Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands

Santello M, Bianchi M, Gabiccini M, Ricciardi E, Salvietti G, Prattichizzo D, Ernst MO, Moscatelli A, Jorntell H, Kappers AML, Kyriakopoulos K, et al. (2016)

Zeitschriftenaufsatz | Veröffentlicht | Englisch
Es wurden keine Dateien hochgeladen. Nur Publikationsnachweis!
Santello, Marco; Bianchi, Matteo; Gabiccini, Marco; Ricciardi, Emiliano; Salvietti, Gionata; Prattichizzo, Domenico; Ernst, Marc O.UniBi; Moscatelli, Alessandro; Jorntell, Henrik; Kappers, Astrid M. L.; Kyriakopoulos, Kostas; Albu-Schaeffer, Alin
Abstract / Bemerkung
The term 'synergy' from the Greek synergia means 'working together'. The concept of multiple elements working together towards a common goal has been extensively used in neuroscience to develop theoretical frameworks, experimental approaches, and analytical techniques to understand neural control of movement, and for applications for neuro-rehabilitation. In the past decade, roboticists have successfully applied the framework of synergies to create novel design and control concepts for artificial hands, i.e., robotic hands and prostheses. At the same time, robotic research on the sensorimotor integration underlying the control and sensing of artificial hands has inspired new research approaches in neuroscience, and has provided useful instruments for novel experiments. The ambitious goal of integrating expertise and research approaches in robotics and neuroscience to study the properties and applications of the concept of synergies is generating a number of multidisciplinary cooperative projects, among which the recently finished 4-year European project "The Hand Embodied" (THE). This paper reviews the main insights provided by this framework. Specifically, we provide an overview of neuroscientific bases of hand synergies and introduce how robotics has leveraged the insights from neuroscience for innovative design in hardware and controllers for biomedical engineering applications, including myoelectric hand prostheses, devices for haptics research, and wearable sensing of human hand kinematics. The review also emphasizes how this multidisciplinary collaboration has generated new ways to conceptualize a synergy-based approach for robotics, and provides guidelines and principles for analyzing human behavior and synthesizing artificial robotic systems based on a theory of synergies. (C) 2016 Elsevier B.V. All rights reserved.
Movement; Force; Biomechanics; Electromyography; Motor control
Page URI


Santello M, Bianchi M, Gabiccini M, et al. Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands. PHYSICS OF LIFE REVIEWS. 2016;17:1-23.
Santello, M., Bianchi, M., Gabiccini, M., Ricciardi, E., Salvietti, G., Prattichizzo, D., Ernst, M. O., et al. (2016). Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands. PHYSICS OF LIFE REVIEWS, 17, 1-23. doi:10.1016/j.plrev.2016.02.001
Santello, Marco, Bianchi, Matteo, Gabiccini, Marco, Ricciardi, Emiliano, Salvietti, Gionata, Prattichizzo, Domenico, Ernst, Marc O., et al. 2016. “Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands”. PHYSICS OF LIFE REVIEWS 17: 1-23.
Santello, M., Bianchi, M., Gabiccini, M., Ricciardi, E., Salvietti, G., Prattichizzo, D., Ernst, M. O., Moscatelli, A., Jorntell, H., Kappers, A. M. L., et al. (2016). Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands. PHYSICS OF LIFE REVIEWS 17, 1-23.
Santello, M., et al., 2016. Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands. PHYSICS OF LIFE REVIEWS, 17, p 1-23.
M. Santello, et al., “Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands”, PHYSICS OF LIFE REVIEWS, vol. 17, 2016, pp. 1-23.
Santello, M., Bianchi, M., Gabiccini, M., Ricciardi, E., Salvietti, G., Prattichizzo, D., Ernst, M.O., Moscatelli, A., Jorntell, H., Kappers, A.M.L., Kyriakopoulos, K., Albu-Schaeffer, A., Castellini, C., Bicchi, A.: Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands. PHYSICS OF LIFE REVIEWS. 17, 1-23 (2016).
Santello, Marco, Bianchi, Matteo, Gabiccini, Marco, Ricciardi, Emiliano, Salvietti, Gionata, Prattichizzo, Domenico, Ernst, Marc O., Moscatelli, Alessandro, Jorntell, Henrik, Kappers, Astrid M. L., Kyriakopoulos, Kostas, Albu-Schaeffer, Alin, Castellini, Claudio, and Bicchi, Antonio. “Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands”. PHYSICS OF LIFE REVIEWS 17 (2016): 1-23.

