Modelling natural and artificial hands with synergies
Identifieur interne : 001C28 ( Ncbi/Merge ); précédent : 001C27; suivant : 001C29Modelling natural and artificial hands with synergies
Auteurs : Antonio Bicchi [Italie] ; Marco Gabiccini [Italie] ; Marco Santello [Italie, États-Unis]Source :
- Philosophical Transactions of the Royal Society B: Biological Sciences [ 0962-8436 ] ; 2011.
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Abstract
We report on recent work in modelling the process of grasping and active touch by natural and artificial hands. Starting from observations made in human hands about the correlation of degrees of freedom in patterns of more frequent use (postural synergies), we consider the implications of a geometrical model accounting for such data, which is applicable to the pre-grasping phase occurring when shaping the hand before actual contact with the grasped object. To extend applicability of the synergy model to study force distribution in the actual grasp, we introduce a modified model including the mechanical compliance of the hand's musculotendinous system. Numerical results obtained by this model indicate that the same principal synergies observed from pre-grasp postural data are also fundamental in achieving proper grasp force distribution. To illustrate the concept of synergies in the dual domain of haptic sensing, we provide a review of models of how the complexity and heterogeneity of sensory information from touch can be harnessed in simplified, tractable abstractions. These abstractions are amenable to fast processing to enable quick reflexes as well as elaboration of high-level percepts. Applications of the synergy model to the design and control of artificial hands and tactile sensors are illustrated.
Url:
DOI: 10.1098/rstb.2011.0152
PubMed: 21969697
PubMed Central: 3172595
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Piaggio’</addr-line>,<institution>University of Pisa</institution>,<addr-line>Via Diotisalvi, 2, 56126 Pisa</addr-line>,<country>Italy</country></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation><affiliation wicri:level="1"><nlm:aff id="af2"><addr-line>Department of Mechanical, Nuclear and Production Engineering</addr-line>,<institution>University of Pisa</institution>,<addr-line>Via Diotisalvi, 2, 56126 Pisa</addr-line>,<country>Italy</country></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author><author><name sortKey="Santello, Marco" sort="Santello, Marco" uniqKey="Santello M" first="Marco" last="Santello">Marco Santello</name><affiliation wicri:level="1"><nlm:aff id="af1"><addr-line>Interdepartmental Research Center ‘E. Piaggio’</addr-line>,<institution>University of Pisa</institution>,<addr-line>Via Diotisalvi, 2, 56126 Pisa</addr-line>,<country>Italy</country></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation><affiliation wicri:level="1"><nlm:aff id="af4"><addr-line>School of Biological and Health Systems Engineering</addr-line>,<institution>Arizona State University</institution>,<addr-line>PO Box 9309, Tempe, AZ 85287</addr-line>,<country>USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author></analytic><series><title level="j">Philosophical Transactions of the Royal Society B: Biological Sciences</title><idno type="ISSN">0962-8436</idno><idno type="eISSN">1471-2970</idno><imprint><date when="2011">2011</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Biomechanical Phenomena</term><term>Computer Simulation</term><term>Hand (physiology)</term><term>Hand Strength (physiology)</term><term>Humans</term><term>Models, Anatomic</term><term>Models, Biological</term><term>Muscle, Skeletal (physiology)</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Hand</term><term>Hand Strength</term><term>Muscle, Skeletal</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Biomechanical Phenomena</term><term>Computer Simulation</term><term>Humans</term><term>Models, Anatomic</term><term>Models, Biological</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>We report on recent work in modelling the process of grasping and active touch by natural and artificial hands. Starting from observations made in human hands about the correlation of degrees of freedom in