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Robotic in-hand manipulation requires reliable object-motion tracking under frequent visual occlusion, yet low-texture visuotactile images provide few stable correspondences for conventional image- or geometry-matching methods. This paper…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
We propose a haptic system that applies forces or skin deformation to the user's arm, rather than at the fingertips, for believable interaction with virtual objects as an alternative to complex thimble devices. Such a haptic system would be…
For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper and finding its grasp pose remains challenging. In this…
Teleoperation is often limited by the ability of an operator to react and predict the behavior of the robot as it interacts with the environment. For example, to grasp small objects on a table, the teleoperator needs to predict the position…
This paper presents a novel simulation platform, ZeMa, designed for robotic manipulation tasks concerning soft objects. Such simulation ideally requires three properties: two-way soft-rigid coupling, intersection-free guarantees, and…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…
Many robotic surgical systems have been developed with micro-sized forceps for tissue manipulation. However, these systems often lack force sensing at the tool side and the manipulation forces are roughly estimated and controlled relying on…
We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction…
The complex physical properties of highly deformable materials such as clothes pose significant challenges fanipulation systems. We present a novel visual feedback dictionary-based method for manipulating defoor autonomous robotic mrmable…
In this paper, design and development of a sensor integrated adaptive gripper is presented. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. The finger closing sequence in…
Selective fruit harvesting is a challenging manipulation problem due to occlusions and clutter arising from plant foliage. A harvesting gripper should i) have a small cross-section, to avoid collisions while approaching the fruit; ii) have…
This paper introduces the TacFR-Gripper, a reconfigurable Fin Ray-based soft and compliant robotic gripper equipped with tactile skin, which can be used for dexterous in-hand manipulation tasks. This gripper can adaptively grasp objects of…
We experimentally evaluated the accuracy with which material properties can be estimated through object compression by two standard parallel jaw grippers and a force/torque sensor mounted at the robot wrist, with a professional biaxial…
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…
When developing control laws for robotic systems, the principle factor when examining their performance is choosing inputs that allow smooth tracking to a reference input. In the context of robotic manipulation, this involves translating an…