31 Zitationen in Europe PMC

Daten bereitgestellt von Europe PubMed Central.

Cross-Modal Audiovisual Modulation of Corticospinal Motor Synergies in Professional Piano Players: A TMS Study during Motor Imagery.
Rossi S, Spada D, Emanuele M, Ulivelli M, Santarnecchi E, Fadiga L, Prattichizzo D, Rossi A, Perani D., Neural Plast 2019(), 2019
PMID: 31093269
Kinematic synergies of hand grasps: a comprehensive study on a large publicly available dataset.
Jarque-Bou NJ, Scano A, Atzori M, Müller H., J Neuroeng Rehabil 16(1), 2019
PMID: 31138257
Augmented manipulation ability in humans with six-fingered hands.
Mehring C, Akselrod M, Bashford L, Mace M, Choi H, Blüher M, Buschhoff AS, Pistohl T, Salomon R, Cheah A, Blanke O, Serino A, Burdet E., Nat Commun 10(1), 2019
PMID: 31160580
Motor modules account for active perception of force.
Toma S, Santello M., Sci Rep 9(1), 2019
PMID: 31222076
Active Haptic Perception in Robots: A Review.
Seminara L, Gastaldo P, Watt SJ, Valyear KF, Zuher F, Mastrogiovanni F., Front Neurorobot 13(), 2019
PMID: 31379549
Discrimination threshold for haptic volume perception of fingers and phalanges.
Zhang Z, Li C, Zhang J, Huang Q, Go R, Yan T, Wu J., Atten Percept Psychophys 80(2), 2018
PMID: 29218598
Muscle Synergy Analysis of a Hand-Grasp Dataset: A Limited Subset of Motor Modules May Underlie a Large Variety of Grasps.
Scano A, Chiavenna A, Molinari Tosatti L, Müller H, Atzori M., Front Neurorobot 12(), 2018
PMID: 30319387
Scaling Our World View: How Monoamines Can Put Context Into Brain Circuitry.
Stratmann P, Albu-Schäffer A, Jörntell H., Front Cell Neurosci 12(), 2018
PMID: 30618646
Modelling the structure of object-independent human affordances of approaching to grasp for robotic hands.
Cotugno G, Konstantinova J, Althoefer K, Nanayakkara T., PLoS One 13(12), 2018
PMID: 30586407
Low-Dimensional Synergistic Representation of Bilateral Reaching Movements.
Burns MK, Patel V, Florescu I, Pochiraju KV, Vinjamuri R., Front Bioeng Biotechnol 5(), 2017
PMID: 28239605
Multidigit force control during unconstrained grasping in response to object perturbations.
Naceri A, Moscatelli A, Haschke R, Ritter H, Santello M, Ernst MO., J Neurophysiol 117(5), 2017
PMID: 28228582
Skilful force control in expert pianists.
Oku T, Furuya S., Exp Brain Res 235(5), 2017
PMID: 28260157
Neural basis for hand muscle synergies in the primate spinal cord.
Takei T, Confais J, Tomatsu S, Oya T, Seki K., Proc Natl Acad Sci U S A 114(32), 2017
PMID: 28739958
Postural Hand Synergies during Environmental Constraint Exploitation.
Della Santina C, Bianchi M, Averta G, Ciotti S, Arapi V, Fani S, Battaglia E, Catalano MG, Santello M, Bicchi A., Front Neurorobot 11(), 2017
PMID: 28900393
On neuromechanical approaches for the study of biological and robotic grasp and manipulation.
Valero-Cuevas FJ, Santello M., J Neuroeng Rehabil 14(1), 2017
PMID: 29017508
Functional classification of grasp strategies used by hemiplegic patients.
García Álvarez A, Roby-Brami A, Robertson J, Roche N., PLoS One 12(11), 2017
PMID: 29125855
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 M, Bianchi M, Gabiccini M, Ricciardi E, Salvietti G, Prattichizzo D, Ernst M, Moscatelli A, Jorntell H, Kappers AM, Kyriakopoulos K, Schaeffer AA, Castellini C, Bicchi A., Phys Life Rev 17(), 2016
PMID: 27344306
Assessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-Inspired Robotic Hand for Prosthetic Applications.
Fani S, Bianchi M, Jain S, Pimenta Neto JS, Boege S, Grioli G, Bicchi A, Santello M., Front Neurorobot 10(), 2016
PMID: 27799908

177 References

Daten bereitgestellt von Europe PubMed Central.

