E-raamat: Human-Aware Robotics: Modeling Human Motor Skills for the Design, Planning and Control of a New Generation of Robotic Devices

Introduction.- Part I: Taming the Complexity of Human Motion
Generation.- Understanding the Principal Modes of Natural Movements in
Temporal Domain.- Quantifying the Time-Invariance Properties of Upper Limb
Synergies.-  Evidences on the Hierarchical Control of Human Hands.- Part II:
On the Design of Nature-Inspired Prostheses and the Assessment of Motion
Impairment.- Using Nature-Inspired Principles to Design of Robotic Limbs: the
Soft Wrist.- A Novel Approach to Quantify Motion Impairment.- A novel
mechatronic system for evaluating elbow muscular spasticity relying on Tonic
Stretch Reex Threshold estimation.- Part III: Transferring Human Principles
to Cobots and Autonomous Robots.- Natural Motion: Embedding Human-Likeliness
in Robot Movements.-  A Focus on Motion Dynamics: Planning Impedance
Behaviors in Physical Interaction.- Learning from Humans How to Grasp: a
Reactive-Based Approach.- Learning from Humans How to Grasp: Enhancing the
Reaching Strategy.- Learning to prevent grasp failure with soft hands: from
on-line prediction to dual-arm grasp recovery.- Dexterity Augmentation of
Robotic Hands: a Study on the Kinetic Domain.-  Exploiting Principal
Components for Robots Walking: an Approach for Sub-Optimal Locomotion.-
Conclusions and Lessons Learned.