A hierarchical sensorimotor control framework for human-in-the-loop robotic hands
Lucia Seminara, Strahinja Došen, Fulvio Mastrogiovanni, Matteo Bianchi, Simon J. Watt, Philipp Beckerle, Thrishantha Nanayakkara, Knut Drewing, Alessandro Moscatelli, Roberta L. Klatzky, Gerald E. Loeb
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.
Topics & Concepts
Robotic handComputer scienceAction (physics)Artificial intelligenceHuman–computer interactionHierarchical control systemControl (management)Tactile sensorLoop (graph theory)Control engineeringComputer visionRobotEngineeringMathematicsCombinatoricsQuantum mechanicsPhysicsEEG and Brain-Computer InterfacesMuscle activation and electromyography studiesMotor Control and Adaptation