 50-59. http://doi.org/10.1080/23335432.2017.1364666.

  4. 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.

  5. 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.

  6. 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.

  7. 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. https://doi.org/10.3390/s21082594

  8. P. Renard, M.C. Mora, Genetic Algorithm Computation of Power Grasps for Artificial Hands based on Real Human Postures (under revision).

Conferences

  1. P. Renard, M. C. Mora (2015). Predicción de la postura de agarre de la mano humana mediante algoritmos genéticos. V Reunión del Capítulo Nacional de la Sociedad Europea de Biomecánica. Madrid.

  2. A. Pérez, J. Andres (2016). Comparing performance of two prosthetic finger designs: tendon driven and linkage driven. 22th Congress of the European Society of Biomechanics, Lyon.

  3. J. Cepriá, A. Pérez (2016). Contact force distribution in the human hand for twenty-one acitvities of daily living. 22th Congress of the European Society of Biomechanics, Lyon.

  4. C. Rubert, A. Morales (2016). Comparison between grasp quality metrics and the anthropomorphism index for the evaluation of artificial hands. IEEE - BioRob 2016. Singapur.

  5. J. Andrés, A. Pérez (2016). Comparación de dos diseños de dedo protésico subactuado: tendón vs. sistema articulado. XXI Congreso Nacional de Ingeniería Mecánica, Elche.

  6. D. Cardín-Catalán, M.C. Mora, J. Andrés, B. Sospedra, C. Rubert (2016). Diseño y simulación de un prototipo de mano protésica de bajo coste. XXI Congreso Nacional de Ingeniería Mecánica, Elche.

  7. C. Rubert, A. Morales (2016). Evaluación de manipuladores robóticos mediante métricas de calidad del agarre. Jornadas de Automática 2016, Madrid.

  8. I. Llop, A. Pérez (2016). Sistema para la evaluación experimental de diseños de prótesis de mano de bajo coste. VI Reunión del Capítulo Español de la Sociedad Europea de Biomecánica (ESB), Badajoz.

  9. I. Llop, A. Pérez (2016). 3D printed anthropomorphic hand and experimental evaluation system for hand prostheses. Institution of Mechanical Engineers, Engineering the upper limb, London.

  10. I. Llop, A. Pérez, C. Rubert (2017). Anthropomorphism index of opposition for hand prostheses. 23rd Congress of the European Society of Biomechanics, Jul 2017, Sevilla.

  11. M. Mora, J. Andrés (2017). Grasping posture prediction based on PCA and NN. 23rd Congress of the European Society of Biomechanics, Jul 2017, Sevilla.

  12. I. Llop, A. Pérez, V. Gracia (2017). Anthropomorphism index of mobility for hand prostheses. XXVI Congress of the International Society of Biomechanics, Jul 2017, Brisbane.

  13. Verónica Gracia-Ibañez, Margarita Vergara, Joaquín L. Sancho-Bru, Denis Mottet, Isabelle Laffont, Karima Bahkti, Immaculada Llop-Harillo, Antonio Pérez-González (2017), Mimicking kinematic synergies underlaying activities of daily living for rehabilitation. XXVI Congress of the International Society of Biomechanics, Jul. 2017, Brisbane.

  14. C. Rubert, D. Kappler, A. Morales, S. Schaal, J. Bohg (2017). On the relevance of grasp metrics for predicting grasp success. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Sep 2017, Vancouver.

  15. C. Cunha-Matos, J. Andrés, S. Day, A. Buis (2017). Investigation of Wrist and Hand Function for the Improvement of Upper Limb Prosthetic Device Design. 16th ISPO World Congress, May 2017, Cape Town. ISBN 978-87-93486-01-0.

  16. I. Llop-Harillo, A. Pérez-González, V. Gracia-Ibañez, C. Rubert (2017). Design and evaluation of anthropomorphic hands. Summer School on soft manipulation. July, 17th–21st 2017 Lake Chiemsee, Germany.

  17. J. Andrés, C. Cunha-Matos, N. Jarque-Bou, J.L. Sancho-Bru, A. Buis, S. Day (2017). Evaluation of a motion tracking model of the upper limb, including the hand, Oct 2017, 13th Ibero-American Congress of Mechanical Engineering. Lisboa.

  18. 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.

  19. 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.

  20. Immaculada Llop-Harillo, Verónica Gracia-Ibáñez, 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, 24th Congress of the European Society of Biomechanics, Dublin, Ireland.

  21. C. Corella Mora, A. Pérez González, Índice de movilidad de una mano protésica basado en el índice de Kapandji modificado (2018). III Jornada del Programa Estudia e Investiga. Universitat Jaume I.

  22. 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. Prize to the best communication in Applied Research.

  23. 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.

  24. 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.

  25. 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.

International networking

    • A proposal connected with the project was presented to Marie Skłodowska Curie Individual Fellowship 2015 call, including the experienced researcher Corneliu Arsene, but was not approved. The proposal was improved for 2016 call and resent but it was also rejected.

    • Dr. Thomas Feix was in UJI last 9 and 10 of March 2016. Thomas Feix worked previously in Otto Bock Healthcare GmBH. in Vienna, Austria, between 2008 and 2012 and in the GRAB Lab, Yale University, between 2012 and 2015, under the supervision of Prof. A. Dollar. During the visit of Dr. Feix we discussed about different questions related with the project.

    • The project team had a meeting on 22 of March of 2016 with Beatriz León and Armando de la Rosa, members of the company Shadow Robots. We discuss different aspects about hand design, with the aim of establishing possible collaborations related with the project. A possible visit of some of the team to Shadow is envisaged to collaborate in the evaluation of the hands being developed in the EU RAMCIP project.

    • On 4-May-2016 took place a meeting in Castellón with the researchers involved in the project from Université Paris Sud and Shadow Robots.

    • On 19-Jul-2016 A. Pérez and A. Morales, met with Tamim Asfour in Karlsruhe to discuss about the activities in the project.

    • Javier Andrés undertakes a research stay (Jul-Sep, 2016) in the Centre for Excellence in Rehabilitation Research (Biomechanics Laboratory) at Strathclyde University, Glasgow, with the aim of establishing new collaborations in the field of design and manufacturing of hand prostheses.

    • Carlos Rubert undertakes a research stay (Sep-Dec, 2016, Jul, 2017) in the Max Planck Institute for Intelligent Systems in Tübingen, Alemania.

    • The project DEVALHAND and the IMMA hand have been introduced in e-NABLE group in Google+.

    • Imma Llop participates in the Summer School on Soft Manipulation, in July 2017 in Lake Chiemsee, Germany, showing the prototype of the Imma Hand and being selected for an oral presentation.

    • Imma Llop undertakes a research stay (Sep-Dec. 2017) in the Institute for Anthropomatics and Robotics at Karlsruhe Institute of Technology (KIT), to conduct research on design and evaluation of artificial hands using experimental methods.

Outreach

    • Antonio Pérez, PI of the project, is interviewed in Radio Castellón Cadena Ser about biomechanics and bionics and explains ongoing research projects in the group (2016, Jun, 4th)

    • Imma Llop has participated in the Fotciencia 14 contest for science dissemination (Photo 1, Photo 2) .

    • The project presents some of our results and prototypes developed in the event organised by Focus Pyme y emprendimiento, supported by FEDER, for promoting the innovation and entrepreneurship in small and medium enterprises. (Interview video). (2017, Sep, 28th).

    • Antonio Pérez, PI of the project, presents some of the prosthetic hand prototypes and the work developed in DEVALHAND project to the students of the degree of Biomedical Engineering in Polytechnic University of Valencia (2017, Nov, 29th).