Anany Dwivedi

Anany Dwivedi
Friedrich-Alexander-University of Erlangen-Nürnberg | FAU

PhD

About

37
Publications
11,256
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349
Citations
Citations since 2017
37 Research Items
349 Citations
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2017201820192020202120222023020406080100120140
2017201820192020202120222023020406080100120140

Publications

Publications (37)
Article
Full-text available
Electromyography (EMG) based interfaces are the most common solutions for the control of robotic, orthotic, prosthetic, assistive, and rehabilitation devices, translating myoelectric activations into meaningful actions. Over the last years, a lot of emphasis has been put into the EMG based decoding of human intention, but very few studies have been...
Conference Paper
Full-text available
The field of Brain Machine Interfaces (BMI) has attracted an increased interest due to its multiple applications in the health and entertainment domains. A BMI enables a direct interface between the brain and machines and is capable of translating neuronal information into meaningful actions (e.g., Electromyography based control of a prosthetic han...
Article
Full-text available
Soft, lightweight, underactuated assistive gloves (exogloves) can be useful for enhancing the capabilities of a healthy individual or to assist the rehabilitation of patients who suffer from conditions that limit the mobility of their fingers. However, most solutions found in the literature do not offer individual control of the fingers, hindering...
Conference Paper
Full-text available
Teleoperation and telemanipulation have since the early years of robotics found use in a wide range of applications, including exploration, maintenance, and response in remote or hazardous environments, healthcare, and education settings. As the capabilities of robot manipulators grow, so does the control complexity and the remote execution of intr...
Conference Paper
Full-text available
In this paper, we present the New Dexterity adaptive, tendon-driven, human-like robot hand. The particular hand is the first attempt towards industrialization of a tendon-driven, underactuated, anthropomorphic design with structural compliance in the form of elastic fingerpads and distal flexure joints. The accompanying video demonstrates the robot...
Article
Full-text available
Conventional muscle-machine interfaces like Electromyography (EMG), have significant drawbacks, such as crosstalk, a non-linear relationship between the signal and the corresponding motion, and increased signal processing requirements. In this work, we introduce a new muscle-machine interfacing technique called lightmyography (LMG), that can be use...
Chapter
Over the past decade, the use of virtual reality applications is increasing in the field of robotics, which is set to increase even further with the advent of “Metaverse”. Metaverse is considered as an “embodied internet” which will seamlessly integrate machines, robots, and computer applications including those in virtual and augmented reality. In...
Conference Paper
Full-text available
In this work, we present a 16 degree of freedom (DoF) humanlike, adaptive robotic hand specifically designed to achieve increased dexterity and the execution of dexter-ous manipulation tasks with minimal cost. Three Dynamixel XM430-W350-R actuate the hand via a combination of direct driven and tendon driven systems. The unique, coupled, two degree-...
Chapter
Since the beginning of humankind, touch has been a fundamental element of emotional communication between individuals. The increasing number and popularity of prosthetic and assistive robots make processing sense of touch essential to express affective touch. Based on the previous work of authors on design criteria to mediate affective touch, this...
Article
Full-text available
Humans learn about the environment by interacting with it. With an increasing use of computer and virtual applications as well as robotic and prosthetic devices, there is a need for intuitive interfaces that allow the user to have an embodied interaction with the devices they are controlling. Muscle–machine interfaces can provide an intuitive solut...
Article
Full-text available
Electromyography (EMG) signals have been used in designing muscle-machine interfaces (MuMIs) for various applications, ranging from entertainment (EMG controlled games) to human assistance and human augmentation (EMG controlled prostheses and exoskeletons). For this, classical machine learning methods such as Random Forest (RF) models have been use...
Conference Paper
Full-text available
For the development of muscle-machine interfaces (MuMIs), researchers have relied mainly on Electromyogra-phy (EMG) signals. However, these signals require complex hardware systems, as well as specialized signal processing and feature extraction methods. To overcome these issues, in our previous work, we proposed a novel MuMI for decoding human int...
Article
Full-text available
With an increasing use of robotic and bionic devices for the execution of everyday life, complex tasks, Electromyography (EMG) based interfaces are being explored as candidate technologies for facilitating an intuitive interaction with such devices. However, EMG-based interfaces typically require appropriate features to be extracted from the raw EM...
Article
Full-text available
Electromyography (EMG) signals are commonly used for the development of Muscle Machine Interfaces. EMG-based solutions provide intuitive and often hand-free control in a wide range of applications that range from the decoding of human intention in classification tasks to the continuous decoding of human motion employing regression models. In this w...
Conference Paper
Full-text available
Recognising and classifying human hand gestures is important for effective communication between humans and machines in applications such as human-robot interaction, human to robot skill transfer, and control of prosthetic devices. Although there are already many interfaces that enable decoding of the intention and action of humans, they are either...
Conference Paper
Full-text available
Over the years, robots have seen an increased use in a wide range of applications including exploration, maintenance, and search and rescue operations in remote or hazardous environments. Developing fully autonomous systems for unstructured environments is a challenging task while controlling them from a distance requires highly trained operators....
Article
Full-text available
As manufacturing trends shift towards customized production, the demand for agile automation systems capable of efficient adaptation to rapidly changing task requirements is rising. This work presents a flexible robotic assembly system that combines CAD based component localization, compliance control, and a multi-modal gripper to enable robust and...
Conference Paper
