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

被引：8

作者：

Seminara, Lucia ^{[1
]}

Dosen, Strahinja ^{[2
]}

Mastrogiovanni, Fulvio ^{[3
]}

Bianchi, Matteo ^{[4
,5
]}

Watt, Simon ^{[6
]}

Beckerle, Philipp ^{[7
,8
]}

Nanayakkara, Thrishantha ^{[9
]}

Drewing, Knut ^{[10
]}

Moscatelli, Alessandro ^{[11
,12
,13
]}

Klatzky, Roberta L. ^{[14
,15
]}

Loeb, Gerald E. ^{[16
,17
]}

机构：

[1] Univ Genoa, Dept Elect Elect & Telecommun Engn & Naval Archite, Genoa, Italy

[2] Aalborg Univ, Dept Hlth Sci & Technol, Aalborg, Denmark

[3] Univ Genoa, Dept Informat Bioengn Robot & Syst Engn, Genoa, Italy

[4] Univ Pisa, Res Ctr E Piaggio, Pisa, Italy

[5] Univ Pisa, Dept Informat Engn, Pisa, Italy

[6] Bangor Univ, Sch Human & Behav Sci, Bangor, Wales

[7] Friedrich Alexander Univ Erlangen Nurnberg, Dept Elect Engn, Nurnberg, Germany

[8] Friedrich Alexander Univ Erlangen Nurnberg, Dept Artificial Intelligence Biomed Engn, Nurnberg, Germany

[9] Imperial Coll London, Dyson Sch Design Engn, London, England

[10] Univ Giessen, Dept Expt Psychol, HapLab, Giessen, Germany

[11] Fdn Santa Lucia IRCCS, Lab Neuromotor Physiol, Rome, Italy

[12] Univ Roma Tor Vergata, Dept Syst Med, Rome, Italy

[13] Univ Roma Tor Vergata, Ctr Space Biomed, Rome, Italy

[14] Carnegie Mellon Univ, Dept Psychol, Pittsburgh, PA USA

[15] Carnegie Mellon Univ, Human Comp Interact Inst, Pittsburgh, PA USA

[16] Univ Southern Calif, Alfred E Mann Dept Biomed Engn, Keck Sch Med, Los Angeles, CA USA

[17] Univ Southern Calif, Viterbi Sch Engn, Los Angeles, CA USA

来源：

SCIENCE ROBOTICS | 2023年 / 8卷 / 78期

基金：

欧洲研究理事会;

关键词：

D O I：

10.1126/scirobotics.add5434

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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 sen-sorimotor controllers of the nervous system to link sensing to action in human-in-the-loop, haptically enabled, artificial hands.

引用

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页数：8

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