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

Publikation: Bidrag til tidsskrift › Tidsskriftartikel › Forskning › peer review

3 Citationer (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.

Originalsprog	Engelsk
Artikelnummer	eadd5434
Tidsskrift	Science Robotics
Vol/bind	8
Udgave nummer	78
Sider (fra-til)	eadd5434
Antal sider	8
DOI	https://doi.org/10.1126/scirobotics.add5434
Status	Udgivet - 17 maj 2023

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10.1126/scirobotics.add5434

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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).",

year = "2023",

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doi = "10.1126/scirobotics.add5434",

language = "English",

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pages = "eadd5434",

journal = "Science Robotics",

publisher = "American Association for the Advancement of Science",

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TY - JOUR

T1 - A hierarchical sensorimotor control framework for human-in-the-loop robotic hands

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

Y1 - 2023/5/17

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.

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.

UR - http://www.scopus.com/inward/record.url?scp=85159770893&partnerID=8YFLogxK

U2 - 10.1126/scirobotics.add5434

DO - 10.1126/scirobotics.add5434

M3 - Journal article

VL - 8

SP - eadd5434

JO - Science Robotics

JF - Science Robotics

IS - 78

M1 - eadd5434

ER -

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

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