Full-text available
With an increasing number of robotic and pros-thetic devices, there is a need for intuitive Muscle-Machine Interfaces (MuMIs) that allow the user to have an embodied interaction with the devices they are controlling. Such MuMIs can be developed using machine learning based methods that utilize myoelectric activations from the muscles of the user to...
Conference Paper
Full-text available
With an increasing number of robotic and pros-thetic devices, there is a need for intuitive interfaces which enable the user to efficiently interact with them. The conventional interfaces are generally bulky and unsuitable for dynamic and unstructured environments. An alternative to the traditional interfaces is the class of Muscle-Machine Interfac...
Conference Paper
Full-text available
The ongoing global healthcare crisis has amplified the need for automation of manual tasks in several industries and service sectors. Simple household tasks such as tidying and cleaning are in high demand, with only a few robotic platforms capable of performing them due to the mobility, workspace, and dexterity requirements. This work presents ARoA...
Conference Paper
Full-text available
Over the last decade, adaptive tendon driven devices have gained an increased interest from the research community for their lightweight, compact, and affordable design features attributed to the utilisation of underactuation, differential mechanisms, and structural compliance. Although adaptive tendon driven devices are capable of efficiently exec...
Conference Paper
Full-text available
Electromyography (EMG) is a wearable, non-invasive, commonly used method for measuring the human muscular activations from the surface of the skin. In this work, we present a pilot study that focuses on the formulation of a shared control framework to facilitate the simplified execution of Electromyography (EMG) based telemanipulation tasks with a...
Conference Paper
Full-text available
Flexible flat cables (FFC) are very popular for connecting different components in modern electronics (e.g., mobile phones, laptops, tablets, etc.). The manipulation of FFCs typically relies on highly trained workers that spend hours performing the same repetitive processes, or on autonomous robotic systems that are equipped with simple clamping me...
Article
Full-text available
The increased use of Virtual and Augmented Reality based systems necessitates the development of more intuitive and unobtrusive means of interfacing. Over the last years, Electromyography (EMG) based interfaces have been employed for interaction with robotic and computer applications, but no studies have been carried out to investigate the continuo...
Article
Full-text available
Robotic hand exoskeletons have become a popular and efficient technological solution for assisting people that suffer from neurological conditions and for enhancing the capabilities of healthy individuals. This class of devices ranges from rigid and complex structures to soft, lightweight, wearable gloves. In this work, we propose a hybrid (tendon-...
Conference Paper
Full-text available
With the emergence of agile manufacturing in highly automated industrial environments, the demand for efficient robot adaptation to dynamic task requirements is increasing. For assembly tasks in particular, classic robot programming methods tend to be rather time intensive. Thus, effectively responding to rapid production changes requires faster an...
Conference Paper
Full-text available
To facilitate the development of a new generation of Virtual Reality systems and their introduction in everyday life applications, new intuitive, immersive methods of interfacing have to be developed. Over the years, Electromyography (EMG) based interfaces have been utilized for unobtrusive interaction with computer systems. However, previous EMG s...
Conference Paper
Full-text available
Current trends in industrial automation favor agile systems that allow adaptation to rapidly changing task requirements and facilitate customized production in smaller batches. This work presents a flexible manufacturing system relying on compliance control, CAD based localization, and a multi-modal gripper to enable fast and efficient task program...
Conference Paper
Full-text available
Electromyography (EMG) based interfaces have been used in various robotics studies ranging from teleoperation and telemanipulation applications to the EMG based control of prosthetic, assistive, or robotic rehabilitation devices. But most of these studies have focused on the decoding of user's motion or on the control of the robotic devices in the...
Conference Paper
Full-text available
Over the last years, hand exoskeletons have become a popular and efficient technical solution for assisting people that suffer from neurological and musculoskeletal diseases and enhance the capabilities of healthy individuals. These devices can vary from rigid and complex structures to soft, lightweight, wearable gloves. Despite the significant pro...
Conference Paper
Full-text available
Adaptive, underactuated, and compliant robot hands offer a promising alternative to the fully-actuated, rigid robotic devices that are typically considered for the execution of complex tasks that require significant dexterity. The increasing popularity of adaptive hands is due to their ability to extract stable grasps even under significant object...
Conference Paper
Full-text available
The concept of teleoperation has been studied since the advent of robotics and has found use in a wide range of applications, including exploration of remote or dangerous environments (e.g., space missions, disaster management), telepresence based time optimisation (e.g., remote surgery) and robot learning. While a significant amount of research ha...
Article
Recent advances in robotics promise a future where robots co-exist and collaborate with humans in unstructured environments, which will require frequent physical interactions where accurate tactile information will be crucial for performance and safety. This article describes the design, fabrication, modeling, and experimental validation of a soft-...

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Projects

Projects (3)
Project
This project focuses on the development of EMG based interfaces and control schemes for the control of robotic and prosthetic devices.
Project
This project focuses on the development of a new class of simple, adaptive robot hands for robust grasping and dexterous, in-hand manipulation. The designs demonstrate the adaptive behavior of compliant, under-actuated grippers and their superior grasping capabilities under uncertainties. In this project, we also explore alternative uses of structural compliance for the development of grasping mechanisms. The devices are fabricated using rapid prototyping techniques and they are disseminated in an open-source manner.