Concept

Joint manipulation

Related publications (26)

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Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation Under Disturbances and Unknown Dynamics

Aude Billard, Farshad Khadivar

We present a control framework for achieving a robust object grasp and manipulation in hand. In-hand manipulation remains a demanding task as the object is never stable and task success relies on carefully synchronizing the fingers' dynamics. Indeed, finge ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Development of a Robotic Microsurgeon for Embryonic Research

Ece Özelçi

Understanding how biological matter takes its shape is instrumental to biology, bioengineering, medicine, and bioinspired engineering. Gaining information on the principles of morphogenesis could enable clinicians to correct developmental abnormalities, ev ...

EPFL2023

The absence of stray fields, their insensitivity to external magnetic fields, and ultrafast dynamics make antiferromagnets promising candidates for active elements in spintronic devices. Here, we demonstrate manipulation of the Neel vector in the metallic ...

AMER CHEMICAL SOC2022

A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots

Aude Billard, Mikhail Koptev, Salman Faraji, Nadia Barbara Figueroa Fernandez

In this paper, we present an integrated approach that provides compliant control of an iCub humanoid robot and adaptive reaching, grasping, navigating and co-manipulating capabilities. We use state-dependent dynamical systems (DS) to (i) coordinate and dri ...

IEEE2020

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Logic synthesis is a fundamental step in the realization of modern integrated circuits. It has traditionally been employed for the optimization of CMOS-based designs, as well as for emerging technologies and quantum computing. Recently, it found applicatio ...

2020

Live-cell lipid biochemistry reveals a role of diacylglycerol side-chain composition for cellular lipid dynamics and protein affinities

Milena Maria Schuhmacher, Pavel Barahtjan

Every cell produces thousands of distinct lipid species, but insight into how lipid chemical diversity contributes to biological signaling is lacking, particularly because of a scarcity of methods for quantitatively studying lipid function in living cells. ...

2020

Lumbar and thoracic kinematics during step-up: Comparison of three-dimensional angles between patients with chronic low back pain and asymptomatic individuals

Julien Favre, Guillaume Christe

While alterations in spinal kinematics have been repeatedly observed in patients with chronic low back pain (CLBP), their exact nature is still unknown. Specifically, there is a need for comprehensive assessments of multisegment spinal angles during daily- ...

2020

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Soft pneumatic actuators promise simple, adaptable, and safe manipulation, but the nature of pneumatic circuits limits the scalability of this approach. This paper introduces a method to augment the degrees-of-freedom of soft pneumatic actuators without in ...

2019

Standing Height as a Prevention Measure for Overuse Injuries of the Back in Alpine Ski Racing: A Kinematic and Kinetic Study of Giant Slalom

Kamiar Aminian, Benedikt Fasel

Background: In alpine ski racing, typical loading patterns of the back include a combined occurrence of spinal bending, torsion, and high peak loads. These factors are known to be associated with high spinal disc loading and have been suggested to be attri ...

2018

In surgical to industrial manipulation, the operator needs assistance for tasks requiring more than two hands. Teamwork may be the source of errors and inefficiency, especially if the assistant is a novice or unfamiliar with the main operator. The need for ...

EPFL2017