THE Hand Embodied

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Hand synergies - how to tame the complexity of grasping

May 10, 2013

A Workshop organized by THE Consortium in the Framework of ICRA 2013

Fundamental insight into human grasping provided by experts of related fields;
Presentations of Minimalistic and novel approaches to design robot hands, prosthetic and haptic devices;
The first ICRA/IROS workshop in which the research results of the European research project THE – The Hand Embodied will be presented and discussed.

[Abstract]
[Program]
[Speakers]
[Motivation and Objectives]
[Schedule and Open Call of Submissions]
[Organizers]
[Proceedings]

pppppppppppppp

Submission of full papers opens:
January 16, 2013
Full paper submission deadline:
March 12, 2013

Notification of acceptance:
End of March 2013


Abstract

The human hand is a cognitive organ capable of extremely dexterous actuation and hyper-acute sensory function. Possessing the hand machinery with over 30 effectively enabled degrees of freedom, actuated by at least as many muscles through a complicated network of ligaments, and collecting sensation from diverse tactile receptors, the central nervous system must have developed strategies simplifying its control and interpretation of the sensory information. These strategies are united within a single notion, so-called “synergies”, which implies an efficient use of multiple possibly diverse agents, like muscles, joints, fingers, receptors and sensory modalities.

Humans are astonishingly talented in organizing the diverse elements of its body machinery into sensorimotor synergies. Within this full day workshop we will look into this capability in search of inspiration for development of beyond state-of-the-art robotic hands. We aim at bringing the concept of synergy originating in the neurophysiological studies into the field of robotics with the main focus on the design of robotic hands, prosthetic devices and haptic interfaces. It is in fact by further refining and improving upon the synergy principles that we strive towards creating robots that are capable of complex manipulation skills in real-world environments.

 


Speakers

One of the goals of the proposed workshop is to disseminate the scientific activities from the EU Project THE Hand Embodied.
The workshop will be structured as a series of 8 invited talks (35/40' talk + 15/10' questions), equally allocated between THE and non-THE consortium members.

Invited speakers from the THE consortium:
Antonio Bicchi (University of Pisa, Istituto Italiano di Tecnologia),
Marc Ernst (University of Bielefeld),
Vincent Hayward (Université Pierre et Marie Curie)
Marco Santello (Arizona State University).
Invited speakers from outside of THE consortium:
Mark Cutkosky (Stanford University),
Peter Kyberd (University of New Brunswick),
Mark Latash (Pennsylvania State University),
Gregor Schöner (Ruhr University Bochum).

A poster session will take place during the coffee breaks and the lunch break, so that members of the THE consortium and regular non-THE participants will have the opportunity to show their work and actively interact during the workshop day.

A Round Table will be organized at the end of the workshop. The list of panelists will be announced at a later stage.


Motivation and Objectives

In this workshop we want to study how the embodied characteristics of the human hand and its sensors, the sensorimotor transformations, and the very constraints impose, affect and determine the learning and control strategies we use for such fundamental cognitive functions as exploring, grasping and manipulating. By learning from human data and hypotheses-driven simulations how can we devise improved system architectures for the “hand” as a cognitive organ.

This knowledge is extremely useful to design and control new and improved robot hands, haptic interfaces, and hand prostheses.The workshop hinges about the conceptual structure and the geometry of such enabling constraints, or synergies: dependencies in redundant hand mobility (motor synergies), and in redundant cutaneous and kinaesthetic receptors readings (multi-cue integration), and overall sensorimotor synergies.
Embodiment is key in characterizing human skills with respect to grasping and manipulation capabilities. Understanding that mere mimicking human behavior is not a way to pursue since it is not possible to replicate the complexity of the embodied human hand, we search for the simplifying strategies governing the human motor behaviour, i.e. an abstraction layer, by which effective lessons can be then taught to robotic systems.
In the workshop leading experts from the various fields will get together to present the underlying fundamental ideas.
The workshop is a platform to identify and reveal aspects from neuroscience and learning to be used profitably in robotic grasping, prosthetics, haptics, and rehabilitation. Topics to be addressed include, but are not limited to:

1. How do synergies help to control such complicated many-dofs systems as hands?
2. How do synergies help to perceive properties of external objects through the noisy and diverse sensory system we possess?
3. What are the limitations of the soft/adaptives synergies as implemented in compliant low-dof grasping devices?

 


Schedule of Open Call for Submissions

Submission of full papers open from: January 16, 2013
Full paper submission deadline: March 12, 2013
Notification of acceptance: End of March 2013

The paper should be non longer than 6 pages (specifications according to ICRA standards, see http://www.icra2013.org/?page_id=106 , step 1 for the TeX and Word formats). Authors of accepted paper will be given the opportunity to present their work during the interactive sessions, preceded by a two-minutes highlight presentation describing their work.

The papers will be review and accepted by the Program Committee, composed by: Marco Gabiccini (U. of Pisa, IIT), Henrik Jorntell (Lund U.), Astrid M. L. Kappers (Utrecht U.), Konstantinos J. Kyriakopoulos (NTUA), Martin Nilsson (SICS), Domenico Prattichizzo (U. of Siena), Patrick van der Smagt (DLR), Alexander V. Terekhov (UPMC), Thomas Wimboeck (DLR).
Currently, we are in contact with Springer to discuss an editorial project on the workshop theme.

Please send the submissions to:

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Organizers

Marco Gabiccini
Research Center “E. Piaggio” University of Pisa and Istituto Italiano di Tecnologia, Genova
Via Diotisalvi 2, Pisa, Italy
Phone: +39-050-221-8077 Fax: +39-050-221-8065
Email: This e-mail address is being protected from spambots. You need JavaScript enabled to view it
Web: http://www.dimnp.unipi.it/gabiccini-m/

Alexander V. Terekhov
The Institute for Intelligent Systems and Robotics (ISIR), UPMC-CNRS
4 place Jussieu 75005, Paris, France
Tel: +33 1 44 27 63 58
Fax: +33 1 44 27 51 45
Email: This e-mail address is being protected from spambots. You need JavaScript enabled to view it
Web: http://people.isir.upmc.fr/terekhov/

Thomas Wimboeck
Robotics and Mechatronics Center
German Aerospace Center
P.O.Box 1116, 82230 Wessling, Germany
Phone: +49-8153/28-1183 Fax: +49-8153/28-1134
E-Mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it
Web: http://www.robotic.dlr.de/Thomas.Wimboeck

 

A project supported by the European Commission
under the 7th Framework Programme

Large-scale integrating project
Information and Communication Technologies ICT
Supported by the ICT Programme
Cognitive Systems and Robotics

01.03.2010 — 28.02.2014