Related papers: Low-cost Sensor Glove with Force Feedback for Lear…

Grasp-based manipulation tasks are fundamental to robots interacting with their environments, yet gripper state ambiguity significantly reduces the robustness of imitation learning policies for these tasks. Data-driven solutions face the…

Commercial six-axis force-torque sensors suffer from being some combination of expensive, fragile, and hard-to-use. We propose a new fiducial-based design which addresses all three points. The sensor uses an inexpensive webcam and can be…

Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…

Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…

The high cost of robotic platforms limits students' ability to gain practical skills directly applicable in real-world scenarios. To address this challenge, this paper presents TARA, a low-cost, 3D-printed robotic arm designed for…

Understanding objects through multiple sensory modalities is fundamental to human perception, enabling cross-sensory integration and richer comprehension. For AI and robotic systems to replicate this ability, access to diverse, high-quality…

Building robotic prostheses requires a sensor-based interface designed to provide the robotic hand with the control required to perform hand gestures. Traditional Electromyography (EMG) based prosthetics and emerging alternatives often face…

Grasping objects under uncertainty remains an open problem in robotics research. This uncertainty is often due to noisy or partial observations of the object pose or shape. To enable a robot to react appropriately to unforeseen effects, it…

Lessons and homework problems involving a pendulum are often a big part of introductory physics classes and laboratory courses from high school to undergraduate levels. Although laboratory equipment for pendulum experiments is commercially…

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…

Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although commercial robotic systems have begun…

Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…

For the task with complicated manipulation in unstructured environments, traditional hand-coded methods are ineffective, while reinforcement learning can provide more general and useful policy. Although the reinforcement learning is able to…

Soft-robot designs are manifold, but only a few are publicly available. Often, these are only briefly described in their publications. This complicates reproduction, and hinders the reproducibility and comparability of research results. If…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…

The design and fabrication of soft robot hands is still a time-consuming and difficult process. Advances in rapid prototyping have accelerated the fabrication process significantly while introducing new complexities into the design process.…

The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…

This paper presents preliminary results of the design, development, and evaluation of a hand rehabilitation glove fabricated using lobster-inspired hybrid design with rigid and soft components for actuation. Inspired by the bending abdomen…

Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…