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The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy…
Robotic dexterous hands are central to contact-rich manipulation, with rapid progress driven by advances in hardware, sensing, control, simulation, and data generation. However, existing studies are often developed under different…
Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the…
In the design stage of robotic hands, it is not straightforward to quantitatively evaluate the effect of phalanx length ratios on dexterity without defining specific objects or manipulation tasks. Therefore, this study presents a framework…
Multi-fingered robotic grasping is an undeniable stepping stone to universal picking and dexterous manipulation. Yet, multi-fingered grippers remain challenging to control because of their rich nonsmooth contact dynamics or because of…
Robot-assisted dressing is a popular but challenging topic in the field of robotic manipulation, offering significant potential to improve the quality of life for individuals with mobility limitations. Currently, the majority of research on…
This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…
The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…
To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…
A dexterous hand capable of grasping any object is essential for the development of general-purpose embodied intelligent robots. However, due to the high degree of freedom in dexterous hands and the vast diversity of objects, generating…
Dexterous multi-fingered hands can accomplish fine manipulation behaviors that are infeasible with simple robotic grippers. However, sophisticated multi-fingered hands are often expensive and fragile. Low-cost soft hands offer an appealing…
In robotic hand research, minimizing the number of actuators while maintaining human-hand-consistent dimensions and degrees of freedom constitutes a fundamental challenge. Drawing bio-inspiration from human hand kinematic configurations and…
This paper addresses the scarcity of affordable, fully-actuated five-fingered hands for dexterous teleoperation, which is crucial for collecting large-scale real-robot data within the "Learning from Demonstrations" paradigm. We introduce…
This work presents a framework for a robot with a multi-fingered hand to freely utilize daily tools, including functional parts like buttons and triggers. An approach heatmap is generated by selecting a functional finger, indicating optimal…
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not…
This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the…
Wearable robotics bring the opportunity to augment human capability and performance, be it through prosthetics, exoskeletons, or supernumerary robotic limbs. The latter concept allows enhancing human performance and assisting them in daily…
A plethora of biometric measures have been proposed in the past. In this paper we introduce a new potential biometric measure: the human tremor. We present a new method for identifying the user of a handheld device using characteristics of…
Soft robots have high adaptability and safeness which are derived from their softness, and therefore it is paid attention to use them in human society. However, the controllability of soft robots is not enough to perform dexterous behaviors…
The purpose of this benchmark is to evaluate the planning and control aspects of robotic in-hand manipulation systems. The goal is to assess the system's ability to change the pose of a hand-held object by either using the fingers,…