A classification of manipulative hand movements.
Elliott JM, Connolly KJ., Dev Med Child Neurol 26(3), 1984
PMID: 6734945
Action and perception at the level of synergies.
Turvey MT., Hum Mov Sci 26(4), 2007
PMID: 17604860

Latash ML., 2008
Neuromechanics of muscle synergies for posture and movement.
Ting LH, McKay JL., Curr. Opin. Neurobiol. 17(6), 2007
PMID: 18304801
Combining modules for movement
Bizzi E, Cheung VCK, D’Avella A., 2008
Are movement disorders and sensorimotor injuries pathologic synergies? When normal multi-joint movement synergies become pathologic
Santello M, Lang CE., 2014
The neural origin of muscle synergies.
Bizzi E, Cheung VC., Front Comput Neurosci 7(), 2013
PMID: 23641212
Neural bases of hand synergies.
Santello M, Baud-Bovy G, Jorntell H., Front Comput Neurosci 7(), 2013
PMID: 23579545
Control of hand muscles through common neural input
Control of reaching movements by muscle synergy combinations.
d'Avella A, Lacquaniti F., Front Comput Neurosci 7(), 2013
PMID: 23626534
Postural hand synergies for tool use.
Santello M, Flanders M, Soechting JF., J. Neurosci. 18(23), 1998
PMID: 9822764
Patterns of hand motion during grasping and the influence of sensory guidance.
Santello M, Flanders M, Soechting JF., J. Neurosci. 22(4), 2002
PMID: 11850469
Hand synergies during reach-to-grasp.
Mason CR, Gomez JE, Ebner TJ., J. Neurophysiol. 86(6), 2001
PMID: 11731546
Prehension synergies.
Zatsiorsky VM, Latash ML., Exerc Sport Sci Rev 32(2), 2004
PMID: 15064652
Muscle synergy patterns as physiological markers of motor cortical damage.
Cheung VC, Turolla A, Agostini M, Silvoni S, Bennis C, Kasi P, Paganoni S, Bonato P, Bizzi E., Proc. Natl. Acad. Sci. U.S.A. 109(36), 2012
PMID: 22908288
Alterations in upper limb muscle synergy structure in chronic stroke survivors
Roh J, Rymer WZ, Perreault EJ, Yoo SB, Beer RF., 2013
Inter-finger coordination and postural synergies in robot hands via mechanical implementation of principal component analysis
Brown CY, Asada HH., 0
Dimensionality reduction for hand-independent dexterous robotic grasping
Ciocarlie MT, Goldfeder C, Allen PK., 0
The prehensile movements of the human hand
Napier JR., 1956
Hand function: peripheral and central constraints on performance.
Schieber MH, Santello M., J. Appl. Physiol. 96(6), 2004
PMID: 15133016
The case for and against muscle synergies.
Tresch MC, Jarc A., Curr. Opin. Neurobiol. 19(6), 2009
PMID: 19828310
Common input to motor units of digit flexors during multi-digit grasping.
Winges SA, Santello M., J. Neurophysiol. 92(6), 2004
PMID: 15240764
Periodic modulation of motor-unit activity in extrinsic hand muscles during multidigit grasping.
Johnston JA, Winges SA, Santello M., J. Neurophysiol. 94(1), 2005
PMID: 15744006
Common input to motor units of intrinsic and extrinsic hand muscles during two-digit object hold.
Winges SA, Kornatz KW, Santello M., J. Neurophysiol. 99(3), 2008
PMID: 18171707
Muscle-pair specific distribution and grip-type modulation of neural common input to extrinsic digit flexors
Winges SA, Johnston JA, Santello M., 2006
Force-independent distribution of correlated neural inputs to hand muscles during three-digit grasping.
