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Modelling of the human shoulder as a parallel mechanism without constraints
Publications associées (84)
Pivot, process for manufacturing such a pivot, oscillator comprising such a pivot, watch movement and timepiece comprising such an oscillator
Simon Nessim Henein, Loïc Benoît Tissot-Daguette
The present invention concerns a pivot comprising two assemblies, namely a central assembly (401) and a peripheral assembly (400). These two assemblies are mobile in rotation relative to each other around an axis of rotation (A). The pivot is characterized ...
2024Neurophysiological underpinnings of an intensive protocol for upper limb motor recovery in subacute and chronic stroke patients
Silvestro Micera, Matteo Vissani, Michael Lassi
ABS T R A C T BACKGROUND: Upper limb (UL) motor impairment following stroke is a leading cause of functional limitations in activities of daily living. Robot-assisted therapy supports rehabilitation, but how its efficacy and the underlying neural mechanism ...
Turin2023Exploration-based model learning with self-attention for risk-sensitive robot control
Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...
2023Online active and dynamic object shape exploration with a multi-fingered robotic hand
Aude Billard, Kunpeng Yao, Xiao Gao, Farshad Khadivar
The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...
ELSEVIER2023Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control
Aude Billard, Mikhail Koptev, Nadia Barbara Figueroa Fernandez
In this paper, we present an approach for learning a neural implicit signed distance function expressed in joint space coordinates, that efficiently computes distance-to-collisions for arbitrary robotic manipulator configurations. Computing such distances ...
2022Sonomyographic Prosthetic Interacion: Online Simultaneous and Proportional Control of Wrist and Hand Motions Using Semisupervised Learning
Human hands play a very important role in daily object manipulation. Current prosthetic hands are capable of mimicking most functions of the human hand, but how to interact with prosthetic hands based on human intentions remains an open problem. In this ar ...
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers
Grasping and manipulation are challenging tasks that are nonetheless critical for many robotic systems and applications. A century ago, robots were conceived as humanoid automata. While conceptual at the time, this viewpoint remains influential today. Many ...
FRONTIERS MEDIA SA2021Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators
This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021An inverse optimization approach to understand human acquisition of kinematic coordination in bimanual fine manipulation tasks
Tasks that require the cooperation of both hands and arms are common in human everyday life. Coordination helps to synchronize in space and temporally motion of the upper limbs. In fine bimanual tasks, coordination enables also to achieve higher degrees of ...
2020Sensor system
Simon Nessim Henein, Charles Baur, Hubert Pierre-Marie Benoît Schneegans, Thomas Jean Julien Fussinger
Sensor system (1) comprising a frame (306) supporting a force-sensing tip (310) arranged to generate a signal based upon a force applied by said force-sensing tip (310) to a material to be tested,characterised in that said system (1) further comprises:- an ...
2020