Dexterity augmentation on a synergistic hand: The Pisa/IIT SoftHand+

Santina, Cosimo Delia; Grioli, Giorgio; Catalano, Manuel G.; Brando, Alberto; Bicchi, Antonio

doi:10.1109/humanoids.2015.7363595

Cited by 50 publications

(38 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…This reconstruction provides an effective way to command synergy-based robotic hands and can be extended to systems with more degrees of actuation, see e.g. [31].…”

Section: B Kinematic Mapping: From Human Hand To Pisa/iit Softhandmentioning

confidence: 99%

Simplifying Telerobotics: Wearability and Teleimpedance Improves Human-Robot Interactions in Teleoperation

Fani

Ciotti

Catalano

et al. 2018

IEEE Robot. Automat. Mag.

Self Cite

View full text Add to dashboard Cite

Abstract-In recent years, wearability has become a new fundamental requirement for an effective and light-weight design of the human-robot interfaces. Among the different application fields, robotic tele-operation represents the ideal scenario that can largely benefit from the wearable paradigm, in order to reduce constraints to human workspace (acting as a master) and to enable an intuitive and simplified information exchange within the tele-operator system. This effective simplification is particularly important if we consider the interaction with synergy-inspired robotic devices, i.e. endowed with a reduced number of control inputs and sensors, with the goal of maintaining a simple control and communication between humans and robots. In this work, we present an integrated approach for augmented tele-operation where wearable hand/arm pose under-sensing and haptic feedback devices are combined with teleimpedance techniques, for a simplified yet effective position and stiffness control of a synergyinspired robotic manipulator in real-time. The slave robot consists of a Kuka lightweight robotic arm equipped with the Pisa/IIT SoftHand, both controlled in impedance to perform a drilling task, an illustrative example of dynamic tasks with environmental constraints. Experimental results on ten healthy subjects suggest that the proposed integrated interface enables the master to appropriately regulate the stiffness and pose of the robotic hand-arm system through the perception of interaction forces and vision, contributing to successful and intuitive executions of the remote task. The achieved performance is presented in comparison to the reduced versions of the integrated system, in which either teleimpedance control or wearable feedback are excluded.

show abstract

“…This reconstruction provides an effective way to command synergy-based robotic hands and can be extended to systems with more degrees of actuation, see e.g. [31].…”

Section: B Kinematic Mapping: From Human Hand To Pisa/iit Softhandmentioning

confidence: 99%

Simplifying Telerobotics: Wearability and Teleimpedance Improves Human-Robot Interactions in Teleoperation

Fani

Ciotti

Catalano

et al. 2018

IEEE Robot. Automat. Mag.

Self Cite

View full text Add to dashboard Cite

show abstract

“…Specifically, and as pointed out by Ficuciello and Siciliano [4], the intrinsic limitation in the range of tasks that robotic synergies can perform could be addressed by leveraging upon machine learning techniques for posture generalization [22,23] A non-mutually exclusive approach is to increase the functional capabilities of artificial hands by leveraging additional degrees of actuation, or to implement hands based on different RC synergy sets for different sets of tasks. A robotic hand implementing two independent soft synergies has been recently demonstrated [24]. This hand can rotate grasped objects even without recurring to help from environmental constraints.…”

Section: Advantages and Limitations Of The Synergy Approach In Neumentioning

confidence: 99%

Towards a synergy framework across neuroscience and robotics: Lessons learned and open questions. Reply to comments on: “Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands”

Santello

Bianchi

Gabiccini

et al. 2016

Physics of Life Reviews

Self Cite

View full text Add to dashboard Cite

We would like to thank all commentators for their insightful commentaries. Thanks to their diverse and complementary\ud expertise in neuroscience and robotics, the commentators have provided us with the opportunity to further\ud discuss state-of-the-art and gaps in the integration of neuroscience and robotics reviewed in our article. We organized\ud our reply in two sections that capture the main points of all commentaries [1–9]: (1) Advantages and limitations of\ud the synergy approach in neuroscience and robotics, and (2) Learning and role of sensory feedback in biological and\ud robotics synergies

show abstract

“…In particular, the concept of soft synergies, providing for compliance during the interaction with the object and the environment, has been introduced in [65] and exploited for robotic hands control [66] and design [67]. Furthermore, the use of synergistic motions is a very promising approach to control not only anthropomorphic hands but more generally high DoF devices.…”

Section: Control Of Grasping and Manipulationmentioning

confidence: 99%

“…Based on the studies of synergies, low-cost hands, compliant and underactuated, are becoming increasingly popular in the robotics community [80], [81], [82], [67]. On one side, those hands can simplify grasping and potentially in-hand manipulation.…”

Section: Dimensionality Reduction For Design and Human Observationmentioning

confidence: 99%

A Brief Survey on the Role of Dimensionality Reduction in Manipulation Learning and Control

Ficuciello

Falco

Calinon

2018

IEEE Robot. Autom. Lett.

View full text Add to dashboard Cite

Abstract-Bio-inspired designs are motivated by efficiency, adaptability and robustness of biological systems dynamic behaviors in complex environment. Despite progress in design, the lack of sensorimotor and learning capabilities is the main drawback of human-like manipulation systems. Dimensionality reduction has demonstrated in recent robotics research to solve problems that affect high degrees of freedom (DoFs) devices. In this paper, a survey on the role of dimensionality reduction in learning and control strategies is provided by discussing different techniques adopted for dimensionality reduction, as well as learning and control strategies built on subspaces of reduced dimension across different fully-actuated and underactuated anthropomorphic designs.

show abstract

Dexterity augmentation on a synergistic hand: The Pisa/IIT SoftHand+

Cited by 50 publications

References 13 publications

Simplifying Telerobotics: Wearability and Teleimpedance Improves Human-Robot Interactions in Teleoperation

Simplifying Telerobotics: Wearability and Teleimpedance Improves Human-Robot Interactions in Teleoperation

Towards a synergy framework across neuroscience and robotics: Lessons learned and open questions. Reply to comments on: “Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands”

A Brief Survey on the Role of Dimensionality Reduction in Manipulation Learning and Control

Contact Info

Product

Resources

About