A hierarchical sensorimotor control framework for human-in-the-loop robotic hands

Sci Robot. 2023 May 17;8(78):eadd5434. doi: 10.1126/scirobotics.add5434. Epub 2023 May 17.


Human manual dexterity relies critically on touch. Robotic and prosthetic hands are much less dexterous and make little use of the many tactile sensors available. We propose a framework modeled on the hierarchical sensorimotor controllers of the nervous system to link sensing to action in human-in-the-loop, haptically enabled, artificial hands.

Publication types

  • Review
  • Research Support, Non-U.S. Gov't

MeSH terms

  • Hand / physiology
  • Humans
  • Robotic Surgical Procedures*
  • Robotics*
  • Touch / physiology
  • Touch Perception*