{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,13]],"date-time":"2026-07-13T12:55:42Z","timestamp":1783947342699,"version":"3.55.0"},"reference-count":35,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"78","content-domain":{"domain":["www.science.org"],"crossmark-restriction":true},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2023,5,31]]},"abstract":"<jats:p>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.<\/jats:p>","DOI":"10.1126\/scirobotics.add5434","type":"journal-article","created":{"date-parts":[[2023,5,17]],"date-time":"2023-05-17T17:58:11Z","timestamp":1684346291000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":37,"title":["A hierarchical sensorimotor control framework for human-in-the-loop robotic hands"],"prefix":"10.1126","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3411-5565","authenticated-orcid":true,"given":"Lucia","family":"Seminara","sequence":"first","affiliation":[{"name":"Department of Electrical, Electronic, and Telecommunication Engineering and Naval Architecture, University of Genoa, Genoa, Italy."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3035-147X","authenticated-orcid":true,"given":"Strahinja","family":"Dosen","sequence":"additional","affiliation":[{"name":"Department of Health Science and Technology, Aalborg University, Aalborg, Denmark."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5913-1898","authenticated-orcid":true,"given":"Fulvio","family":"Mastrogiovanni","sequence":"additional","affiliation":[{"name":"Department of Informatics, Bioengineering, Robotics, and Systems Engineering, University of Genoa, Genoa, Italy."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4747-1697","authenticated-orcid":true,"given":"Matteo","family":"Bianchi","sequence":"additional","affiliation":[{"name":"Research Center \u201cE. Piaggio\u201d and Department of Information Engineering, University of Pisa, Pisa, Italy."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Simon","family":"Watt","sequence":"additional","affiliation":[{"name":"School of Human and Behavioural Sciences, Bangor University, Bangor, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5703-6029","authenticated-orcid":true,"given":"Philipp","family":"Beckerle","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Friedrich-Alexander Universit\u00e4t Erlangen-N\u00fcrnberg, N\u00fcrnberg, Germany."},{"name":"Department of Artificial Intelligence in Biomedical Engineering, Friedrich-Alexander Universit\u00e4t Erlangen-N\u00fcrnberg, N\u00fcrnberg, Germany."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1882-1232","authenticated-orcid":true,"given":"Thrishantha","family":"Nanayakkara","sequence":"additional","affiliation":[{"name":"Dyson School of Design Engineering, Imperial College London, London, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6161-5912","authenticated-orcid":true,"given":"Knut","family":"Drewing","sequence":"additional","affiliation":[{"name":"Department of Experimental Psychology, HapLab, University of Giessen, Giessen, Germany."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6269-4536","authenticated-orcid":true,"given":"Alessandro","family":"Moscatelli","sequence":"additional","affiliation":[{"name":"Laboratory of Neuromotor Physiology, Fondazione Santa Lucia IRCCS, Rome, Italy."},{"name":"Department of Systems Medicine and Centre of Space Biomedicine, University of Rome Tor Vergata, Rome, Italy."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9701-9186","authenticated-orcid":true,"given":"Roberta L.","family":"Klatzky","sequence":"additional","affiliation":[{"name":"Department of Psychology and Human-Computer Interaction Institute, Carnegie Mellon University, Pittsburgh, PA, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6753-634X","authenticated-orcid":true,"given":"Gerald E.","family":"Loeb","sequence":"additional","affiliation":[{"name":"Alfred E.\u00a0Mann Department of Biomedical Engineering, Keck School of Medicine, and Viterbi School of Engineering, University of Southern California, Los Angeles, CA, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_1_2_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-021-02562-y"},{"key":"e_1_3_1_3_2","doi-asserted-by":"publisher","DOI":"10.1038\/s42256-021-00439-3"},{"key":"e_1_3_1_4_2","doi-asserted-by":"crossref","unstructured":"N. Wettels J.\u00a0A.\u00a0Fishel G.\u00a0E.\u00a0Loeb Multimodal tactile sensor in The Human Hand as an Inspiration for Robot Hand Development (Springer 2014) pp.