Poston B, Danna-Dos Santos A, Jesunathadas M, Hamm TM, Santello M., J. Neurophysiol. 104(2), 2010
PMID: 20505123
Patterns of muscle activity underlying object-specific grasp by the macaque monkey.
Brochier T, Spinks RL, Umilta MA, Lemon RN., J. Neurophysiol. 92(3), 2004
PMID: 15163676
Modulation of muscle synergy recruitment in primate grasping.
Overduin SA, d'Avella A, Roh J, Bizzi E., J. Neurosci. 28(4), 2008
PMID: 18216196
Muscular and postural synergies of the human hand.
Weiss EJ, Flanders M., J. Neurophysiol. 92(1), 2004
PMID: 14973321
Timing of muscle activation in a hand movement sequence.
Klein Breteler MD, Simura KJ, Flanders M., Cereb. Cortex 17(4), 2006
PMID: 16699078
Differences between kinematic synergies and muscle synergies during two-digit grasping
Tagliabue M, Ciancio AL, Brochier T, Eskiizmirliler S, Maier MA., 2015
Development of hand motor control
Gordon AM., 2001
The statistics of natural hand movements.
Ingram JN, Kording KP, Howard IS, Wolpert DM., Exp Brain Res 188(2), 2008
PMID: 18369608
Multidigit movement synergies of the human hand in an unconstrained haptic exploration task.
Thakur PH, Bastian AJ, Hsiao SS., J. Neurosci. 28(6), 2008
PMID: 18256247
Quantizing and characterizing the variance of hand postures in a novel transformation task
Vinjamuri R, Sun M, Weber D, Wang W, Crammond D, Mao ZH., 0
Prehension synergies and control with referent hand configurations.
Latash ML, Friedman J, Kim SW, Feldman AG, Zatsiorsky VM., Exp Brain Res 202(1), 2009
PMID: 20033397
Motor synergies and the equilibrium-point hypothesis
Latash ML., 2010
Toward a new theory of motor synergies
Latash ML, Scholz JP, Schoner G., 2007
Microstimulation activates a handful of muscle synergies.
Overduin SA, d'Avella A, Carmena JM, Bizzi E., Neuron 76(6), 2012
PMID: 23259944
Neural representations of ethologically relevant hand/mouth synergies in the human precentral gyrus.
Desmurget M, Richard N, Harquel S, Baraduc P, Szathmari A, Mottolese C, Sirigu A., Proc. Natl. Acad. Sci. U.S.A. 111(15), 2014
PMID: 24706796
The neuroscience of grasping.
Castiello U., Nat. Rev. Neurosci. 6(9), 2005
PMID: 16100518
Decoding the neural mechanisms of human tool use.
Gallivan JP, McLean DA, Valyear KF, Culham JC., Elife 2(), 2013
PMID: 23741616
Quality-space theory in olfaction.
Young BD, Keller A, Rosenthal D., Front Psychol 5(), 2014
PMID: 24474945
A topographical organization for action representation in the human brain.
Handjaras G, Bernardi G, Benuzzi F, Nichelli PF, Pietrini P, Ricciardi E., Hum Brain Mapp 36(10), 2015
PMID: 26138610
The motor cortex in man in the light of hughlings Jackson’s doctrines (Brain, vol lix, p 135, June, 1936) Foerster, O
Fleming G., 1936
Sensible corticale felder
Felder UB., 1936
The cerebral cortex of man, a clinical study of localization of function
Penfield W, Rasmussen T., 1950
Patterns of localization in precentral and “supplementary” motor areas and their relation to the concept of a premotor area
Woolsey CN, Settlage PH, Meyer DR, Sencer W, Hamuy TP, Travis A., 1951
Somatic motor and sensory representation in the cerebral cortex of man as studied by electrical stimulation
Penfield W, Boldrey E., 1937
