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Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands

Santello, Marco and Bianchi, Matteo and Gabiccini, Marco and Riccia, Emiliano and Salvietti, Gionata and Prattichizzo, Domenico and Ernst, Marc and Moscatelli, Alessandro and Jörntell, Henrik and Kappers, Astrid M.L. and Kyriakopoulos, Kostas and Albu-Schäffer, Alin Olimpiu and Castellini, Claudio and Bicchi, Antonio (2016) Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands. Physics of Life Reviews (17), pp. 1-23. Elsevier. doi: 10.1016/j.plrev.2016.02.001. ISSN 1571-0645.

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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 neurorehabilitation. 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

Item URL in elib:https://elib.dlr.de/105888/
Document Type:Article
Title:Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Santello, MarcoSchool of Biological and Health Systems Engineering, Arizona State University, Tempe, AZ, U.S.A.UNSPECIFIEDUNSPECIFIED
Bianchi, MatteoResearch Center ‘E. Piaggio’, University of Pisa, ItalyUNSPECIFIEDUNSPECIFIED
Gabiccini, MarcoResearch Center ‘E. Piaggio’, University of Pisa, ItalyUNSPECIFIEDUNSPECIFIED
Riccia, EmilianoClinical Psychology Branch, Pisa University Hospital, ItalyUNSPECIFIEDUNSPECIFIED
Salvietti, GionataUniversity of Siena, ItalyUNSPECIFIEDUNSPECIFIED
Prattichizzo, DomenicoUniversity of Siena, ItalyUNSPECIFIEDUNSPECIFIED
Ernst, MarcBielefeld University, GermanyUNSPECIFIEDUNSPECIFIED
Moscatelli, AlessandroUniversità di Roma “Tor Vergata”, 00173, Rome, ItalyUNSPECIFIEDUNSPECIFIED
Jörntell, HenrikLund University, SwedenUNSPECIFIEDUNSPECIFIED
Kappers, Astrid M.L.Vrije Universiteit, Amsterdam, The NetherlandsUNSPECIFIEDUNSPECIFIED
Kyriakopoulos, KostasSchool of Mechanical Engineering, National Technical University of Athens, GreeceUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115724
Castellini, ClaudioUNSPECIFIEDhttps://orcid.org/0000-0002-7346-2180UNSPECIFIED
Bicchi, AntonioResearch Center ‘E. Piaggio’, University of Pisa, ItalyUNSPECIFIEDUNSPECIFIED
Date:July 2016
Journal or Publication Title:Physics of Life Reviews
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1-23
EditorsEmailEditor's ORCID iDORCID Put Code
Keywords:movement; force; biomechanics; electromyography; motor control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:30 Nov 2016 09:24
Last Modified:11 Sep 2023 13:21

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