Human and Robot Hands

Sensorimotor Synergies to Bridge the Gap Between Neuroscience and Robotics

  • Matteo Bianchi
  • Alessandro Moscatelli

Part of the Springer Series on Touch and Haptic Systems book series (SSTHS)

Table of contents

  1. Front Matter
    Pages i-xi
  2. Matteo Bianchi, Alessandro Moscatelli
    Pages 1-5
  3. Neuroscience

    1. Front Matter
      Pages 7-7
    2. Abdeldjallil Naceri, Marco Santello, Alessandro Moscatelli, Marc O. Ernst
      Pages 29-40
    3. Andrea Leo, Giacomo Handjaras, Hamal Marino, Matteo Bianchi, Pietro Pietrini, Emiliano Ricciardi
      Pages 41-60
    4. Alessandro Moscatelli, Matteo Bianchi, Alessandro Serio, Antonio Bicchi, Marc O. Ernst
      Pages 87-98
  4. Robotics, Models and Sensing Tools

    1. Front Matter
      Pages 99-99
    2. Manuel G. Catalano, Giorgio Grioli, Edoardo Farnioli, Alessandro Serio, Manuel Bonilla, Manolo Garabini et al.
      Pages 101-125
    3. Minas V. Liarokapis, Charalampos P. Bechlioulis, George I. Boutselis, Kostas J. Kyriakopoulos
      Pages 127-149
    4. Arash Ajoudani, Sasha B. Godfrey, Nikos Tsagarakis, Antonio Bicchi
      Pages 151-169
    5. Gionata Salvietti, Guido Gioioso, Monica Malvezzi, Domenico Prattichizzo
      Pages 195-209
    6. Vonne van Polanen, Wouter M. Bergmann Tiest, Astrid M. L. Kappers
      Pages 235-258
    7. Matteo Bianchi, Paolo Salaris, Antonio Bicchi
      Pages 259-283

About this book


This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics.  Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems.

Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one.

Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.


Robotic hands Sensing Systems Human Touch Sensing Modeling Human Hand Modeling

Editors and affiliations

  • Matteo Bianchi
    • 1
  • Alessandro Moscatelli
    • 2
  1. 1.Department of Advanced RoboticsItalian Institute of TechnologyGenovaItaly
  2. 2.Department of Cognitive NeuriscienceUniversity of BielefeldBielefeldGermany

Bibliographic information

  • DOI
  • Copyright Information Springer International Publishing Switzerland 2016
  • Publisher Name Springer, Cham
  • eBook Packages Computer Science Computer Science (R0)
  • Print ISBN 978-3-319-26705-0
  • Online ISBN 978-3-319-26706-7
  • Series Print ISSN 2192-2977
  • Series Online ISSN 2192-2985
  • Buy this book on publisher's site