Somatotopic gradients in the distributed organization of the human primary motor cortex hand area: evidence from small infarcts
Schieber MH., 1999
Constraints on somatotopic organization in the primary motor cortex.
Schieber MH., J. Neurophysiol. 86(5), 2001
PMID: 11698506
Somatotopy in human primary motor and somatosensory hand representations revisited.
Hlustik P, Solodkin A, Gullapalli RP, Noll DC, Small SL., Cereb. Cortex 11(4), 2001
PMID: 11278194
Complex movements evoked by microstimulation of precentral cortex.
Graziano MS, Taylor CS, Moore T., Neuron 34(5), 2002
PMID: 12062029
Partial tuning of motor cortex neurons to final posture in a free-moving paradigm.
Aflalo TN, Graziano MS., Proc. Natl. Acad. Sci. U.S.A. 103(8), 2006
PMID: 16473936
Hand use predicts the structure of representations in sensorimotor cortex.
Ejaz N, Hamada M, Diedrichsen J., Nat. Neurosci. 18(7), 2015
PMID: 26030847
Encoding of motor skill in the corticomuscular system of musicians.
Gentner R, Gorges S, Weise D, aufm Kampe K, Buttmann M, Classen J., Curr. Biol. 20(20), 2010
PMID: 20951047
The “alphabet” of human hand movements: a fMRI study on the neural correlates of postural synergies
Leo A, Handjaras G, Bianchi M, Marino H, Gabiccini M, Bicchi A., 0
How the brain moves the hand: a synergy-based control is encoded in the human motor cortical areas
Leo A, Handjaras G, Bianchi M, Marino H, Gabiccini M, Guidi A., 2016
Encoding and decoding in fMRI.
Naselaris T, Kay KN, Nishimoto S, Gallant JL., Neuroimage 56(2), 2010
PMID: 20691790
How machine learning is shaping cognitive neuroimaging.
Varoquaux G, Thirion B., Gigascience 3(), 2014
PMID: 25405022
Global cortical activity predicts shape of hand during grasping.
Agashe HA, Paek AY, Zhang Y, Contreras-Vidal JL., Front Neurosci 9(), 2015
PMID: 25914616
Extracting kinetic information from human motor cortical signals.
Flint RD, Wang PT, Wright ZA, King CE, Krucoff MO, Schuele SU, Rosenow JM, Hsu FP, Liu CY, Lin JJ, Sazgar M, Millett DE, Shaw SJ, Nenadic Z, Do AH, Slutzky MW., Neuroimage 101(), 2014
PMID: 25094020
Decoding natural grasp types from human ECoG.
Pistohl T, Schulze-Bonhage A, Aertsen A, Mehring C, Ball T., Neuroimage 59(1), 2011
PMID: 21763434
Cortical networks for ethologically relevant behaviors in primates.
Kaas JH, Gharbawie OA, Stepniewska I., Am. J. Primatol. 75(5), 2012
PMID: 22865408
Traumatic brain injury and olfaction: a systematic review.
Schofield PW, Moore TM, Gardner A., Front Neurol 5(), 2014
PMID: 24478752
Principal components of hand kinematics and neurophysiological signals in motor cortex during reach to grasp movements.
Mollazadeh M, Aggarwal V, Thakor NV, Schieber MH., J. Neurophysiol. 112(8), 2014
PMID: 24990564
Hand posture subspaces for dexterous robotic grasping
Ciocarlie MT, Allen PK., 2009
Experimental evaluation of postural synergies during reach to grasp with the UB hand IV
Ficuciello F, Palli G, Melchiorri C, Siciliano B., 0
Integrating human observer inferences into robot motion planning
Dragan A, Srinivasa S., 2014
Measurement instruments for the anthropomorphism, animacy, likeability, perceived intelligence, and perceived safety of robots
Bartneck C, Kulić D, Croft E, Zoghbi S., 2009

