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 L. Klatzky; Gerald E. 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 L. Klatzky, Gerald E. Loeb

Research output: Contribution to journal › Journal article › Research › peer-review

3 Citations (Scopus)

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
Pages (from-to)	eadd5434
Number of pages	8
DOIs	https://doi.org/10.1126/scirobotics.add5434
Publication status	Published - 17 May 2023

Bibliographical note

Funding: This work was partially supported by the European Union–funded projects IntelliMan (grant no. 101070136), Tactility (grant no. 856718), and HARIA (grant no. 101070292); ERC Synergy Grant Natural BionicS (grant no. 810346); project ROBIN (grant no. 8022-00243A) and CLIMB (grant no. 2035-00169A) funded by Danish Independent Research Foundation; and the Italian Ministry of Education and Research (MIUR) project TIGHT (grant no. 8182017SB48FP) in the framework of PRIN 2017 and in the framework of the FoReLab project and Crosslab project (Departments of Excellence). We also acknowledge the support of the European Union by the Next Generation EU project ECS00000017 “Ecosistema dell’Innovazione” Tuscany Health Ecosystem (THE, PNRR, Spoke 4: Spoke 9: Robotics and Automation for Health).

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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 Klatzky, {Roberta L.} and Loeb, {Gerald E.}",

note = "Funding: This work was partially supported by the European Union–funded projects IntelliMan (grant no. 101070136), Tactility (grant no. 856718), and HARIA (grant no. 101070292); ERC Synergy Grant Natural BionicS (grant no. 810346); project ROBIN (grant no. 8022-00243A) and CLIMB (grant no. 2035-00169A) funded by Danish Independent Research Foundation; and the Italian Ministry of Education and Research (MIUR) project TIGHT (grant no. 8182017SB48FP) in the framework of PRIN 2017 and in the framework of the FoReLab project and Crosslab project (Departments of Excellence). We also acknowledge the support of the European Union by the Next Generation EU project ECS00000017 “Ecosistema dell{\textquoteright}Innovazione” Tuscany Health Ecosystem (THE, PNRR, Spoke 4: Spoke 9: Robotics and Automation for Health).",

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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 L.

AU - Loeb, Gerald E.

N1 - Funding: This work was partially supported by the European Union–funded projects IntelliMan (grant no. 101070136), Tactility (grant no. 856718), and HARIA (grant no. 101070292); ERC Synergy Grant Natural BionicS (grant no. 810346); project ROBIN (grant no. 8022-00243A) and CLIMB (grant no. 2035-00169A) funded by Danish Independent Research Foundation; and the Italian Ministry of Education and Research (MIUR) project TIGHT (grant no. 8182017SB48FP) in the framework of PRIN 2017 and in the framework of the FoReLab project and Crosslab project (Departments of Excellence). We also acknowledge the support of the European Union by the Next Generation EU project ECS00000017 “Ecosistema dell’Innovazione” Tuscany Health Ecosystem (THE, PNRR, Spoke 4: Spoke 9: Robotics and Automation for Health).

PY - 2023/5/17

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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.

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

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