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GiSaMaPr-TRO13

G. Gioioso, G. Salvietti, M. Malvezzi, D. Prattichizzo. Mapping Synergies from Human to Robotic Hands with Dissimilar Kinematics: an Approach in the Object Domain. IEEE Trans. on Robotics, 29(4):825-837, August 2013.

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Abstract

{In the last two decades, studies in neuroscience concerning the sensorimotor organization of the human hand demonstrated that, notwithstanding the complexity of the hand, a few variables are able to account for most of the variance in the patterns of configurations and movements. The reduced set of parameters that humans effectively use to control their hands is known in the literature as set of synergies. The synergistic organization of the human hand is the theoretical foundation of this work which focuses on the problem of mapping human hand synergies on robotic hands with dissimilar kinematic structures. The mapping from human to robotic hands is designed in the manipulated object domain where the role of the object is played by a virtual sphere, whose radius and center position change dynamically, and the role of the human hand is played by a hand model referred to as ``paradigmatic hand,'' able to capture the idea of synergies in human hands. Mapping sensorimotor synergies onto robotic hands independently from their kinematic structures allows to simplify the control of robotic hands which as the human hands can be controlled using a few parameters. Borrowing the terminology from software engineering, the proposed mapping represents a middleware solution to control the robotic hands independently from their specific structure, and focusing only on the manipulation tasks.}

Keywords

[ The ] [ Iit ] [ Grasping ]

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Guido Gioioso
Gionata Salvietti
Monica Malvezzi
Domenico Prattichizzo

BibTex Reference

@article{GiSaMaPr-TRO13,
   Author = {Gioioso, G. and Salvietti, G. and Malvezzi, M. and Prattichizzo, D.},
   Title = {Mapping Synergies from Human to Robotic Hands with Dissimilar Kinematics: an Approach in the Object Domain},
   Journal = {{IEEE Trans. on Robotics}},
   Volume = {29},
   Number = {4},
   Pages = {825--837},
   Month = {August},
   Year = {2013}
}

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