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

Seminara L, Dosen S, Mastrogiovanni F, Bianchi M, Watt S, Beckerle P, Nanayakkara T, Drewing K, Moscatelli A, Klatzky RL, Loeb GE (2023)

Publication Type: Journal article, Review article

Publication year: 2023

Journal

Science Robotics American Association for the Advancement of Science (AAAS)

Book Volume: 8

Pages Range: eadd5434-

Journal Issue: 78

DOI: 10.1126/scirobotics.add5434

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 with CRIS profile

Philipp Beckerle Lehrstuhl für Autonome Systeme und Mechatronik

Involved external institutions

Bangor University GB United Kingdom (GB) University of Genova / Università degli Studi di Genova IT Italy (IT) Imperial College London / The Imperial College of Science, Technology and Medicine GB United Kingdom (GB) Keck School of Medicine of USC US United States (USA) (US) Carnegie Mellon University US United States (USA) (US) Justus-Liebig-Universität Gießen DE Germany (DE) Aalborg University DK Denmark (DK) Fondazione Santa Lucia IRCCS IT Italy (IT) University of Pisa / Università di Pisa (UniPi) IT Italy (IT)

How to cite

APA:

Seminara, L., Dosen, S., Mastrogiovanni, F., Bianchi, M., Watt, S., Beckerle, P.,... Loeb, G.E. (2023). A hierarchical sensorimotor control framework for human-in-the-loop robotic hands. Science Robotics, 8(78), eadd5434-. https://dx.doi.org/10.1126/scirobotics.add5434

MLA:

Seminara, Lucia, et al. "A hierarchical sensorimotor control framework for human-in-the-loop robotic hands." Science Robotics 8.78 (2023): eadd5434-.

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