Nicolò Boccardo

Grasp Pre-shape Selection by Synthetic Training: Eye-in-hand Shared Control on the Hannes Prosthesis

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 cognitive load which can be reduced adopting shared autonomy frameworks. Among these, so-called eye-in-hand systems automa…