Robot force control that needs to be customized for the robot structure in unstructured environments with difficult-to-tune parameters guarantees robots’ compliance and safe human–robot interaction an increasingly expanding work environment. Although reinforcement learning provides a new idea adaptive adjustment of these parameters, policy often trained from scratch when used robotics, even sam...

The human hand and the brain are close partners in two important and closely interconnected functions: exploration of the physical world and reshaping of parts of this world through manipulation. The highly versatile functions of the human hand depend on both its anatomical structure and the neural machinery that supports the hand. This article focuses on the sensorimotor control of hand moveme...

This paper describes a system in which multiple robots cooperate to move multiple objects such as groups of boxes using a constrained prehensile manipulation mode, by wrapping ropes around them. The system consists of three manipulation skills: tieing ropes around objects, affecting rotations using a flossing manipulation gait, and affecting translations using a ratcheting manipulation gait. We...

UNLABELLED We evaluated the effects of a response-effort intervention on the occurrence of self-injurious hand mouthing and a competing response (object manipulation) with 4 individuals who had profound developmental disabilities. During Phase 1, results of functional analyses showed that all participants engaged in high levels of hand mouthing in the absence of social contingencies, suggesting...

with shorter periods of hospitalazation, fewer patient beds and more health care facilities in the society, patients are now more acutely ill and highly dependent, causing less opportunities for medical students to practice and learn basic clinical skills. on the other hand, enhanced patient rights and other learnig limitations require that professional education provide not only knowledge and ...

A major challenge in robotics is the ability to learn, from novel experiences, new behavior that is useful for achieving new goals and skills. Autonomous systems must be able to learn solely through the environment, thus ruling out a priori task knowledge, tuning, extensive training, or other forms of pre-programming. Learning must also be cumulative and incremental, as complex skills are built...