Data sets are crucial not only for model learning and evaluation but also to advance
knowledge on human behavior, thus fostering mutual inspiration between neuroscience and …

In this article, a learning framework that enables robotic arms to replicate new skills from
human demonstration is proposed. The learning framework makes use of online human …

In this work, we present an integrated approach for planning collision-free grasping motions.
Therefore, rapidly exploring random tree (RRT)-based algorithms are used to build a tree of …

The synergy-based motion generation of current anthropomorphic hands generally employ
the static posture synergy, which is extracted from quantities of joint trajectory, to design the …

This paper presents the software tool used at the Institute of Industrial and Control
Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows …

Neurology shows that human controls dozens of muscles for hand poses in a coordinated
manner and such coordination is referred as to a postural synergy. The concept of postural …

Human hands can perform complex manipulation of various objects. It is beneficial if
anthropomorphic robotic hands can manipulate objects like human hands. However, it is still …

With the accelerated aging of the global population and escalating labor costs, more service
robots are needed to help people perform complex tasks. As such, human-robot interaction …

Substantial progresses have been made in building versatile anthropomorphic prosthetic
hands in the past two decades using emerging technologies. However the trade-offs …

This work proposes a solution to the grasp synthesis problem, which consist of finding the
best hand configuration to grasp a given object for a specific manipulation task while …