Related papers: Design method for an anthropomorphic hand able to …
Since the emergence of large annotated datasets, state-of-the-art hand pose estimation methods have been mostly based on discriminative learning. Recently, a hybrid approach has embedded a kinematic layer into the deep learning structure in…
Dexterous manipulation through imitation learning has gained significant attention in robotics research. The collection of high-quality expert data holds paramount importance when using imitation learning. The existing approaches for…
Bringing tactile sensation to robotic hands will allow for more effective grasping, along with the wide range of benefits of human-like touch. Here we present a 3D-printed, three-fingered tactile robot hand comprising an OpenHand Model O…
In this paper, we present a novel method of motion planning for performing complex manipulation tasks by using human demonstration and exploiting the screw geometry of motion. We consider complex manipulation tasks where there are…
We present a method for controlling a simulated humanoid to grasp an object and move it to follow an object's trajectory. Due to the challenges in controlling a humanoid with dexterous hands, prior methods often use a disembodied hand and…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
Dexterous in-hand manipulation remains a foundational challenge in robotics, with progress often constrained by the prevailing paradigm of imitating the human hand. This anthropomorphic approach creates two critical barriers: 1) it limits…
The engineering design of robotic grippers presents an ample design space for optimization towards robust grasping. In this paper, we adopt the reconfigurable design of the robotic gripper using a novel soft finger structure with…
Whole-body 3D human mesh estimation aims to reconstruct the 3D human body, hands, and face simultaneously. Although several methods have been proposed, accurate prediction of 3D hands, which consist of 3D wrist and fingers, still remains…
Hand gesture is one of the most important means of touchless communication between human and machines. There is a great interest for commanding electronic equipment in surgery rooms by hand gesture for reducing the time of surgery and the…
This technical report presents an introduction to different aspects of multi-fingered robot grasping. After having introduced relevant mathematical background for modeling, form and force closure are discussed. Next, we present an overview…
Consideration of physical dimensions of the user population is essential to design adapted environment. This variability in body dimensions (called "anthropometry") is involved in design tools commonly used today to assess user's…
Soft robot arms have made significant progress towards completing human-scale tasks, but designing arms for tasks with specific load and workspace requirements remains difficult. A key challenge is the lack of model-based design tools,…
Teleoperation (i.e., controlling a robot with human motion) proves promising in enabling a humanoid robot to move as dynamically as a human. But how to map human motion to a humanoid robot matters because a human and a humanoid robot rarely…
Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…
The human hand plays a vital role in daily life and industrial applications, yet replicating its multifunctional capabilities-including motion, sensing, and coordinated manipulation with robotic systems remains a formidable challenge.…
We present a method for teaching dexterous manipulation tasks to robots from human hand motion demonstrations. Unlike existing approaches that solely rely on kinematics information without taking into account the plausibility of robot and…
Miniaturized instruments are highly needed for robot assisted medical healthcare and treatment, especially for less invasive surgery as it empowers more flexible access to restricted anatomic intervention. But the robotic design is more…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…