patterns of more frequent use (postural synergies), we consider the implications of a geometrical model accounting for such data, which is applicable to the pre-grasping phase occurring when shaping the hand before actual contact with the grasped object. To extend applicability of the synergy model to study force distribution in the actual grasp, we introduce a modified model including the mechanical compliance of the hand's musculotendinous system. Numerical results obtained by this model indicate that the same principal synergies observed from pre-grasp postural data are also fundamental in achieving proper grasp force distribution. To illustrate the concept of synergies in the dual domain of haptic sensing, we provide a review of models of how the complexity and heterogeneity of sensory information from touch can be harnessed in simplified, tractable abstractions. These abstractions are amenable to fast processing to enable quick reflexes as well as elaboration of high-level percepts. Applications of the synergy model to the design and control of artificial hands and tactile sensors are illustrated.</p></div></front></TEI><double pmid="21969697"><pmc><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Modelling natural and artificial hands with synergies</title><author><name sortKey="Bicchi, Antonio" sort="Bicchi, Antonio" uniqKey="Bicchi A" first="Antonio" last="Bicchi">Antonio Bicchi</name><affiliation wicri:level="1"><nlm:aff id="af1"><addr-line>Interdepartmental Research Center ‘E. Piaggio’</addr-line>,<institution>University of Pisa</institution>,<addr-line>Via Diotisalvi, 2, 56126 Pisa</addr-line>,<country>Italy</country></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation><affiliation wicri:level="1"><nlm:aff id="af3"><addr-line>Department of Advanced Robotics, Instituto Italiano di Tecnologia, Via morego, 30, 16163 Genova, Italy</addr-line></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea>Department of Advanced Robotics, Instituto Italiano di Tecnologia, Via morego, 30, 16163 Genova</wicri:regionArea><wicri:noRegion>16163 Genova</wicri:noRegion></affiliation></author><author><name sortKey="Gabiccini, Marco" sort="Gabiccini, Marco" uniqKey="Gabiccini M" first="Marco" last="Gabiccini">Marco Gabiccini</name><affiliation wicri:level="1"><nlm:aff id="af1"><addr-line>Interdepartmental Research Center ‘E. Piaggio’</addr-line>,<institution>University of Pisa</institution>,<addr-line>Via Diotisalvi, 2, 56126 Pisa</addr-line>,<country>Italy</country></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation><affiliation wicri:level="1"><nlm:aff id="af2"><addr-line>Department of Mechanical, Nuclear and Production Engineering</addr-line>,<institution>University of Pisa</institution>,<addr-line>Via Diotisalvi, 2, 56126 Pisa</addr-line>,<country>Italy</country></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author><author><name sortKey="Santello, Marco" sort="Santello, Marco" uniqKey="Santello M" first="Marco" last="Santello">Marco Santello</name><affiliation wicri:level="1"><nlm:aff id="af1"><addr-line>Interdepartmental Research Center ‘E. Piaggio’</addr-line>,<institution>University of Pisa</institution>,<addr-line>Via Diotisalvi, 2, 56126 Pisa</addr-line>,<country>Italy</country></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation><affiliation wicri:level="1"><nlm:aff id="af4"><addr-line>School of Biological and Health Systems Engineering</addr-line>,<institution>Arizona State University</institution>,<addr-line>PO Box 9309, Tempe, AZ 85287</addr-line>,<country>USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">21969697</idno><idno type="pmc">3172595</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3172595</idno><idno type="RBID">PMC:3172595</idno><idno type="doi">10.1098/rstb.2011.0152</idno><date when="2011">2011</date><idno type="wicri:Area/Pmc/Corpus">001516</idno><idno type="wicri:Area/Pmc/Curation">001516</idno><idno type="wicri:Area/Pmc/Checkpoint">001A85</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Modelling natural and artificial hands with synergies</title><author><name sortKey="Bicchi, Antonio" sort="Bicchi, Antonio" uniqKey="Bicchi A" first="Antonio" last="Bicchi">Antonio Bicchi</name><affiliation