Human-Aware Robotics

Modeling Human Motor Skills for the Design, Planning and Control of a New Generation of Robotic Devices

By: Giuseppe Averta

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Hardcover | 26 January 2022

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Hardcover
294 Pages

Dimensions(cm)
16.3 x 24.3 x 2.4

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Introduction.- Part I: Taming the Complexity of Human Motion Generation.- Understanding the Principal Modes of Natural Movements in Temporal Domain.- Quantifying the Time-Invariance Properties of Upper Limb Synergies.- Evidences on the Hierarchical Control of Human Hands.- Part II: On the Design of Nature-Inspired Prostheses and the Assessment of Motion Impairment.- Using Nature-Inspired Principles to Design of Robotic Limbs: the Soft Wrist.- A Novel Approach to Quantify Motion Impairment.- A novel mechatronic system for evaluating elbow muscular spasticity relying on Tonic Stretch Reï¬ex Threshold estimation.- Part III: Transferring Human Principles to Cobots and Autonomous Robots.- Natural Motion: Embedding Human-Likeliness in Robot Movements.- A Focus on Motion Dynamics: Planning Impedance Behaviors in Physical Interaction.- Learning from Humans How to Grasp: a Reactive-Based Approach.- Learning from Humans How to Grasp: Enhancing the Reaching Strategy.- Learning to prevent grasp failure with soft hands: from on-line prediction to dual-arm grasp recovery.- Dexterity Augmentation of Robotic Hands: a Study on the Kinetic Domain.- Exploiting Principal Components for Robots Walking: an Approach for Sub-Optimal Locomotion.- Conclusions and Lessons Learned.

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