Duffy B., 2002
How anthropomorphism affects empathy toward robots
Riek LD, Rabinowitch TC, Chakrabarti B, Robinson P., 0
Biologically inspired kinematic synergies enable linear balance control of a humanoid robot.
Hauser H, Neumann G, Ijspeert AJ, Maass W., Biol Cybern 104(4-5), 2011
PMID: 21523489
The timing of natural prehension movements.
Jeannerod M., J Mot Behav 16(3), 1984
PMID: 15151851
Functional relationships between grasp and transport components in a prehension task
Marteniuk RG, Leavitt JL, MacKenzie CL, Athenes S., 1990
The coupling of arm and finger movements during prehension.
Paulignan Y, MacKenzie C, Marteniuk R, Jeannerod M., Exp Brain Res 79(2), 1990
PMID: 2323388
Selective perturbation of visual input during prehension movements. 1. The effects of changing object position.
Paulignan Y, MacKenzie C, Marteniuk R, Jeannerod M., Exp Brain Res 83(3), 1991
PMID: 2026193
Task discrimination from myoelectric activity: a learning scheme for EMG-based interfaces
Liarokapis MV, Artemiadis PK, Kyriakopoulos KJ., 0
Directions, methods and metrics for mapping human to robot motion with functional anthropomorphism, a review. Control Systems Lab, School of Mechanical Engineering, National Technical University of Athens
Liarokapis MV, Artemiadis PK, Bechlioulis CP, Kyriakopoulos KJ., 2013
A learning scheme for reach to grasp movements: on EMG-based interfaces using task specific motion decoding models.
Liarokapis MV, Artemiadis PK, Kyriakopoulos KJ, Manolakos ES., IEEE J Biomed Health Inform 17(5), 2013
PMID: 25055370
Humanlike task-specific reaching and grasping with redundant arms and low-complexity hands
Liarokapis MV, Dollar AM, Kyriakopoulos KJ., 0
Navigation functions learning from experiments: application to anthropomorphic grasping
Filippidis IF, Kyriakopoulos KJ, Artemiadis PK., 0
Haptic telemanipulation with dissimilar kinematics
Peer A, Stanczyk B, Buss M., 2005
Transformation of human hand positions for robotic hand control
Pao L, Speeter TH., 1989
Calibration and mapping of a human hand for dexterous telemanipulation
Griffin WB, Findley RP, Turner ML, Cutkosky MR., 0
Mapping synergies from human to robotic hands with dissimilar kinematics: an approach in the object domain
Gioioso G, Salvietti G, Malvezzi M, Prattichizzo D., 2013
An object-based approach to map human hand synergies onto robotic hands with dissimilar kinematics
Gioioso G, Salvietti G, Malvezzi M, Prattichizzo D., 2013
On the use of homogeneous transformations to map human hand movements onto robotic hands
Salvietti G, Malvezzi M, Gioioso G, Prattichizzo D., 0
Object-based bilateral telemanipulation between dissimilar kinematic structures
Salvietti G, Meli L, Gioioso G, Malvezzi M, Prattichizzo D., 0
HANDS.DVI: a DeVice-independent programming and control framework for robotic HANDS
Salvietti G, Gioioso G, Malvezzi M, Prattichizzo D, Serio A, Farnioli E., 2014
SynGrasp: a MATLAB toolbox for underactuated and compliant hands
Malvezzi M, Gioioso G, Salvietti G, Prattichizzo PD., 2015
Basic neural mechanisms in behavior
Lashley KS., 1930
Transfer of learned manipulation following changes in degrees of freedom.
Fu Q, Hasan Z, Santello M., J. Neurosci. 31(38), 2011
PMID: 21940448
On the role of hand synergies in the optimal choice of grasping forces
Gabiccini M, Bicchi A, Prattichizzo D, Malvezzi M., 2011
Modelling natural and artificial hands with sinergie
Bicchi A, Gabiccini M, Santello M., 2011
On motion and force controllability of precision grasps with hands actuated by soft synergies
Prattichizzo D, Malvezzi M, Gabiccini M, Bicchi A., 2013
