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

Lucia SeminaraStrahinja DošenFulvio MastrogiovanniMatteo BianchiSimon WattPhilipp BeckerleThrishantha NanayakkaraKnut DrewingAlessandro MoscatelliRoberta L KlatzkyGerald E Loeb
Published in: Science robotics (2023)
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.
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