A hierarchical sensorimotor control framework for human-in-the-loop robotic hands.

Human manual dexterity relies critically on touch. Robotic and prosthetic hands are much less dexterous and make little use of the many tactile sensors available. We propose a framework modeled on the hierarchical sensorimotor controllers of the nervous system to link sensing to action in human-in-the-loop, haptically enabled, artificial hands.

Full-hand electrotactile feedback using electronic skin and matrix electrodes for high-bandwidth human-machine interfacing.

Tactile feedback is relevant in a broad range of human-machine interaction systems (e.g. teleoperation, virtual reality and prosthetics).

Temporal Asynchrony but Not Total Energy Nor Duration Improves the Judgment of Numerosity in Electrotactile Stimulation.

Stroke patients suffer from impairments of both motor and somatosensory functions. The functional recovery of upper extremities is one of the primary goals of rehabilitation programs. Additional somatosensory deficits limit sensorimotor function and significantly affect its recovery after the neuromotor injury.

Validation of Screen-Printed Electronic Skin Based on Piezoelectric Polymer Sensors.

This paper proposes a validation method of the fabrication technology of a screen-printed electronic skin based on polyvinylidene fluoride-trifluoroethylene P(VDF-TrFE) piezoelectric polymer sensors. This required researchers to insure, through non-direct sensor characterization, that printed sensors were working as expected. For that, we adapted an existing model to non-destructively extract sensor behavior in pure compression (i.

Dual-Parameter Modulation Improves Stimulus Localization in Multichannel Electrotactile Stimulation.

Among most challenging open issues in prosthetic research is the development of a robust bidirectional interface between a prosthesis and its user. Commercially available prosthetic systems are mechanically advanced, but they do not provide somatosensory feedback. Here, we present a novel non-invasive interface for multichannel electrotactile feedback, comprising a matrix of 24 pads, and we investigate the ability of able-bodied human subjects to localize the electrotactile stimulus delivered through the matrix.

Active Haptic Perception in Robots: A Review.

In the past few years a new scenario for robot-based applications has emerged. Service and mobile robots have opened new market niches. Also, new frameworks for shop-floor robot applications have been developed.

Modeling Electronic Skin Response to Normal Distributed Force.

The reference electronic skin is a sensor array based on PVDF (Polyvinylidene fluoride) piezoelectric polymers, coupled to a rigid substrate and covered by an elastomer layer. It is first evaluated how a distributed normal force (Hertzian distribution) is transmitted to an extended PVDF sensor through the elastomer layer. A simplified approach based on Boussinesq's half-space assumption is used to get a qualitative picture and extensive FEM simulations allow determination of the quantitative response for the actual finite elastomer layer.

A System for Electrotactile Feedback Using Electronic Skin and Flexible Matrix Electrodes: Experimental Evaluation.

Myoelectric prostheses are successfully controlled using muscle electrical activity, thereby restoring lost motor functions. However, the somatosensory feedback from the prosthesis to the user is still missing. The sensory substitution methods described in the literature comprise mostly simple position and force sensors combined with discrete stimulation units.

Computational intelligence techniques for tactile sensing systems.

Tactile sensing helps robots interact with humans and objects effectively in real environments. Piezoelectric polymer sensors provide the functional building blocks of the robotic electronic skin, mainly thanks to their flexibility and suitability for detecting dynamic contact events and for recognizing the touch modality. The paper focuses on the ability of tactile sensing systems to support the challenging recognition of certain qualities/modalities of touch.