Publications by Sahar El Khoury

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This paper proposes an EMG based learning approach for estimating the displacement along the 2-axes (abduction/adduction and flexion/extension) of the human wrist in real-time. The algorithm extracts features from the EMG electrodes on the upper and forear ...

This paper addresses the problem of optimal grasping of an object with a multi-fingered robotic hand for accomplishing a given task. The task is first demonstrated by a human operator and its force/torque requirements are captured through the usage of a se ...

In everyday life, people use a large diversity of hands configurations while reaching out to grasp an object. They tend to vary their hands position/orientation around the object and their fingers placement on its surface according to the object properties ...

Predicting the grasping function during reach-to-grasp motions is essential for controlling a prosthetic hand or a robotic assistive device. An early accurate prediction increases the usability and the comfort of a prosthetic device. This work proposes an ...

Grasping plays a central role in our daily life. To interact with objects surrounding them, people use a large diversity of hand configurations in combination with forces ranging from the small ones involved in manipulating a pen for writing, to larger for ...

Sahar El Khoury

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EMG-based learning approach for estimating wrist motion

On Computing Task-Oriented Grasps

On the Generation of a Variety of Grasps

EMG-based decoding of grasp gestures in reaching-to-grasping motions

Towards comprehensive capture of human grasping and manipulation skills