Human and Robot Hands: Sensorimotor Synergies to Bridge the Gap Between Neuroscience and Robotics

Introduction.- Part I: Neuroscience.- Dexterous Manipulation: From High-level Representation to Low-level Co-ordination of Digit Force and Position.- Digit Position and Force Synergies During Unconstrained Grasping.- The Motor Control of Hand Movements in the Human Brain: Toward the Definition of a Cortical Representation of Postural Synergies.- Synergy Control in Subcortical Circuitry: Insights from Neurophysiology.- Neuronal "Op-Amps" Implement Adaptive control in Biology and Robotics.- Sensorimotor Synergies:Fusion of Cutaneous Touch and Proprioception in the Perceived Hand Kinematics.- Part II: Robotics, Models and Sensing Tools.- From Soft to Adaptive Synergies:The PISA/IIT Softhand.- A Learn by Demonstration Approach for Closed-loop Robust Anthromorphic Grasp Planning.- Teleimpudance Control: Overview and Application.- Incremental Learning of Muscle Synergies:From Calibrating a Prothesis to Interacting with it.- How to Map Human Hand Synergies onto Robotic Hands Using the Syngrasp Matlab Toolbox.- Quasi-static Analysis of Synergistically Underactuated Robotic Hands in Grasp and Manipulation Tasks.- A simple Model of the Hand for the Analysis of Object Exploration.- Synergy-based Optimal Sensing Techniques for Hand Pose Reconstruction