{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/bring-your-own-grasp-generator-leveraging","title":"Bring Your Own Grasp Generator: Leveraging Robot Grasp Generation for Prosthetic Grasping","arxiv_id":"2503.00466","date":"2025-03-01","proceeding":null,"authors":["Giuseppe Stracquadanio","Federico Vasile","Elisa Maiettini","Nicolò Boccardo","Lorenzo Natale"],"abstract":"One of the most important research challenges in upper-limb prosthetics is enhancing the user-prosthesis communication to closely resemble the experience of a natural limb. As prosthetic devices become more complex, users often struggle to control the additional degrees of freedom. In this context, leveraging shared-autonomy principles can significantly improve the usability of these systems. In this paper, we present a novel eye-in-hand prosthetic grasping system that follows these principles. Our system initiates the approach-to-grasp action based on user's command and automatically configures the DoFs of a prosthetic hand. First, it reconstructs the 3D geometry of the target object without the need of a depth camera. Then, it tracks the hand motion during the approach-to-grasp action and finally selects a candidate grasp configuration according to user's intentions. We deploy our system on the Hannes prosthetic hand and test it on able-bodied subjects and amputees to validate its effectiveness. We compare it with a multi-DoF prosthetic control baseline and find that our method enables faster grasps, while simplifying the user experience. Code and demo videos are available online at https://hsp-iit.github.io/byogg/.","url_abs":"https://arxiv.org/abs/2503.00466v1","url_pdf":"https://arxiv.org/pdf/2503.00466v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"bring-your-own-grasp-generator-leveraging","repo_url":"https://github.com/hsp-iit/byogg","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"3d-geometry","task_name":"3D geometry"},{"task_slug":"grasp-generation","task_name":"Grasp Generation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}