On the manipulability ellipsoids of underactuated robotic hands with compliance
Prattichizzo D, Malvezzi M, Gabiccini M, Bicchi A., 2012
Grasp analysis tools for synergistic underactuated robotic hands
Gabiccini M, Farnioli E, Bicchi A., 2013
Grasp compliance regulation in synergistically controlled robotic hands with vsa
Farnioli E, Gabiccini M, Bonilla M, Bicchi A., 0
Adaptive synergies for a humanoid robot hand
Catalano MG, Grioli G, Serio A, Farnioli E, Piazza C, Bicchi A., 0
Adaptive synergies for the design and control of the Pisa/IIT SoftHand
Catalano MG, Grioli G, Farnioli E, Serio A, Piazza C, Bicchi A., 2014
Functional testing of a soft synergy-based artificial prosthetic hand
Gailey A, Godfrey S, Breighner R, Andrews K, Zhao K, Bicchi A., 0
Application of a novel robotic hand as a myoelectric prosthetic prototype: proof of concept in a single patient
Zhao K, Breighner R, Theuer A, Godfrey S, Bianchi M, Catalano MG., 0
Advances in surface EMG: recent progress in detection and processing techniques.
Merletti R, Aventaggiato M, Botter A, Holobar A, Marateb H, Vieira TM., Crit Rev Biomed Eng 38(4), 2010
PMID: 21133837
Evidence of muscle synergies during human grasping.
Castellini C, van der Smagt P., Biol Cybern 107(2), 2013
PMID: 23370962
Stable myoelectric control of a hand prosthesis using non-linear incremental learning.
Gijsberts A, Bohra R, Sierra Gonzalez D, Werner A, Nowak M, Caputo B, Roa MA, Castellini C., Front Neurorobot 8(), 2014
PMID: 24616697
Exploring teleimpedance and tactile feedback for intuitive control of the Pisa/IIT SoftHand.
Ajoudani A, Godfrey SB, Bianchi M, Catalano MG, Grioli G, Tsagarakis N, Bicchi A., IEEE Trans Haptics 7(2), 2014
PMID: 24968383
Learning human reach-to-grasp strategies: towards EMG-based control of robotic arm-hand systems
Liarokapis MV, Artemiadis PK, Katsiaris PT, Kyriakopoulos KJ, Manolakos ES., 0
Persistent hand motor commands in the amputees' brain.
Reilly KT, Mercier C, Schieber MH, Sirigu A., Brain 129(Pt 8), 2006
PMID: 16799174
Decoding of individuated finger movements using surface electromyography.
Tenore FV, Ramos A, Fahmy A, Acharya S, Etienne-Cummings R, Thakor NV., IEEE Trans Biomed Eng 56(5), 2009
PMID: 19473933
Fine detection of grasp force and posture by amputees via surface electromyography
Castellini C, Gruppioni E, Davalli A, Sandini G., 2009
Upper-limb prosthetics: critical factors in device abandonment.
Biddiss E, Chau T., Am J Phys Med Rehabil 86(12), 2007
PMID: 18090439
Myoelectric forearm prostheses: state of the art from a user-centered perspective.
Peerdeman B, Boere D, Witteveen H, in 't Veld RH, Hermens H, Stramigioli S, Rietman H, Veltink P, Misra S., J Rehabil Res Dev 48(6), 2011
PMID: 21938658
Proportional myoelectric control of robots: muscle synergy development drives performance enhancement, retainment, and generalization
Ison M, Artemiadis PK., 2015
Tele-impedance: towards transferring human impedance regulation skills to robots
Ajoudani A, Tsagarakis NG, Bicchi A., 0
Tele-impedance: teleoperation with impedance regulation using a body-machine interface
Ajoudani A, Tsagarakis NG, Bicchi A., 2012
The relation between the surface electromyogram and muscular force.
Milner-Brown HS, Stein RB., J. Physiol. (Lond.) 246(3), 1975
PMID: 1133787
Model-based estimation of muscle forces exerted during movements
Erdemir A, McLean S, Herzog W, Van AJ., 2007
Tele-impedance based stiffness and motion augmentation for a knee exoskeleton device
Karavas N, Ajoudani A, Tsagarakis NG, Saglia J, Bicchi A, Caldwell D., 0
A nonlinear control strategy based on using a shape-tunable neural controller
Chen CT, Peng ST, Chang WD., 1997

