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

School of Psychology & Sport Science

University of Genoa
Aalborg University
Università di Pisa
Friedrich-Alexander-University (FAU)
Imperial College London
Justus-Liebig University, Giessen
University of Rome Tor Vergata
Carnegie Mellon University
University of Southern California

Research output: Contribution to journal › Article › peer-review

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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.

Original language	English
Article number	eadd5434
Journal	Science Robotics
Volume	8
Issue number	78
DOIs	https://doi.org/10.1126/scirobotics.add5434
Publication status	Published - 17 May 2023

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10.1126/scirobotics.add5434

SeminaraDosenEtAlScienceRobot(4repository)Accepted author manuscript, 2.61 MBLicence: CC BY-ND

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title = "A hierarchical sensorimotor control framework for human-in-the-loop robotic hands",

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

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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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DO - 10.1126/scirobotics.add5434

M3 - Article

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JO - Science Robotics

JF - Science Robotics

IS - 78

M1 - eadd5434

ER -

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

Abstract

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