Bio-inspired sensorization of a biomechatronic robot hand for the grasp-and-lift task

Edin, Benoni B.; Ascari, Luca; Beccai, Lucia; Roccella, S.; Cabibihan, John-John; Carrozza, Maria Chiara

doi:10.1016/j.brainresbull.2008.01.017

Cited by 81 publications

(61 citation statements)

References 36 publications

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“…This single observation provides a strong motivation to the roboticist to understand biological systems and to exploit the solutions to which they have converged [3,4] (including to understand how biological solutions relate to probabilistic solutions [5]). This motivation is inspiring entirely novel (or, 'unconventional') approaches to mechanics [6], locomotion [7], sensing [8] and decision-making [9], to give only a handful of recent examples. At the same time, 'embodied' (i.e.…”

Section: Introductionmentioning

confidence: 99%

Biomimetic tactile target acquisition, tracking and capture

Mitchinson

Pearson

Pipe

et al. 2014

Robotics and Autonomous Systems

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Section: Introductionmentioning

confidence: 99%

Biomimetic tactile target acquisition, tracking and capture

Mitchinson

Pearson

Pipe

et al. 2014

Robotics and Autonomous Systems

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“…Incipient slips are widely used in robotics to develop robots that can dynamically adapt the grasp force to object properties [41][42][43][44]. Tremblay & Cutkosky [44] made a robotic finger that had an artificial skin covered with 'nibs' that formed local contact regions and could slip independently.…”

Section: The Notion Of Incipient Slipmentioning

confidence: 99%

“…They showed that broad contact conditions (non-contact, slip or stick) varied with the normal and tangential force components. Recently, Edin et al [41] developed an artificial tactile system with miniature strain gauges embedded in a biomechatronic hand that provides rich information during manipulation tasks, including slip information between the fingertip and an object.…”

Section: The Notion Of Incipient Slipmentioning

confidence: 99%

Effect of skin hydration on the dynamics of fingertip gripping contact

André

Lévesque

Hayward

et al. 2011

J. R. Soc. Interface.

119

124

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The dynamics of fingertip contact manifest themselves in the complex skin movements observed during the transition from a stuck state to a fully developed slip. While investigating this transition, we found that it depended on skin hydration. To quantify this dependency, we asked subjects to slide their index fingertip on a glass surface while keeping the normal component of the interaction force constant with the help of visual feedback. Skin deformation inside the contact region was imaged with an optical apparatus that allowed us to quantify the relative sizes of the slipping and sticking regions. The ratio of the stuck skin area to the total contact area decreased linearly from 1 to 0 when the tangential force component increased from 0 to a maximum. The slope of this relationship was inversely correlated to the normal force component. The skin hydration level dramatically affected the dynamics of the contact encapsulated in the course of evolution from sticking to slipping. The specific effect was to reduce the tendency of a contact to slip, regardless of the variations of the coefficient of friction. Since grips were more unstable under dry skin conditions, our results suggest that the nervous system responds to dry skin by exaggerated grip forces that cannot be simply explained by a change in the coefficient of friction.

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“…Among the different solutions presented in the literature, bio-inspired control of the robotic hands seems to be one of the more promising approach [1], [2]. A deeper understanding on how the brain exploit the high redundancy of the human hands could represent a key issue in the next generation of control algorithms.…”

Section: Introductionmentioning

confidence: 99%

An Object-Based Approach to Map Human Hand Synergies onto Robotic Hands with Dissimilar Kinematics

Gioioso¹,

Salvietti²,

Malvezzi³

et al. 2012

Robotics: Science and Systems VIII

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Abstract-Robotic hands differ in kinematics, dynamics, programming, control and sensing frameworks. Borrowing the terminology from software engineering, there is a need for middleware solutions to control the robotic hands independently from their specific structure, and focusing only on the task.Results in neuroscience concerning the synergistic organization of the human hand, are the theoretical foundation of this work, which focuses on the problem of mapping human hand synergies on robotic hands with dissimilar kinematic structures.The proposed mapping is based on the use of a virtual ellipsoid and it is mediated by a model of an anthropomorphic robotic hand able to capture the idea of synergies in human hands. This approach has been tested in two different robotic hands with an anthropomorphic and non-anthropomorphic kinematic structure.

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Bio-inspired sensorization of a biomechatronic robot hand for the grasp-and-lift task

Cited by 81 publications

References 36 publications

Biomimetic tactile target acquisition, tracking and capture

Biomimetic tactile target acquisition, tracking and capture

Effect of skin hydration on the dynamics of fingertip gripping contact

An Object-Based Approach to Map Human Hand Synergies onto Robotic Hands with Dissimilar Kinematics

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