A hierarchical sensorimotor control framework for human-in-the-loop robotic hands

Lucia Seminara; Strahinja Dosen; Fulvio Mastrogiovanni; Matteo Bianchi; Simon Watt; Philipp Beckerle; Thrishantha Nanayakkara; Knut Drewing; Alessandro Moscatelli; Roberta Klatzky; Gerald Loeb

doi:10.1126/scirobotics.add5434

A hierarchical sensorimotor control framework for human-in-the-loop robotic hands

Lucia Seminara
, Strahinja Dosen
, Fulvio Mastrogiovanni
, Matteo Bianchi
, Simon Watt
, Philipp Beckerle
, Thrishantha Nanayakkara
, Knut Drewing
, Alessandro Moscatelli
, Roberta Klatzky
, Gerald Loeb

Ysgol Seicoleg

University of Genoa
Aalborg University
Università di Pisa
Friedrich-Alexander-University (FAU)
Grand Challenges in Ecosystem and the Environment Initiative, Imperial College London, Silwood Park Campus, Ascot, Berkshire SL5 7PY, UK [email protected].
Justus-Liebig University, Giessen
University of Rome Tor Vergata
Carnegie Mellon University
University of Southern California

Allbwn ymchwil: Cyfraniad at gyfnodolyn › Erthygl › adolygiad gan gymheiriaid

252 Wedi eu Llwytho i Lawr (Pure)

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Human manual dexterity relies critically on touch. Robotic and prosthetic hands are much less dexterous and make little use of the many tactile sensors available. We propose a framework modeled on the hierarchical sensorimotor controllers of the nervous system to link sensing to action in human-in-the-loop, haptically enabled, artificial hands.

Iaith wreiddiol	Saesneg
Rhif yr erthygl	eadd5434
Cyfnodolyn	Science Robotics
Cyfrol	8
Rhif cyhoeddi	78
Dynodwyr Gwrthrych Digidol (DOIs)	https://doi.org/10.1126/scirobotics.add5434
Statws	Cyhoeddwyd - 17 Mai 2023

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10.1126/scirobotics.add5434

SeminaraDosenEtAlScienceRobot(4repository)Llawysgrif awdur wedi’i dderbyn, 2.61 MBTrwydded: CC BY-ND

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abstract = "Human manual dexterity relies critically on touch. Robotic and prosthetic hands are much less dexterous and make little use of the many tactile sensors available. We propose a framework modeled on the hierarchical sensorimotor controllers of the nervous system to link sensing to action in human-in-the-loop, haptically enabled, artificial hands.",

author = "Lucia Seminara and Strahinja Dosen and Fulvio Mastrogiovanni and Matteo Bianchi and Simon Watt and Philipp Beckerle and Thrishantha Nanayakkara and Knut Drewing and Alessandro Moscatelli and Roberta Klatzky and Gerald Loeb",

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AU - Seminara, Lucia

AU - Dosen, Strahinja

AU - Mastrogiovanni, Fulvio

AU - Bianchi, Matteo

AU - Watt, Simon

AU - Beckerle, Philipp

AU - Nanayakkara, Thrishantha

AU - Drewing, Knut

AU - Moscatelli, Alessandro

AU - Klatzky, Roberta

AU - Loeb, Gerald

N1 - ERC Synergy Grant Natural BionicS (grant no. 810346)

PY - 2023/5/17

Y1 - 2023/5/17

N2 - Human manual dexterity relies critically on touch. Robotic and prosthetic hands are much less dexterous and make little use of the many tactile sensors available. We propose a framework modeled on the hierarchical sensorimotor controllers of the nervous system to link sensing to action in human-in-the-loop, haptically enabled, artificial hands.

AB - Human manual dexterity relies critically on touch. Robotic and prosthetic hands are much less dexterous and make little use of the many tactile sensors available. We propose a framework modeled on the hierarchical sensorimotor controllers of the nervous system to link sensing to action in human-in-the-loop, haptically enabled, artificial hands.

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A hierarchical sensorimotor control framework for human-in-the-loop robotic hands

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