Replicating Human Hand Synergies Onto Robotic Hands: A Review on Software and Hardware Strategies.
Replicating Human Hand Synergies Onto Robotic Hands: A Review on Software and Hardware Strategies.
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DOI：
10.3389/fnbot.2018.00027
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发表时间：
2018
影响因子：
3.1
通讯作者：
Salvietti G
中科院分区：
文献类型：
--
作者：
Salvietti G
本文综述了文献中提出的主要解决方案，以减少控制的复杂性和设计的机器人手从组织的人脑的灵感。神经科学中关于人手感觉运动组织的几项研究证明，尽管手很复杂，但一些参数可以描述配置和运动模式的大部分变化。换句话说，人类利用一组简化的参数，在文献中称为协同作用，来控制他们的手。在机器人技术中，这种降维可以通过耦合机器人手的一些自由度（DoF）来实现，这导致所需输入的减少。这样的耦合可以在软件层面上获得，利用映射算法来再现人手组织，并且在硬件层面上，通过机器人手的关节之间的刚性或顺应性物理耦合来获得。本文回顾了这两种方法提出的主要解决方案。
This review reports the principal solutions proposed in the literature to reduce the complexity of the control and of the design of robotic hands taking inspiration from the organization of the human brain. Several studies in neuroscience concerning the sensorimotor organization of the human hand proved that, despite the complexity of the hand, a few parameters can describe most of the variance in the patterns of configurations and movements. In other words, humans exploit a reduced set of parameters, known in the literature as synergies, to control their hands. In robotics, this dimensionality reduction can be achieved by coupling some of the degrees of freedom (DoFs) of the robotic hand, that results in a reduction of the needed inputs. Such coupling can be obtained at the software level, exploiting mapping algorithm to reproduce human hand organization, and at the hardware level, through either rigid or compliant physical couplings between the joints of the robotic hand. This paper reviews the main solutions proposed for both the approaches.
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影响因子：
5.1
作者：
Matrone GC;Cipriani C;Secco EL;Magenes G;Carrozza MC
通讯作者：
Carrozza MC
DOI：
10.1007/978-3-319-56802-7_24
发表时间：
2018-01-01
期刊：
ADVANCES IN ROBOT KINEMATICS 2016
影响因子：
--
作者：
Ficuciello, Fanny;Federico, Alba;Siciliano, Bruno
通讯作者：
Siciliano, Bruno
影响因子：
5.7
作者：
Piazza, C.;Catalano, M. G.;Bicchi, A.
通讯作者：
Bicchi, A.
影响因子：
3.5
作者：
Gabiccini, M.;Bicchi, A.;Malvezzi, M.
通讯作者：
Malvezzi, M.
影响因子：
5.2
作者：
Salvietti, Gionata;Hussain, Irfan;Prattichizzo, Domenico
通讯作者：
Prattichizzo, Domenico