wicri:level="1"><nlm:aff id="af1"><addr-line>Interdepartmental Research Center ‘E. Piaggio’</addr-line>,<institution>University of Pisa</institution>,<addr-line>Via Diotisalvi, 2, 56126 Pisa</addr-line>,<country>Italy</country></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation><affiliation wicri:level="1"><nlm:aff id="af3"><addr-line>Department of Advanced Robotics, Instituto Italiano di Tecnologia, Via morego, 30, 16163 Genova, Italy</addr-line></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea>Department of Advanced Robotics, Instituto Italiano di Tecnologia, Via morego, 30, 16163 Genova</wicri:regionArea><wicri:noRegion>16163 Genova</wicri:noRegion></affiliation></author><author><name sortKey="Gabiccini, Marco" sort="Gabiccini, Marco" uniqKey="Gabiccini M" first="Marco" last="Gabiccini">Marco Gabiccini</name><affiliation wicri:level="1"><nlm:aff id="af1"><addr-line>Interdepartmental Research Center ‘E. Piaggio’</addr-line>,<institution>University of Pisa</institution>,<addr-line>Via Diotisalvi, 2, 56126 Pisa</addr-line>,<country>Italy</country></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation><affiliation wicri:level="1"><nlm:aff id="af2"><addr-line>Department of Mechanical, Nuclear and Production Engineering</addr-line>,<institution>University of Pisa</institution>,<addr-line>Via Diotisalvi, 2, 56126 Pisa</addr-line>,<country>Italy</country></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author><author><name sortKey="Santello, Marco" sort="Santello, Marco" uniqKey="Santello M" first="Marco" last="Santello">Marco Santello</name><affiliation wicri:level="1"><nlm:aff id="af1"><addr-line>Interdepartmental Research Center ‘E. Piaggio’</addr-line>,<institution>University of Pisa</institution>,<addr-line>Via Diotisalvi, 2, 56126 Pisa</addr-line>,<country>Italy</country></nlm:aff><country xml:lang="fr">Italie</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation><affiliation wicri:level="1"><nlm:aff id="af4"><addr-line>School of Biological and Health Systems Engineering</addr-line>,<institution>Arizona State University</institution>,<addr-line>PO Box 9309, Tempe, AZ 85287</addr-line>,<country>USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author></analytic><series><title level="j">Philosophical Transactions of the Royal Society B: Biological Sciences</title><idno type="ISSN">0962-8436</idno><idno type="eISSN">1471-2970</idno><imprint><date when="2011">2011</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>We report on recent work in modelling the process of grasping and active touch by natural and artificial hands. Starting from observations made in human hands about the correlation of degrees of freedom in patterns of more frequent use (postural synergies), we consider the implications of a geometrical model accounting for such data, which is applicable to the pre-grasping phase occurring when shaping the hand before actual contact with the grasped object. To extend applicability of the synergy model to study force distribution in the actual grasp, we introduce a modified model including the mechanical compliance of the hand's musculotendinous system. Numerical results obtained by this model indicate that the same principal synergies observed from pre-grasp postural data are also fundamental in achieving proper grasp force distribution. To illustrate the concept of synergies in the dual domain of haptic sensing, we provide a review of models of how the complexity and heterogeneity of sensory information from touch can be harnessed in simplified, tractable abstractions. These abstractions are amenable to fast processing to enable quick reflexes as well as elaboration of high-level percepts. Applications of the synergy model to the design and control of artificial hands and tactile sensors are illustrated.</p></div></front></TEI></pmc><pubmed><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Modelling natural and artificial hands with synergies.