Palmer SE., 1999
Is there a 'plenhaptic' function?
Hayward V., Philos. Trans. R. Soc. Lond., B, Biol. Sci. 366(1581), 2011
PMID: 21969693
Feature saliency and integration in haptic perception
Kappers AML, Bergmann WM., 2012
Tactile flow explains haptic counterparts of common visual illusions.
Bicchi A, Scilingo EP, Ricciardi E, Pietrini P., Brain Res. Bull. 75(6), 2008
PMID: 18394519
The role of the contact area spread rate in haptic discrimination of softness
Bicchi A, De D, Scilingo EP., 2000
A new fabric-based softness display
Bianchi M, Serio A, Scilingo EP, Bicchi A., 0
A new softness display based on bi-elastic fabric
Bianchi M, Scilingo EP, Serio A, Bicchi A., 0
Design and Characterization of a Fabric-Based Softness Display.
Bianchi M, Serio A., IEEE Trans Haptics 8(2), 2015
PMID: 25720018
Tactual discrimination of softness.
Srinivasan MA, LaMotte RH., J. Neurophysiol. 73(1), 1995
PMID: 7714593
Cues for Haptic Perception of Compliance.
Bergmann Tiest WM, Kappers A., IEEE Trans Haptics 2(4), 2009
PMID: 27788104
Rendering Softness: Integration of Kinesthetic and Cutaneous Information in a Haptic Device.
Scilingo EP, Bianchi M, Grioli G, Bicchi A., IEEE Trans Haptics 3(2), 2010
PMID: 27788118
Cutaneous and kinaesthetic perception of traversed distance
Bergmann WM, van LMA, Kappers AML., 0
Haptic perception: a tutorial.
Lederman SJ, Klatzky RL., Atten Percept Psychophys 71(7), 2009
PMID: 19801605
Integration of length and curvature in haptic perception.
Panday V, Tiest WM, Kappers AM., Sci Rep 4(), 2014
PMID: 24457258
The role of multisensor integration and fusion in the operation of mobile robots
Luo RC, Kay MG., 1988
Measurement and modeling of depth cue combination: in defense of weak fusion.
Landy MS, Maloney LT, Johnston EB, Young M., Vision Res. 35(3), 1995
PMID: 7892735
Tactual discrimination of softness.
Srinivasan MA, LaMotte RH., J. Neurophysiol. 73(1), 1995
PMID: 7714593
The role of vibration in tactile speed perception.
Dallmann CJ, Ernst MO, Moscatelli A., J. Neurophysiol. 114(6), 2015
PMID: 26424580
Spatio-temporal skin strain distributions evoke low variability spike responses in cuneate neurons.
Hayward V, Terekhov AV, Wong SC, Geborek P, Bengtsson F, Jorntell H., J R Soc Interface 11(93), 2014
PMID: 24451390
Illusory Tactile Motion Perception: An Analog of the Visual Filehne Illusion.
Moscatelli A, Hayward V, Wexler M, Ernst MO., Sci Rep 5(), 2015
PMID: 26412592
The Change in Fingertip Contact Area as a Novel Proprioceptive Cue.
Moscatelli A, Bianchi M, Serio A, Terekhov A, Hayward V, Ernst MO, Bicchi A., Curr. Biol. 26(9), 2016
PMID: 27068417
Path integration in tactile perception of shapes.
Moscatelli A, Naceri A, Ernst MO., Behav. Brain Res. 274(), 2014
PMID: 25151621
Integration of kinesthetic and tactile display – a modular design concept
Fritschi M, Ernst MO, Buss M., 2006
Force synergies for multifingered grasping.
Santello M, Soechting JF., Exp Brain Res 133(4), 2000
PMID: 10985681
Monkey hand postural synergies during reach-to-grasp in the absence of vision of the hand and object.
Mason CR, Theverapperuma LS, Hendrix CM, Ebner TJ., J. Neurophysiol. 91(6), 2004
PMID: 14762155
Biologically inspired adaptive control with automatic identification of sensor synergies
Nilsson M, Jorntell H., 0
Integration of sensory quanta in cuneate nucleus neurons in vivo.
Bengtsson F, Brasselet R, Johansson RS, Arleo A, Jorntell H., PLoS ONE 8(2), 2013
PMID: 23409195
Segregation of tactile input features in neurons of the cuneate nucleus.
Jorntell H, Bengtsson F, Geborek P, Spanne A, Terekhov AV, Hayward V., Neuron 83(6), 2014
PMID: 25175880
Interneuronal relay in spinal pathways from proprioceptors.
Jankowska E., Prog. Neurobiol. 38(4), 1992
PMID: 1315446
Using postural synergies to animate a low-dimensional hand avatar in haptic simulation.
Mulatto S, Formaglio A, Malvezzi M, Prattichizzo D., IEEE Trans Haptics 6(1), 2013
PMID: 24808272
Synergy-based hand pose sensing: reconstruction enhancement
Bianchi M, Salaris P, Bicchi A., 2013
Synergy-based hand pose sensing: optimal glove design
Bianchi M, Salaris P, Bicchi A., 2013
Tools and human evolution.
WASHBURN SL., Sci. Am. 203(), 1960
PMID: 13843002
A novel type of compliant, underactuated robotic hand for dexterous grasping
Deimel R, Brock O., 2016
Grasping unknown objects by exploiting shape adaptability and environmental constraints
Eppner C, Brock O., 0
Grasping with soft hands
Bonilla M, Farnioli E, Piazza C, Catalano MG, Grioli G, Garabini M., 0
Bimanual and unimanual length perception.
Panday V, Bergmann Tiest WM, Kappers AM., Exp Brain Res 232(9), 2014
PMID: 24792507

Markieren/ Markierung löschen
Markierte Publikationen

Open Data PUB

Web of Science

Dieser Datensatz im Web of Science®

PMID: 26923030
PubMed | Europe PMC

Suchen in

Google Scholar