Related papers: Functionally Divided Manipulation Synergy for Cont…
In myoelectric control, simultaneous control of multiple degrees of freedom can be challenging due to the dexterity of the human hand. Numerous studies have focused on hand functionality, however, they only focused on a few degrees of…
This paper presents a sensorized vision-enabled prosthetic hand aimed at replicating a natural hand's performance, functionality, appearance, and comfort. The design goal was to create an accessible substitution with a user-friendly…
This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…
Dexterous manipulation has broad applications in assembly lines, warehouses and agriculture. To perform large-scale manipulation tasks for various objects, a multi-fingered robotic hand sometimes has to sequentially adjust its grasping…
Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…
We investigate in-hand rolling manipulation using a multifingered robot hand, where each finger is compliant and equipped with a tactile fingertip providing contact location and wrench information. We derive the equations of motion for…
Generating dexterous grasping has been a long-standing and challenging robotic task. Despite recent progress, existing methods primarily suffer from two issues. First, most prior arts focus on a specific type of robot hand, lacking the…
In this paper we propose an easy algorithm for real time hand finger counting involving one or more than one hand. Hand finger counting is a simple medium for Human-Computer Interface which can prove to be a convenient input method for…
Dexterous robot hands offer rich opportunities for multifunctional manipulation, where a robot must execute multiple skills in sequence while maintaining control over previously grasped objects. Most prior work in dexterous manipulation…
Many tasks in human environments require collaborative behavior between multiple kinematic chains, either to provide additional support for carrying big and bulky objects or to enable the dexterity that is required for in-hand manipulation.…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
Learning an effective policy to control high-dimensional, overactuated systems is a significant challenge for deep reinforcement learning algorithms. Such control scenarios are often observed in the neural control of vertebrate…
Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…
Surface electromyography (sEMG) is becoming exceeding useful in applications involving analysis of human motion such as in human-machine interface, assistive technology, healthcare and prosthetic development. The proposed work presents a…
In this paper, we propose a real-world benchmark for studying robotic learning in the context of functional manipulation: a robot needs to accomplish complex long-horizon behaviors by composing individual manipulation skills in functionally…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
Humans possess a remarkable talent for flexibly alternating to different senses when interacting with the environment. Picture a chef skillfully gauging the timing of ingredient additions and controlling the heat according to the colors,…
Supernumerary Robotics Device (SRD) is an ideal solution to provide robotic assistance in overhead manual manipulation. Since two arms are occupied for the overhead task, it is desired to have additional arms to assist us in achieving other…
Hands are central to interacting with our surroundings and conveying gestures, making their inclusion essential for full-body motion synthesis. Despite this, existing human motion synthesis methods fall short: some ignore hand motions…
Dexterous in-hand manipulation (IHM) for arbitrary objects is challenging due to the rich and subtle contact process. Variable-friction manipulation is an alternative approach to dexterity, previously demonstrating robust and versatile 2D…