@inproceedings{DBLP:conf/iros/SarakoglouBMGCT16,
title = {HEXOTRAC: A highly under-actuated hand exoskeleton for finger tracking and force feedback},
author = {Sarakoglou, Ioannis and Brygo, Anais and Mazzanti,Dario and Garcia-Hernandez, Nadia and Caldwell, Darwin and Tsagarakis, Nikos G },
url = {https://doi.org/10.1109/IROS.2016.7759176},
doi = {10.1109/IROS.2016.7759176},
year = {2016},
date = {2016-10-09},
booktitle = { International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea},
volume = {2016 },
number = {October 9-14},
pages = {1033--1040},
publisher = {IEEE/RSJ},
crossref = {DBLP:conf/iros/2016},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Brygo, Anais ; Sarakoglou, Ioannis ; Ajoudani, Arash ; Garcia-Hernandez, Nadia ; Grioli, Giorgio ; Catalano, Manuel G; Caldwell, Darwin G; Tsagarakis, Nikolaos G
@inproceedings{DBLP:conf/icra/BrygoSAGGCCT16,
title = {Synergy-based interface for bilateral tele-manipulations of a master-slave system with large asymmetries},
author = {Brygo, Anais and
Sarakoglou, Ioannis and
Ajoudani, Arash and
Garcia-Hernandez, Nadia and
Grioli, Giorgio and
Catalano, Manuel G. and
Caldwell, Darwin G. and
Tsagarakis, Nikolaos G. },
url = {https://doi.org/10.1109/ICRA.2016.7487690},
doi = {10.1109/ICRA.2016.7487690},
year = {2016},
date = {2016-05-16},
booktitle = {IEEE International Conference on Robotics and Automation, ICRA
2016, Stockholm, Sweden, May 16-21, 2016},
volume = {2016},
pages = {4859--4865},
publisher = {IEEE},
crossref = {DBLP:conf/icra/2016},
abstract = {In this work a novel synergy-based bilateral tele-manipulation strategy is introduced. The proposed algorithm has been primarily developed to remotely control the Pisa/IIT SoftHand (SH) using a 3-finger hand exoskeleton as master device. With a single actuator and a sensory system limited to a position encoder and a current sensor, the SH minimalist design promotes robustness but challenges traditional teleoperation strategies. To tackle this challenge, the concept of Cartesian-based hand synergies is introduced as a projection tool which maps the fingertip Cartesian space to the directions oriented along the grasp principal components. The unconstrained motion of the operator's hand is projected on this space to extract the SH's motor position reference. Conversely, the interaction force estimated at the robotic hand as a 1-dimensional force along the first synergy is projected to the 9D fingertip Cartesian space through an inverse projection. The resultant finger-individualized forces form a synergy based weighted representation of the grasping effort applied by the SH and are displayed to the operators fingertips using the force feedback hand exoskeleton. The system's ability to reflect the environment's impedance has been experimentally validated during a ball squeezing experiment. To assess the overall effectiveness of the proposed system as a manipulation interface, the SoftHand was mounted on the humanoid robot COMAN and the setup was subsequently enriched with a vision-based tracking system monitoring the operators wrist trajectory. Experimental results indicate that the proposed body-machine bilateral interface allows for the intuitive performance of stable grasps and transport of a large range of diversely shaped objects.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
In this work a novel synergy-based bilateral tele-manipulation strategy is introduced. The proposed algorithm has been primarily developed to remotely control the Pisa/IIT SoftHand (SH) using a 3-finger hand exoskeleton as master device. With a single actuator and a sensory system limited to a position encoder and a current sensor, the SH minimalist design promotes robustness but challenges traditional teleoperation strategies. To tackle this challenge, the concept of Cartesian-based hand synergies is introduced as a projection tool which maps the fingertip Cartesian space to the directions oriented along the grasp principal components. The unconstrained motion of the operator's hand is projected on this space to extract the SH's motor position reference. Conversely, the interaction force estimated at the robotic hand as a 1-dimensional force along the first synergy is projected to the 9D fingertip Cartesian space through an inverse projection. The resultant finger-individualized forces form a synergy based weighted representation of the grasping effort applied by the SH and are displayed to the operators fingertips using the force feedback hand exoskeleton. The system's ability to reflect the environment's impedance has been experimentally validated during a ball squeezing experiment. To assess the overall effectiveness of the proposed system as a manipulation interface, the SoftHand was mounted on the humanoid robot COMAN and the setup was subsequently enriched with a vision-based tracking system monitoring the operators wrist trajectory. Experimental results indicate that the proposed body-machine bilateral interface allows for the intuitive performance of stable grasps and transport of a large range of diversely shaped objects.
@article{6750735,
title = {How Tactor Size and Density of Normal Indentation Tactile Displays Affects Grating Discrimination Tasks},
author = {Garcia-Hernandez, Nadia and Bertolotto, F. and Cannella, F. and Tsagarakis, N. G. and Caldwell, D. G.},
url = {http://ieeexplore.ieee.org/document/6750735/?reload=true&arnumber=6750735},
doi = {10.1109/TOH.2014.2309128},
issn = {1939-1412},
year = {2014},
date = {2014-07-01},
journal = {IEEE Transactions on Haptics},
volume = {7},
number = {3},
pages = {356-366},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Haptics: Neuroscience, Devices, Modeling, and Applications: 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings, Part II, pp. 266–275, Springer Berlin Heidelberg, Berlin, Heidelberg, 2014, ISBN: 978-3-662-44196-1.
@inbook{Brygo2014,
title = {Humanoid Robot Teleoperation with Vibrotactile Based Balancing Feedback},
author = {Brygo, Anais and Sarakoglou, Ioannis and Garcia-Hernandez, Nadia and Tsagarakis, Nikolaos},
url = {http://dx.doi.org/10.1007/978-3-662-44196-1_33},
doi = {10.1007/978-3-662-44196-1_33},
isbn = {978-3-662-44196-1},
year = {2014},
date = {2014-01-01},
booktitle = {Haptics: Neuroscience, Devices, Modeling, and Applications: 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings, Part II},
pages = {266--275},
publisher = {Springer Berlin Heidelberg},
address = {Berlin, Heidelberg},
keywords = {},
pubstate = {published},
tppubtype = {inbook}
}
@article{Caldwell2012,
title = {A High Performance Tactile Feedback Display and Its Integration in Teleoperation},
author = {Caldwell, D. G. and Garcia-Hernandez, Nadia and Tsagarakis, N. G. and Sarakoglou, Ioannis},
url = {doi.ieeecomputersociety.org/10.1109/TOH.2012.20},
doi = {10.1109/TOH.2012.20},
issn = {1939-1412},
year = {2012},
date = {2012-01-01},
journal = {IEEE Transactions on Haptics},
volume = {5},
pages = {252-263},
keywords = {Haptic interfaces;Force;Tactile sensors;Performance evaluation;DC motors;Shape;and virtual realities.;User interfaces;haptic I/O;artificial;augmented},
pubstate = {published},
tppubtype = {article}
}
