5 papers
Gaussian-Augmented Physics Simulation and System Identification with Complex Colliders
Federico Vasile, Ri-Zhao Qiu, Lorenzo Natale +1
System identification involving the geometry, appearance, and physical properties from video observations is a challenging task with applications in robotics and graphics. Recent a…
Continuous Wrist Control on the Hannes Prosthesis: a Vision-based Shared Autonomy Framework
Federico Vasile, Elisa Maiettini, Giulia Pasquale +2
Most control techniques for prosthetic grasping focus on dexterous fingers control, but overlook the wrist motion. This forces the user to perform compensatory movements with the e…
Grasp Pre-shape Selection by Synthetic Training: Eye-in-hand Shared Control on the Hannes Prosthesis
Federico Vasile, Elisa Maiettini, Giulia Pasquale +3
We consider the task of object grasping with a prosthetic hand capable of multiple grasp types. In this setting, communicating the intended grasp type often requires a high user co…
HannesImitation: Grasping with the Hannes Prosthetic Hand via Imitation Learning
Carlo Alessi, Federico Vasile, Federico Ceola +3
Recent advancements in control of prosthetic hands have focused on increasing autonomy through the use of cameras and other sensory inputs. These systems aim to reduce the cognitiv…
Bring Your Own Grasp Generator: Leveraging Robot Grasp Generation for Prosthetic Grasping
Giuseppe Stracquadanio, Federico Vasile, Elisa Maiettini +2
One of the most important research challenges in upper-limb prosthetics is enhancing the user-prosthesis communication to closely resemble the experience of a natural limb. As pros…