Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands |
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| Institution: | 1. School of Biological and Health Systems Engineering, Arizona State University, Tempe, AZ, USA;2. Research Center ‘E. Piaggio’, University of Pisa, Pisa, Italy;3. Advanced Robotics Department, Istituto Italiano di Tecnologia (IIT), Genova, Italy;4. Department of Civil and Industrial Engineering, University of Pisa, Pisa, Italy;5. Molecular Mind Laboratory, Dept. Surgical, Medical, Molecular Pathology and Critical Care, University of Pisa, Pisa, Italy;6. Department of Information Engineering and Mathematics, University of Siena, Siena, Italy;7. Department of Cognitive Neuroscience and CITEC, Bielefeld University, Bielefeld, Germany;8. Department of Systems Medicine and Centre of Space Bio-Medicine, Università di Roma “Tor Vergata”, 00173, Rome, Italy;9. Neural Basis of Sensorimotor Control, Department of Experimental Medical Science, Lund University, Lund, Sweden;10. Human Movement Sciences, Vrije Universiteit, Amsterdam, The Netherlands;11. School of Mechanical Engineering, National Technical University of Athens, Greece;12. DLR – German Aerospace Center, Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany;1. Qiushi Academy for Advanced Studies, Zhejiang University, Hangzhou 310027, China;2. Key Laboratory of Biomedical Engineering of Ministry of Education, Zhejiang University, Hangzhou 310027, China;3. Department of Biomedical Engineering, Zhejiang University, Hangzhou 310027, China;4. Zhejiang Provincial Key Laboratory of Cardio-Cerebral Vascular Detection Technology and Medicinal Effectiveness Appraisal, Zhejiang University, Hangzhou 310027, China;5. Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shengzhen 518055, China;1. School of Rehabilitation Sciences, University of Ottawa, Canada;2. Mechanical Engineering Department, University of Ottawa, Canada;1. Neural Basis for Sensorimotor Control, Department of Experimental Medical Science, Lund University, BMC F10 Tornavägen 10, 22184 Lund, Sweden;2. Sorbonne Universités, UPMC Univ Paris 06, UMR 7222, ISIR, 75005 Paris, France;1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Heilongjiang 150081, PR China;2. Department of Biomedical Engineering, Johns Hopkins University, Baltimore, MD 21211, USA;1. Department of Cognitive Neuroscience, Universität Bielefeld, 33615 Bielefeld, Germany;2. Cognitive Interaction Technology Centre of Excellence, Universität Bielefeld, 33615 Bielefeld, Germany;3. Department of Systems Medicine and Centre of Space Bio-Medicine, Università di Roma “Tor Vergata,” 00173 Rome, Italy;4. Advanced Robotics Department, Istituto Italiano di Tecnologia, 16163 Genova, Italy;5. Università di Pisa, Centro di Ricerca E. Piaggio, 56122 Pisa, Italy;6. Laboratoire de Psychologie de la Perception, CNRS and Université Paris Descartes, 75006 Paris, France;7. Sorbonne Universités, UPMC Université Paris 06, UMR 7222, ISIR, 75005 Paris, France;8. Applied Cognitive Psychology, Ulm University, 89081 Ulm, Germany |
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| Abstract: | The term ‘synergy’ – from the Greek synergia – means ‘working together’. The concept of multiple elements working together towards a common goal has been extensively used in neuroscience to develop theoretical frameworks, experimental approaches, and analytical techniques to understand neural control of movement, and for applications for neuro-rehabilitation. In the past decade, roboticists have successfully applied the framework of synergies to create novel design and control concepts for artificial hands, i.e., robotic hands and prostheses. At the same time, robotic research on the sensorimotor integration underlying the control and sensing of artificial hands has inspired new research approaches in neuroscience, and has provided useful instruments for novel experiments.The ambitious goal of integrating expertise and research approaches in robotics and neuroscience to study the properties and applications of the concept of synergies is generating a number of multidisciplinary cooperative projects, among which the recently finished 4-year European project “The Hand Embodied” (THE). This paper reviews the main insights provided by this framework. Specifically, we provide an overview of neuroscientific bases of hand synergies and introduce how robotics has leveraged the insights from neuroscience for innovative design in hardware and controllers for biomedical engineering applications, including myoelectric hand prostheses, devices for haptics research, and wearable sensing of human hand kinematics. The review also emphasizes how this multidisciplinary collaboration has generated new ways to conceptualize a synergy-based approach for robotics, and provides guidelines and principles for analyzing human behavior and synthesizing artificial robotic systems based on a theory of synergies. |
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| Keywords: | Movement Force Biomechanics Electromyography Motor control |
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