Related papers: Comparison of Constrained and Unconstrained Human …
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp…
From infancy to adulthood, human growth is anisotropic, much more along the proximal-distal axis (height) than along the medial-lateral axis (width), particularly at extremities. Detecting and modeling the rate of anisotropy in fingerprint…
3D grasp synthesis generates grasping poses given an input object. Existing works tackle the problem by learning a direct mapping from objects to the distributions of grasping poses. However, because the physical contact is sensitive to…
Despite non-co-location, haptic stimulation at the wrist can potentially provide feedback regarding interactions at the fingertips without encumbering the user's hand. Here we investigate how two types of skin deformation at the wrist…
Robot grasping of deformable hollow objects such as plastic bottles and cups is challenging as the grasp should resist disturbances while minimally deforming the object so as not to damage it or dislodge liquids. We propose minimal work as…
This study introduces i-GRIP, an innovative movement goal estimator designed to facilitate the control of assistive devices for grasping tasks in individuals with upperlimb impairments. The algorithm operates within a collaborative control…
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…
A central challenge in building robotic prostheses is the creation of a sensor-based system able to read physiological signals from the lower limb and instruct a robotic hand to perform various tasks. Existing systems typically perform…
Fingertips detection has been used in many applications, and it is very popular and commonly used in the area of Human Computer Interaction these days. This paper presents a novel time efficient method that will lead to fingertip detection…
Slip detection plays a vital role in robotic manipulation and it has long been a challenging problem in the robotic community. In this paper, we propose a new method based on deep neural network (DNN) to detect slip. The training data is…
The creation of unique control methods for a hand prosthesis is still a problem that has to be addressed. The best choice of a human-machine interface (HMI) that should be used to enable natural control is still a challenge. Surface…
[...] We argue that the traditional grasp modeling theory assumes a complexity that most robotic hands do not possess and is therefore of limited applicability to the robotic hands commonly used today. We discuss these limitations of the…
One of the most important object properties that humans and robots perceive through touch is hardness. This paper investigates information-theoretic active sampling strategies for sample-efficient hardness classification with vision-based…
Tactile sensors provide information that can be used to learn and execute manipulation tasks. Different tasks, however, might require different levels of sensory information; which in turn likely affect learning rates and performance. This…
Fingerprints are one of the most widely explored biometric traits. Specifically, contact-based fingerprint recognition systems reign supreme due to their robustness, portability and the extensive research work done in the field. However,…
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…
Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force models, which limits their applicability…
This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to…
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp…