Published May 17, 2023
| Version v1
Journal article
Open
A hierarchical sensorimotor control framework for human-in-the-loop robotic hands
Creators
- 1. Department of Electrical, Electronic and Telecommunication Engineering and Naval Architecture, University of Genoa, Italy
- 2. Department of Health Science and Technology, Aalborg University, Denmark
- 3. Department of Informatics, Bioengineering, Robotics, and Systems Engineering, University of Genoa, Italy
- 4. Research Center "E. Piaggio" and Department of Information Engineering, University of Pisa, Italy
- 5. School of Human and Behavioural Sciences, Bangor University, United Kingdom
- 6. Department of Electrical Engineering and Department of Artificial Intelligence in Biomedical Engineering, Friedrich-Alexander Universität Erlangen-Nürnberg, Germany
- 7. Dyson School of Design Engineering, Imperial College London, United Kingdom
- 8. Department of Experimental Psychology, HapLab, University of Giessen, Germany
- 9. Laboratory of Neuromotor Physiology, Fondazione Santa Lucia IRCCS, Rome, Italy and Department of Systems Medicine and Centre of Space Biomedicine, University of Rome Tor Vergata, Rome, Italy
- 10. Department of Psychology and Human-Computer Interaction Institute, Carnegie Mellon University, Pittsburgh, PA, United States of America
- 11. Department of Biomedical Engineering, University of Southern California, Los Angeles, CA, United States of America
Description
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.
Files
Seminara Dosen et al. Viewpoint Science Robotics 2023.pdf
Files
(2.7 MB)
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