Publications de Sahar El Khoury

EMG-based decoding of grasp gestures in reaching-to-grasping motions

Aude Billard, Elvira Pirondini, Sahar El Khoury, Silvestro Micera, Martina Coscia, Iason Batzianoulis

Predicting the grasping function during reach-to-grasp motions is essential for controlling a prosthetic hand or a robotic assistive device. An early accurate prediction increases the usability and the comfort of a prosthetic device. This work proposes an ...

Elsevier2017

EMG-Based Analysis of the Upper Limb Motion

Aude Billard, Sahar El Khoury, Silvestro Micera, Iason Batzianoulis

In a human robot interaction scenario, predicting the human motion intention is essential for avoiding inconvenient delays and for a smooth reactivity of the robotic system. In particular, when dealing with hand prosthetic devices, an early estimation of t ...

ACM2015

Recognizing the grasp intention from human demonstration

Aude Billard, José Santos-Victor, Sahar El Khoury, Ravin Luis De Souza

In human grasping, choices are made on the use of hand-parts even before a grasp is realized. The human associates these choices with end-functionality and is confident that the resulting grasp will be able to meet task requirements. We refer to these choi ...

Elsevier2015

On Computing Task-Oriented Grasps

Aude Billard, Sahar El Khoury, Ravin Luis De Souza

This paper addresses the problem of optimal grasping of an object with a multi-fingered robotic hand for accomplishing a given task. The task is first demonstrated by a human operator and its force/torque requirements are captured through the usage of a se ...

Elsevier2015

EMG-based learning approach for estimating wrist motion

Aude Billard, Sahar El Khoury, Silvestro Micera, Iason Batzianoulis

This paper proposes an EMG based learning approach for estimating the displacement along the 2-axes (abduction/adduction and flexion/extension) of the human wrist in real-time. The algorithm extracts features from the EMG electrodes on the upper and forear ...

2015

Towards comprehensive capture of human grasping and manipulation skills

Aude Billard, José Santos-Victor, Sahar El Khoury, Ravin Luis De Souza

Grasping plays a central role in our daily life. To interact with objects surrounding them, people use a large diversity of hand configurations in combination with forces ranging from the small ones involved in manipulating a pen for writing, to larger for ...

2014

On the Generation of a Variety of Grasps

Aude Billard, Miao Li, Sahar El Khoury

In everyday life, people use a large diversity of hands configurations while reaching out to grasp an object. They tend to vary their hands position/orientation around the object and their fingers placement on its surface according to the object properties ...

Elsevier2013