Publications related to EMG-driven shared human-robot compliant control for in-hand object manipulation in hand prostheses

Related publications (7)

Report A sensory-motor hand prosthesis with integrated thermal feedback

Silvestro Micera, Solaiman Shokur, Outman Akouissi, Jonathan Louis Muheim

Background: Recently, we reported the presence of phantom thermal sensations in amputees: thermal stimulation of specific spots on the residual arm elicited thermal sensations in their missing hands. Here, we exploit phantom thermal sensations via a standa ...

Cell Press2024

Combining biophysical models and machine learning to optimize implant geometry and stimulation protocol for intraneural electrodes

Silvestro Micera, Simone Romeni

Objective. Peripheral nerve interfaces have the potential to restore sensory, motor, and visceral functions. In particular, intraneural interfaces allow targeting deep neural structures with high selectivity, even if their performance strongly depends upon ...

IOP Publishing Ltd2023

How Rough Is the Path? Terrain Traversability Estimation for Local and Global Path Planning

Tobias Löw

Perception and interpretation of the terrain is essential for robot navigation, particularly in off-road areas, where terrain characteristics can be highly variable. When planning a path, features such as the terrain gradient and roughness should be consid ...

IEEE Institute of Electrical and Electronics Engineers2022

Customizing skills for assistive robotic manipulators, an inverse reinforcement learning approach with error-related potentials

Aude Billard, José del Rocio Millán Ruiz, Ricardo Andres Chavarriaga Lozano, Iason Batzianoulis, Fumiaki Iwane, Carolina Gaspar Pinto Ramos Correia

Robotic assistance via motorized robotic arm manipulators can be of valuable assistance to individuals with upper-limb motor disabilities. Brain-computer interfaces (BCI) offer an intuitive means to control such assistive robotic manipulators. However, BCI ...

NATURE PORTFOLIO2021

Postural Control and Consciousness and Their Applications to Lower-Limb Exoskeletons

Jemina Fasola

Human postural control requires high coordination and is distributed over the whole musculoskeletal and nervous systems. Hence, postural balance can be impaired due to various pathologies. Efficient rehabilitation programs and technological solutions are t ...

EPFL2020

Crowd-Robot Interaction: Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning

Alexandre Massoud Alahi, Sven Kreiss, Yuejiang Liu

Mobility in an effective and socially-compliant manner is an essential yet challenging task for robots operating in crowded spaces. Recent works have shown the power of deep reinforcement learning techniques to learn socially cooperative policies. However, ...

IEEE2019

Highly Compact Robots for Inspection of Power Plants

Roland Siegwart, Francesco Mondada, Gilles Caprari, Roland Moser, Frédéric Rochat, Patrick Schoeneich, Fabien Tâche, Andreas Breitenmoser

This paper reports on a 3 years applied research project dealing with several inspection scenarios of power plants and resulting in many robot prototypes and 3 main achievements. The project is a common effort between industry and university, including ALS ...

IEEE Press2010