Asianometry High-Five to the Belgrade Hand
Jan 8, 2026
Explore the remarkable journey of the human hand and its robotic counterparts. Discover how Rajko Tomović transformed biological principles into the first autonomous robotic hand. Uncover the challenges of controlling prosthetics, like conveying simple gestures through complex movements. Delve into the history of prosthetics, myoelectric control innovations, and the evolution of the Belgrade Hand, showcasing both successes and limitations. This fascinating story blends science, history, and the relentless pursuit of better artificial limbs.
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Define Goals, Let Feedback Drive Motion
- Design control systems to define end goals but leave transition states flexible, letting feedback drive behavior.
- Use simple, maximized feedback objectives to handle unpredictable, real-world interactions effectively.
Conductive Glove As Goal Signal
- Tomović used a conductive rubber glove so increasing contact area produced an electrical signal the system maximized.
- The hand autonomously stopped when the signal plateaued, achieving grasps without object-specific programming.
The First Five-Fingered Belgrade Hand
- The first Belgrade hand (1963–64) was a five-fingered, glove-sensorized prototype driven by a single motor and external power.
- Clinical tests found it mechanically complex and too heavy, though its grasping intelligence impressed funders.