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

Author:

Seminara Lucia1ORCID,Dosen Strahinja2ORCID,Mastrogiovanni Fulvio3ORCID,Bianchi Matteo4ORCID,Watt Simon5,Beckerle Philipp67ORCID,Nanayakkara Thrishantha8ORCID,Drewing Knut9ORCID,Moscatelli Alessandro1011ORCID,Klatzky Roberta L.12ORCID,Loeb Gerald E.13ORCID

Affiliation:

1. Department of Electrical, Electronic, and Telecommunication Engineering and Naval Architecture, University of Genoa, Genoa, Italy.

2. Department of Health Science and Technology, Aalborg University, Aalborg, Denmark.

3. Department of Informatics, Bioengineering, Robotics, and Systems Engineering, University of Genoa, Genoa, Italy.

4. Research Center “E. Piaggio” and Department of Information Engineering, University of Pisa, Pisa, Italy.

5. School of Human and Behavioural Sciences, Bangor University, Bangor, UK.

6. Department of Electrical Engineering, Friedrich-Alexander Universität Erlangen-Nürnberg, Nürnberg, Germany.

7. Department of Artificial Intelligence in Biomedical Engineering, Friedrich-Alexander Universität Erlangen-Nürnberg, Nürnberg, Germany.

8. Dyson School of Design Engineering, Imperial College London, London, UK.

9. Department of Experimental Psychology, HapLab, University of Giessen, Giessen, Germany.

10. Laboratory of Neuromotor Physiology, Fondazione Santa Lucia IRCCS, Rome, Italy.

11. Department of Systems Medicine and Centre of Space Biomedicine, University of Rome Tor Vergata, Rome, Italy.

12. Department of Psychology and Human-Computer Interaction Institute, Carnegie Mellon University, Pittsburgh, PA, USA.

13. Alfred E. Mann Department of Biomedical Engineering, Keck School of Medicine, and Viterbi School of Engineering, University of Southern California, Los Angeles, CA, USA.

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.

Publisher

American Association for the Advancement of Science (AAAS)

Subject

Artificial Intelligence,Control and Optimization,Computer Science Applications,Mechanical Engineering

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