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

Journal: Science robotics
Published Date: May 17, 2023

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.

Authors

  • Lucia Seminara
    Department of Electrical, Electronic, and Telecommunication Engineering and Naval Architecture, University of Genoa, Genoa, Italy.
  • Strahinja Dosen
  • Fulvio Mastrogiovanni
    Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, 16145 Genova, Italy. fulvio.mastrogiovanni@unige.it.
  • Matteo Bianchi
    Research Center 'E. Piaggio', University of Pisa, Pisa, Italy; Advanced Robotics Department, Istituto Italiano di Tecnologia (IIT), Genova, Italy.
  • Simon Watt
    School of Human and Behavioural Sciences, Bangor University, Bangor, UK.
  • Philipp Beckerle
    Institut für Mechatronische Systeme im Maschinenbau, Technische Universität Darmstadt, Otto-Berndt-Straße 2, 64287, Darmstadt, Germany.
  • Thrishantha Nanayakkara
  • Knut Drewing
    Department of Experimental Psychology, HapLab, University of Giessen, Giessen, Germany.
  • Alessandro Moscatelli
    Department of Cognitive Neuroscience and CITEC, Bielefeld University, Bielefeld, Germany; Department of Systems Medicine and Centre of Space Bio-Medicine, Università di Roma "Tor Vergata", 00173, Rome, Italy.
  • Roberta L Klatzky
  • Gerald E Loeb

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