Human grasp choice and robotic grasp analysis
Dextrous robot hands
INFANT neural controller for adaptive sensory-motor coordination
Neural Networks
Human prehension and dexterous robot hands
International Journal of Robotics Research
Modeling parietal-premotor interactions in primate control of grasping
Neural Networks - Special issue on neural control and robotics: biology and technology
A Neural Model of Spatio Temporal Coordination in Prehension
ICANN '02 Proceedings of the International Conference on Artificial Neural Networks
Adaptive force generation for precision-grip lifting by a spectral timing model of the cerebellum
Neural Networks - 2003 Special issue: Advances in neural networks research IJCNN'03
A self-organizing neural model of motor equivalent reaching and tool use by a multijoint arm
Journal of Cognitive Neuroscience
Grasp planning from human prehension
IJCAI'87 Proceedings of the 10th international joint conference on Artificial intelligence - Volume 2
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Postural synergies of the UB Hand IV for human-like grasping
Robotics and Autonomous Systems
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In this paper a neural network model for spatio-temporal coordination of hand gesture during prehension is proposed. The model includes a simplified control strategy for whole hand shaping during grasping tasks, that provides a realistic coordination among fingers. This strategy uses the increasing evidence that supports the view of a synergistic control of whole fingers during prehension. In this control scheme, only two parameters are needed to define the evolution of hand shape during the task performance. The proposal involves the design and development of a Library of Hand Gestures consisting of motor primitives for finger pre-shaping of an anthropomorphic dextrous hand. Through computer simulations, we show how neural dynamics of the model leads to simulated grasping movements with human-like kinematic features. The model can provide clear-cut predictions for experimental evaluation at both the behavioural and neural levels as well as a neural control system for a dextrous robotic hand.