{"id":"https://openalex.org/W4221150281","doi":"https://doi.org/10.1109/iros47612.2022.9981035","title":"Grasp Pre-shape Selection by Synthetic Training: Eye-in-hand Shared Control on the Hannes Prosthesis","display_name":"Grasp Pre-shape Selection by Synthetic Training: Eye-in-hand Shared Control on the Hannes Prosthesis","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4221150281","doi":"https://doi.org/10.1109/iros47612.2022.9981035"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981035","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2203.09812","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040823653","display_name":"Federico Vasile","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Federico Vasile","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012621119","display_name":"Elisa Maiettini","orcid":"https://orcid.org/0000-0002-0127-3014"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elisa Maiettini","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048446378","display_name":"Giulia Pasquale","orcid":"https://orcid.org/0000-0002-7221-3553"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulia Pasquale","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077268843","display_name":"Astrid Florio","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Astrid Florio","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Rehab Technologies Lab,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Rehab Technologies Lab,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040255823","display_name":"Nicol\u00f2 Boccardo","orcid":"https://orcid.org/0000-0002-3460-7068"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicol\u00f2 Boccardo","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Rehab Technologies Lab,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Rehab Technologies Lab,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009034971","display_name":"Lorenzo Natale","orcid":"https://orcid.org/0000-0002-8777-5233"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Natale","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid Sensing and Perception,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5040823653"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02189854,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13112","last_page":"13119"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8371000289916992,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8371000289916992,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.08110000193119049,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.0421999990940094,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7712886333465576},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7586215734481812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6563771963119507},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48701292276382446},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40914633870124817},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3935950994491577}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7712886333465576},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7586215734481812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6563771963119507},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48701292276382446},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40914633870124817},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3935950994491577},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros47612.2022.9981035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981035","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2203.09812","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.09812","pdf_url":"https://arxiv.org/pdf/2203.09812","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:iris.unige.it:11567/1144635","is_oa":true,"landing_page_url":"https://hdl.handle.net/11567/1144635","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.48550/arxiv.2203.09812","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2203.09812","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2203.09812","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.09812","pdf_url":"https://arxiv.org/pdf/2203.09812","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1885639605","https://openalex.org/W2006273250","https://openalex.org/W2010426277","https://openalex.org/W2047217088","https://openalex.org/W2064675550","https://openalex.org/W2067090082","https://openalex.org/W2079091855","https://openalex.org/W2108598243","https://openalex.org/W2164575107","https://openalex.org/W2170090708","https://openalex.org/W2223144325","https://openalex.org/W2282481780","https://openalex.org/W2605102758","https://openalex.org/W2611223806","https://openalex.org/W2735127948","https://openalex.org/W2805661097","https://openalex.org/W2890600806","https://openalex.org/W2909980200","https://openalex.org/W2923078152","https://openalex.org/W2963163009","https://openalex.org/W2963188159","https://openalex.org/W2967319773","https://openalex.org/W2991137629","https://openalex.org/W3007450841","https://openalex.org/W3011048530","https://openalex.org/W3033294558","https://openalex.org/W3044538930","https://openalex.org/W3087874248","https://openalex.org/W3090292349","https://openalex.org/W3096529724","https://openalex.org/W3097625327","https://openalex.org/W3130962016","https://openalex.org/W3180172155","https://openalex.org/W3196734984","https://openalex.org/W3203740651","https://openalex.org/W3205133366","https://openalex.org/W4200027192","https://openalex.org/W4200186468","https://openalex.org/W4206943581","https://openalex.org/W6791851474","https://openalex.org/W6792223461"],"related_works":["https://openalex.org/W354571","https://openalex.org/W789711","https://openalex.org/W17937252","https://openalex.org/W1601207","https://openalex.org/W15449075","https://openalex.org/W11975486","https://openalex.org/W13664219","https://openalex.org/W5542841","https://openalex.org/W14650748","https://openalex.org/W13555790"],"abstract_inverted_index":{"We":[0,138,175,190],"consider":[1],"the":[2,20,46,50,61,85,89,106,115,124,181,194,200],"task":[3],"of":[4,12,108,110,135],"object":[5,95],"grasping":[6,147],"with":[7,97,161],"a":[8,26,58,98,128,140],"prosthetic":[9,183],"hand":[10,47,73,136,184],"capable":[11],"multiple":[13],"grasp":[14,22,92,100],"types.":[15],"In":[16,63,102],"this":[17,64,111],"setting,":[18],"communicating":[19],"intended":[21],"type":[23],"often":[24],"requires":[25],"high":[27],"user":[28],"cognitive":[29],"load":[30],"which":[31],"can":[32],"be":[33],"reduced":[34],"adopting":[35],"shared":[36],"autonomy":[37],"frameworks.":[38],"Among":[39],"these,":[40],"so-called":[41],"eye-in-hand":[42,69],"systems":[43],"automatically":[44],"control":[45],"pre-shaping":[48],"before":[49],"grasp,":[51],"based":[52],"on":[53,60,155,172,180],"visual":[54,133],"input":[55],"coming":[56],"from":[57,76,80],"camera":[59],"wrist.":[62],"paper,":[65],"we":[66,83,126],"present":[67],"an":[68],"learning-based":[70],"approach":[71],"for":[72,117,122,130,149],"pre-shape":[74],"classification":[75],"RGB":[77],"sequences.":[78],"Differently":[79],"previous":[81],"work,":[82],"design":[84],"system":[86],"to":[87,91,104,143,198],"support":[88],"possibility":[90],"each":[93],"considered":[94],"part":[96],"different":[99],"type.":[101],"order":[103],"overcome":[105],"lack":[107],"data":[109,119],"kind":[112],"and":[113,151,185,196],"reduce":[114],"need":[116],"tedious":[118],"collection":[120],"sessions":[121],"training":[123],"system,":[125],"devise":[127],"pipeline":[129],"rendering":[131],"synthetic":[132,163],"sequences":[134,148],"trajectories.":[137],"develop":[139],"sensorized":[141],"setup":[142],"acquire":[144],"real":[145,173],"human":[146],"benchmarking":[150],"show":[152,186],"that,":[153],"compared":[154],"practical":[156,188],"use":[157],"cases,":[158],"models":[159,170],"trained":[160,171],"our":[162,178],"dataset":[164,197],"achieve":[165],"better":[166],"generalization":[167],"performance":[168],"than":[169],"data.":[174],"finally":[176],"integrate":[177],"model":[179],"Hannes":[182],"its":[187],"effectiveness.":[189],"make":[191],"publicly":[192],"available":[193],"code":[195],"reproduce":[199],"presented":[201],"results":[202],"<sup":[203,206],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[204,207],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[205,208],"https://github.com/hsp-iit/prosthetic-grasping-simulation.":[209]},"counts_by_year":[],"updated_date":"2026-03-03T08:47:05.690250","created_date":"2022-04-03T00:00:00"}
