相关论文: An Improved Wrist Kinematic Model for Human-Robot …

Development of dexterous manipulation hardware has primarily focused on hands and grippers. However, these end-effectors are often paired with bulky and highly stiff wrists that limit performance in human environments. More designs have…

Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…

The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…

The increasing labor shortage and aging population underline the need for assistive robots to support human care recipients. To enable safe and responsive assistance, robots require accurate human motion prediction in physical interaction…

Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…

Without finger function, people with C5-7 spinal cord injury (SCI) regularly utilize wrist extension to passively close the fingers and thumb together for grasping. Wearable assistive grasping devices often focus on this familiar…

A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…

This paper proposes a novel approach to recognizing dynamic hand gestures facilitating seamless interaction between humans and robots. Here, each robot manipulator task is assigned a specific gesture. There may be several such tasks, hence,…

Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…

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…

Most commercially available haptic gloves compromise the accuracy of hand-posture measurements in favor of a simpler design with fewer sensors. While inaccurate posture data is often sufficient for the task at hand in biomedical settings…

Wrist-driven orthotics have been designed to assist people with C6-7 spinal cord injury, however, the kinematic constraint imposed by such a control strategy can impede mobility and lead to abnormal body motion. This study characterizes…

The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like robot to imitate the eel swimming. To…

The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy…

Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…

Human movement analysis is a key area of research in robotics, biomechanics, and data science. It encompasses tracking, posture estimation, and movement synthesis. While numerous methodologies have evolved over time, a systematic and…

Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide variety of objects and demands robust and adaptive grasping…

In this paper, we present a novel kinematic model of the human phalanges based on the elliptical motion of their joints. The presence of the soft elastic tissues and the general anatomical structure of the hand joints highly affect the…

This paper addresses the planar finger kinematics for seeking optimized manipulation strategies. The first step is to model based on geometric features of linear and rotation motion so that the robot can select the fingers configurations.…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…