Related papers: i-GSI: A Fast and Reliable Grasp-type Switching In…
This paper proposes an interactive system for mobile devices controlled by hand gestures aimed at helping people with visual impairments. This system allows the user to interact with the device by making simple static and dynamic hand…
Achieving robust grasping with dexterous hands remains challenging, especially when manipulation involves dynamic forces such as impacts, torques, and continuous resistance--situations common in real-world tool use. Existing methods largely…
Recent advances in teleoperation have enabled sophisticated manipulation of dexterous robotic hands, with most systems concentrating on guiding finger positions to achieve desired grasp configurations. However, while accurate finger…
Recent advances in dexterous grasping synthesis have demonstrated significant progress in producing reasonable and plausible grasps for many task purposes. But it remains challenging to generalize to unseen object categories and diverse…
Human dexterity relies on rapid, sub-second motor adjustments, yet capturing these high-frequency dynamics remains an enduring challenge in biomechanics and robotics. Existing motion capture paradigms are compromised by a trade-off between…
Grasping constitutes a critical challenge for visually impaired people. To address this problem, we developed a tactile bracelet that assists in grasping by guiding the user's hand to a target object using vibration commands. Here we…
This work describes a new human-in-the-loop (HitL) assistive grasping system for individuals with varying levels of physical capabilities. We investigated the feasibility of using four potential input devices with our assistive grasping…
Configuring a prosthetic leg is an integral part of the fitting process, but the personalization of a multi-modal powered knee-ankle prosthesis is often too complex to realize in a clinical environment. This paper develops both the…
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…
This paper presents a novel human-robot interaction (HRI) framework that enables intuitive gesture-driven control through a capacitance-based woven tactile skin. Unlike conventional interfaces that rely on panels or handheld devices, the…
The verification of successful grasps is a crucial aspect of robot manipulation, particularly when handling deformable objects. Traditional methods relying on force and tactile sensors often struggle with deformable and non-rigid objects.…
Multi-finger grasping relies on high quality training data, which is hard to obtain: human data is hard to transfer and synthetic data relies on simplifying assumptions that reduce grasp quality. By making grasp simulation differentiable,…
This paper presents a novel neuromorphic control architecture for upper-limb prostheses that combines surface electromyography (sEMG) with gaze-guided computer vision. The system uses a spiking neural network deployed on the neuromorphic…
We introduce UniGraspTransformer, a universal Transformer-based network for dexterous robotic grasping that simplifies training while enhancing scalability and performance. Unlike prior methods such as UniDexGrasp++, which require complex,…
Reaching-and-grasping is a fundamental skill for robotic manipulation, but existing methods usually train models on a specific gripper and cannot be reused on another gripper. In this paper, we propose a novel method that can learn a…
Decoding multiple movements from the same limb using electroencephalographic (EEG) activity is a key challenge with applications for controlling prostheses in upper-limb amputees. This study investigates the classification of four hand…
Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…
The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object…
This paper proposes an idea of building an interface to merge the existing technologies like Image processing, Internet of Things, Sixth sense, etc. at one place to reduce the hardware restrictions imposed on a user and improve the…
This paper presents GelSight Svelte Hand, a novel 3-finger 2-DoF tactile robotic hand that is capable of performing precision grasps, power grasps, and intermediate grasps. Rich tactile signals are obtained from one camera on each finger,…