\u00a0405\u2013429.","DOI":"10.1007\/978-3-319-03017-3_19"},{"key":"e_1_3_1_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2021.3100645"},{"key":"e_1_3_1_6_2","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2019.00053"},{"key":"e_1_3_1_7_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00583.2020"},{"key":"e_1_3_1_8_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2012.0467"},{"key":"e_1_3_1_9_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-021-01344-w"},{"key":"e_1_3_1_10_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2022.951293"},{"key":"e_1_3_1_11_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41583-018-0045-9"},{"key":"e_1_3_1_12_2","doi-asserted-by":"publisher","DOI":"10.1038\/81497"},{"key":"e_1_3_1_13_2","doi-asserted-by":"publisher","DOI":"10.1038\/nrn2621"},{"key":"e_1_3_1_14_2","doi-asserted-by":"publisher","DOI":"10.1016\/S1364-6613(02)01907-1"},{"key":"e_1_3_1_15_2","doi-asserted-by":"publisher","DOI":"10.1016\/0010-0285(87)90008-9"},{"key":"e_1_3_1_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2015.02.001"},{"key":"e_1_3_1_17_2","doi-asserted-by":"crossref","unstructured":"G. Averta Learning to prevent grasp failure with soft hands: From on-line prediction to dual-arm grasp recovery in Human-Aware Robotics: Modeling Human Motor Skills for the Design Planning and Control of a New Generation of Robotic Devices (Springer International Publishing 2022) pp.\u00a0221\u2013235.","DOI":"10.1007\/978-3-030-92521-5_12"},{"key":"e_1_3_1_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2987849"},{"key":"e_1_3_1_19_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.plrev.2016.02.001"},{"key":"e_1_3_1_20_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cophys.2019.03.005"},{"key":"e_1_3_1_21_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2019.06.005"},{"key":"e_1_3_1_22_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abl7344"},{"key":"e_1_3_1_23_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41551-020-00630-8"},{"key":"e_1_3_1_24_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41551-021-00732-x"},{"key":"e_1_3_1_25_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00795.2016"},{"key":"e_1_3_1_26_2","doi-asserted-by":"publisher","DOI":"10.1002\/wcs.1486"},{"key":"e_1_3_1_27_2","doi-asserted-by":"publisher","DOI":"10.1038\/s42256-019-0093-5"},{"key":"e_1_3_1_28_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aat3818"},{"key":"e_1_3_1_29_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2015.2500586"},{"key":"e_1_3_1_30_2","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2018.00084"},{"key":"e_1_3_1_31_2","doi-asserted-by":"publisher","DOI":"10.3389\/fnins.2020.00345"},{"key":"e_1_3_1_32_2","first-page":"20210017","article-title":"Full-hand electrotactile feedback using electronic skin and matrix electrodes for high-bandwidth human\u2013machine interfacing","volume":"380","author":"Abbass Y.","year":"2022","unstructured":"Y.\u00a0Abbass, S.\u00a0Dosen, L.\u00a0Seminara, M.\u00a0Valle, Full-hand electrotactile feedback using electronic skin and matrix electrodes for high-bandwidth human\u2013machine interfacing. Philos. Trans.\u00a0A.\u00a0Math. Phys. Sci. 380, 20210017 (2022).","journal-title":"Philos. Trans.\u00a0A.\u00a0Math. Phys. Sci."},{"key":"e_1_3_1_33_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-019-1687-0"},{"key":"e_1_3_1_34_2","doi-asserted-by":"publisher","DOI":"10.1155\/2018\/1435030"},{"key":"e_1_3_1_35_2","doi-asserted-by":"crossref","unstructured":"L. Floridi The Onlife Manifesto: Being Human in a Hyperconnected Era (Springer Nature 2015).","DOI":"10.1007\/978-3-319-04093-6"},{"key":"e_1_3_1_36_2","unstructured":"https:\/\/xprize.org\/prizes\/avatar."}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.add5434","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,16]],"date-time":"2024-01-16T11:22:37Z","timestamp":1705404157000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.add5434"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,5,31]]},"references-count":35,"journal-issue":{"issue":"78","published-print":{"date-parts":[[2023,5,31]]}},"alternative-id":["10.1126\/scirobotics.add5434"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.add5434","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,5,31]]},"assertion":[{"value":"2023-05-17","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"eadd5434"}}