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
What are the computations of the cerebellum, the basal ganglia and the cerebral cortex?
Neural Networks - Special issue on organisation of computation in brain-like systems
Population computation of vectorial transformations
Neural Computation
A Theory of Networks for Approximation and Learning
A Theory of Networks for Approximation and Learning
A self-organizing neural model of motor equivalent reaching and tool use by a multijoint arm
Journal of Cognitive Neuroscience
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Morphological Computation --- Connecting Brain, Body, and Environment
Creating Brain-Like Intelligence
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This paper proposes a neural network architecture for learning of grasping tasks. The multineural network model presented in this work, allows acquisition of different neural representations of the grasping task through a successive learning over two stages in a strategy that uses already learned representations for the acquisition of the subsequent knowledge. Systematic computer simulations have been carried out in order to test learning and generalization capabilities of the system. The neural activity at different subparts of the artificial neural network during its performance phase, is compared to the activity of populations of real neurons in areas AIP and F5 of the distributed parieto-frontal biological neural network involved in visual guidance of grasping. A more biologically plausible development of the model presented here is also discussed. The proposed model can be also used as a high level controller for a robotic dextrous hand during learning and execution of grasping tasks.