Related papers: Correlating grip force signals from multiple senso…
The existence of tactile afferents sensitive to slip-related mechanical transients in the human hand augments the robustness of grasping through secondary force modulation protocols. Despite this knowledge and the fact that tactile-based…
Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we…
In this paper, we study task-oriented human grasp synthesis, a new grasp synthesis task that demands both task and context awareness. At the core of our method is the task-aware contact maps. Unlike traditional contact maps that only reason…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
Neurological disorders, including stroke, spinal cord injuries, multiple sclerosis, and Parkinson's disease, generally lead to diminished upper extremity (UE) function, impacting individuals' independence and quality of life. Traditional…
The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at…
Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…
Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities, but training control policies that can directly deploy on real hardware remains difficult due to contact-rich physics and imperfect actuation. We…
The ability to adapt to uncertainties, recover from failures, and coordinate between hand and fingers are essential sensorimotor skills for fully autonomous robotic grasping. In this paper, we aim to study a unified feedback control policy…
Many manipulation tasks require careful force modulation. With insufficient force the task may fail, while excessive force could cause damage. The high cost, bulky size and fragility of commercial force/torque (F/T) sensors have limited…
The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactile information for many applications, tactile sensors have…
In recent years the amount of secure information being stored on mobile devices has grown exponentially. However, current security schemas for mobile devices such as physiological biometrics and passwords are not secure enough to protect…
Advanced service robots require superior tactile intelligence to guarantee human-contact safety and to provide essential supplements to visual and auditory information for human-robot interaction, especially when a robot is in physical…
Assistive devices for indivuals with upper-limb movement often lack controllability and intuitiveness, in particular for grasping function. In this work, we introduce a novel user interface for grasping movement control in which the user…
Functional grasp is essential for enabling dexterous multi-finger robot hands to manipulate objects effectively. However, most prior work either focuses on power grasping, which simply involves holding an object still, or relies on costly…
Relocation of haptic feedback from the fingertips to the wrist has been considered as a way to enable haptic interaction with mixed reality virtual environments while leaving the fingers free for other tasks. We present a pair of wrist-worn…
Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…
User performance is crucial in interactive systems, capturing how effectively users engage with task execution. Prospectively predicting performance enables the timely identification of users struggling with task demands. While ocular and…
Tactile sensors provide useful contact data during the interaction with an object which can be used to accurately learn to determine the stability of a grasp. Most of the works in the literature represented tactile readings as plain feature…