Conference paper Open Access

On the Role of Postural Synergies for Grasp Force Generation and Upper Limb Motion Control

Giuseppe Averta; Franco Angelini; Antonio Bicchi; Gaetano Valenza; Matteo Bianchi


MARC21 XML Export

<?xml version='1.0' encoding='UTF-8'?>
<record xmlns="http://www.loc.gov/MARC21/slim">
  <leader>00000nam##2200000uu#4500</leader>
  <datafield tag="540" ind1=" " ind2=" ">
    <subfield code="u">http://creativecommons.org/licenses/by/4.0/legalcode</subfield>
    <subfield code="a">Creative Commons Attribution 4.0 International</subfield>
  </datafield>
  <datafield tag="260" ind1=" " ind2=" ">
    <subfield code="c">2018-10-16</subfield>
  </datafield>
  <controlfield tag="005">20200120163116.0</controlfield>
  <controlfield tag="001">2559452</controlfield>
  <datafield tag="909" ind1="C" ind2="O">
    <subfield code="p">openaire</subfield>
    <subfield code="o">oai:zenodo.org:2559452</subfield>
  </datafield>
  <datafield tag="520" ind1=" " ind2=" ">
    <subfield code="a">&lt;p&gt;Although human movements are extremely complex, our nervous system is able to implement effective control strategies, leveraging on a generalized simplification approach. Several works described this behavior within the framework of synergies, which can be regarded as basis ingredients for motion generation through dimensionality reduction. Focusing on hand kinematics, this concept allowed to dramatically improve our understanding of the neuro-physiology of hand motor system, offering effective mathematical tools to identify pathological deviations from the physiological case. At the same time, these observations have found a fertile application field in robotics, suggesting simple yet effective manners to design and control artificial systems, with a reduced number of actuators or inputs. However, while much has been said about kinematic hand synergies and their implications for engineering, there are still open issues to tackle. Solving these issues could give better insights on the synergistic organization embedded within the human body, finally impacting the future development of robotic devices. In this paper, we will explicitly focus on the role that hand postural synergies play for grasp force control, and on preliminary observations on a synergy-based organization for upper limb motion generation. Applications of these neuroscientific findings for devising a principled simplification approach in assistive and rehabilitation robotics are finally discussed&lt;/p&gt;</subfield>
  </datafield>
  <datafield tag="700" ind1=" " ind2=" ">
    <subfield code="u">Centro di Ricerca Enrico Piaggio, Universita' di Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy, Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, via Morego, 30, 16163 Genova, Italy,Dipartimento di Ingegneria dell'Informazione, Universita' di Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy</subfield>
    <subfield code="0">(orcid)0000-0003-2559-9569</subfield>
    <subfield code="a">Franco Angelini</subfield>
  </datafield>
  <datafield tag="700" ind1=" " ind2=" ">
    <subfield code="u">Centro di Ricerca Enrico Piaggio, Universita' di Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy, Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, via Morego, 30, 16163 Genova, Italy,Dipartimento di Ingegneria dell'Informazione, Universita' di Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy</subfield>
    <subfield code="0">(orcid)0000-0001-8635-5571</subfield>
    <subfield code="a">Antonio Bicchi</subfield>
  </datafield>
  <datafield tag="700" ind1=" " ind2=" ">
    <subfield code="u">Centro di Ricerca Enrico Piaggio, Universita' di Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy,Dipartimento di Ingegneria dell'Informazione, Universita' di Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy</subfield>
    <subfield code="0">(orcid)0000-0001-6574-1879</subfield>
    <subfield code="a">Gaetano Valenza</subfield>
  </datafield>
  <datafield tag="700" ind1=" " ind2=" ">
    <subfield code="u">Centro di Ricerca Enrico Piaggio, Universita' di Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy,Dipartimento di Ingegneria dell'Informazione, Universita' di Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy</subfield>
    <subfield code="0">(orcid)0000-0003-4747-1697</subfield>
    <subfield code="a">Matteo Bianchi</subfield>
  </datafield>
  <datafield tag="856" ind1="4" ind2=" ">
    <subfield code="s">156373</subfield>
    <subfield code="z">md5:90321b15f7a73f20a97bc7ce73459f86</subfield>
    <subfield code="u">https://zenodo.org/record/2559452/files/averta_et_al_2019.pdf</subfield>
  </datafield>
  <datafield tag="542" ind1=" " ind2=" ">
    <subfield code="l">open</subfield>
  </datafield>
  <datafield tag="980" ind1=" " ind2=" ">
    <subfield code="a">publication</subfield>
    <subfield code="b">conferencepaper</subfield>
  </datafield>
  <datafield tag="100" ind1=" " ind2=" ">
    <subfield code="u">Centro di Ricerca Enrico Piaggio, Universita' di Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy, Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, via Morego, 30, 16163 Genova, Italy,Dipartimento di Ingegneria dell'Informazione, Universita' di Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy</subfield>
    <subfield code="0">(orcid)0000-0003-1212-3465</subfield>
    <subfield code="a">Giuseppe Averta</subfield>
  </datafield>
  <datafield tag="024" ind1=" " ind2=" ">
    <subfield code="a">10.1007/978-3-030-01845-0_69</subfield>
    <subfield code="2">doi</subfield>
  </datafield>
  <datafield tag="245" ind1=" " ind2=" ">
    <subfield code="a">On the Role of Postural Synergies for Grasp Force Generation and Upper Limb Motion Control</subfield>
  </datafield>
  <datafield tag="536" ind1=" " ind2=" ">
    <subfield code="c">688857</subfield>
    <subfield code="a">Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn</subfield>
  </datafield>
  <datafield tag="536" ind1=" " ind2=" ">
    <subfield code="c">645599</subfield>
    <subfield code="a">Soft-bodied intelligence for  Manipulation</subfield>
  </datafield>
  <datafield tag="650" ind1="1" ind2="7">
    <subfield code="a">cc-by</subfield>
    <subfield code="2">opendefinition.org</subfield>
  </datafield>
</record>
39
25
views
downloads
Views 39
Downloads 25
Data volume 3.9 MB
Unique views 39
Unique downloads 22

Share

Cite as