Related papers: EMG-Controlled Non-Anthropomorphic Hand Teleoperat…
This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery. Applying such a simple tool in a diverse repertoire of…
Teleoperation systems are essential for efficiently collecting diverse and high-quality robot demonstration data, especially for complex, contact-rich tasks. However, current teleoperation platforms typically lack integrated force feedback,…
Master control console is a place where robots collaborate with humans in a shared environment. To this end, ergonomics is an important aspect to be considered. With ergonomic design, the surgeons can feel more comfortable to conduct the…
Hand gesture recognition based on biosignals has shown strong potential for developing intuitive human-machine interaction strategies that closely mimic natural human behavior. In particular, sensor fusion approaches have gained attention…
Remote-controlled humanoid robots can revolutionize manufacturing, construction, and healthcare industries by performing complex or dangerous manual tasks traditionally done by humans. We refer to these behaviors as Dynamic…
The Electromyography (EMG) signal is the electrical activity produced by cells of skeletal muscles in order to provide a movement. The non-invasive prosthetic hand works with several electrodes, placed on the stump of an amputee, that…
Surface electromyography is a valid tool to gather muscular contraction signals from intact and amputated subjects. Electromyographic signals can be used to control prosthetic devices in a noninvasive way distinguishing the movements…
Wearable orthoses can function both as assistive devices, which allow the user to live independently, and as rehabilitation devices, which allow the user to regain use of an impaired limb. To be fully wearable, such devices must have…
This paper presents a teleoperation system that includes robot perception and intent prediction from hand gestures. The perception module identifies the objects present in the robot workspace and the intent prediction module which object…
We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot manipulators focus primarily on collaborative or research…
Hands are the primary means through which humans interact with the world. Reliable and always-available hand pose inference could yield new and intuitive control schemes for human-computer interactions, particularly in virtual and augmented…
Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse use cases remains challenging. Although co-design of…
Tendon-driven anthropomorphic robotic hands often lack direct joint angle sensing, as the integration of joint encoders can compromise mechanical compactness and dexterity. This paper presents a computational method for estimating joint…
State-of-the-art robotic hand prosthetics generate finger and wrist movement through pattern recognition (PR) algorithms using features of forearm electromyogram (EMG) signals, but re- quires extensive training and is prone to poor…
Humans directly completing tasks in dangerous or hazardous conditions is not always possible where these tasks are increasingly be performed remotely by teleoperated robots. However, teleoperation is difficult since the operator feels a…
Telemanipulation has become a promising technology that combines human intelligence with robotic capabilities to perform tasks remotely. However, it faces several challenges such as insufficient transparency, low immersion, and limited…
Hand gesture recognition using multichannel surface electromyography (sEMG) is challenging due to unstable predictions and inefficient time-varying feature enhancement. To overcome the lack of signal based time-varying feature problems, we…
We propose, implement and evaluate a natural human-machine control interface for a variable stiffness transradial hand prosthesis that achieves tele-impedance control through surface electromyography (sEMG) signals. This interface, together…