</title><author><name sortKey="Bicchi, Antonio" sort="Bicchi, Antonio" uniqKey="Bicchi A" first="Antonio" last="Bicchi">Antonio Bicchi</name><affiliation wicri:level="1"><nlm:affiliation>Interdepartmental Research Center E. Piaggio, University of Pisa, Via Diotisalvi, 2, 56126 Pisa, Italy. bicchi@centropiaggio.unipi.it</nlm:affiliation><country xml:lang="fr">Italie</country><wicri:regionArea>Interdepartmental Research Center E. Piaggio, University of Pisa, Via Diotisalvi, 2, 56126 Pisa</wicri:regionArea><wicri:noRegion>56126 Pisa</wicri:noRegion></affiliation></author><author><name sortKey="Gabiccini, Marco" sort="Gabiccini, Marco" uniqKey="Gabiccini M" first="Marco" last="Gabiccini">Marco Gabiccini</name></author><author><name sortKey="Santello, Marco" sort="Santello, Marco" uniqKey="Santello M" first="Marco" last="Santello">Marco Santello</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2011">2011</date><idno type="doi">10.1098/rstb.2011.0152</idno><idno type="RBID">pubmed:21969697</idno><idno type="pmid">21969697</idno><idno type="wicri:Area/PubMed/Corpus">000D96</idno><idno type="wicri:Area/PubMed/Curation">000D96</idno><idno type="wicri:Area/PubMed/Checkpoint">000D05</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Modelling natural and artificial hands with synergies.</title><author><name sortKey="Bicchi, Antonio" sort="Bicchi, Antonio" uniqKey="Bicchi A" first="Antonio" last="Bicchi">Antonio Bicchi</name><affiliation wicri:level="1"><nlm:affiliation>Interdepartmental Research Center E. Piaggio, University of Pisa, Via Diotisalvi, 2, 56126 Pisa, Italy. bicchi@centropiaggio.unipi.it</nlm:affiliation><country xml:lang="fr">Italie</country><wicri:regionArea>Interdepartmental Research Center E. Piaggio, University of Pisa, Via Diotisalvi, 2, 56126 Pisa</wicri:regionArea><wicri:noRegion>56126 Pisa</wicri:noRegion></affiliation></author><author><name sortKey="Gabiccini, Marco" sort="Gabiccini, Marco" uniqKey="Gabiccini M" first="Marco" last="Gabiccini">Marco Gabiccini</name></author><author><name sortKey="Santello, Marco" sort="Santello, Marco" uniqKey="Santello M" first="Marco" last="Santello">Marco Santello</name></author></analytic><series><title level="j">Philosophical transactions of the Royal Society of London. Series B, Biological sciences</title><idno type="eISSN">1471-2970</idno><imprint><date when="2011" type="published">2011</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Biomechanical Phenomena</term><term>Computer Simulation</term><term>Hand (physiology)</term><term>Hand Strength (physiology)</term><term>Humans</term><term>Models, Anatomic</term><term>Models, Biological</term><term>Muscle, Skeletal (physiology)</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Hand</term><term>Hand Strength</term><term>Muscle, Skeletal</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Biomechanical Phenomena</term><term>Computer Simulation</term><term>Humans</term><term>Models, Anatomic</term><term>Models, Biological</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">We report on recent work in modelling the process of grasping and active touch by natural and artificial hands. Starting from observations made in human hands about the correlation of degrees of freedom in patterns of more frequent use (postural synergies), we consider the implications of a geometrical model accounting for such data, which is applicable to the pre-grasping phase occurring when shaping the hand before actual contact with the grasped object. To extend applicability of the synergy model to study force distribution in the actual grasp, we introduce a modified model including the mechanical compliance of the hand's musculotendinous system. Numerical results obtained by this model indicate that the same principal synergies observed from pre-grasp postural data are also fundamental in achieving proper grasp force distribution. To illustrate the concept of synergies in the dual domain of haptic sensing, we provide a review of models of how the complexity and heterogeneity of sensory information from touch can be harnessed in simplified, tractable abstractions. These abstractions are amenable to fast processing to enable quick reflexes as well as elaboration of high-level percepts. Applications of the synergy model to the design and control of artificial hands and tactile sensors are illustrated.</div></front></TEI></pubmed></double></record>Pour manipuler ce document sous Unix (Dilib)
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