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Accurate pre-contact grasp force selection is critical for safe and reliable robotic manipulation. Adaptive controllers regulate force after contact but still require a reasonable initial estimate. Starting a grasp with too little force…
Realizing high-performance soft robotic grippers is challenging because of the inherent limitations of the soft actuators and artificial muscles that drive them, including low force output, small actuation range, and poor compactness.…
Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…
Intelligent interaction with the physical world requires perceptual abilities beyond vision and hearing; vibrant tactile sensing is essential for autonomous robots to dexterously manipulate unfamiliar objects or safely contact humans.…
Grasping is a core task in robotics with various applications. However, most current implementations are primarily designed for rigid items, and their performance drops considerably when handling fragile or deformable materials that require…
For robot arms to perform everyday tasks in unstructured environments, these robots must be able to manipulate a diverse range of objects. Today's robots often grasp objects with either soft grippers or rigid end-effectors. However, purely…
Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high…
Lifting objects, whose mass may produce high wrist torques that exceed the hardware strength limits, could lead to unstable grasps or serious robot damage. This work introduces a new Center-of-Mass (CoM)-based grasp pose adaptation method,…
Human movement disorders or paralysis lead to the loss of control of muscle activation and thus motor control. Functional Electrical Stimulation (FES) is an established and safe technique for contracting muscles by stimulating the skin…
Soft robotic grippers demonstrate great potential for gently and safely handling objects; however, their full potential for executing precise and secure grasping has been limited by the lack of integrated sensors, leading to problems such…
The bio-inspired engineering of ovipositing wasps, which employ a reciprocating motion for soft tissue insertion, offers potential advantages in reducing insertion force and minimizing tissue damage. However, the underlying mechanisms of…
Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In…
We present ArtiGrasp, a novel method to synthesize bi-manual hand-object interactions that include grasping and articulation. This task is challenging due to the diversity of the global wrist motions and the precise finger control that are…
Deep Reinforcement Learning (DRL) is a viable solution for automating repetitive surgical subtasks due to its ability to learn complex behaviours in a dynamic environment. This task automation could lead to reduced surgeon's cognitive…
Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
This article reviews contemporary methods for integrating force, including both proprioception and tactile sensing, in robot manipulation policy learning. We conduct a comparative analysis on various approaches for sensing force, data…
Spherical cellular aggregates are in vitro systems to study the physical and biophysical properties of tissues. We present a novel approach to characterize the mechanical properties of cellular aggregates using micropipette aspiration…
Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems continue to attract the attention of biologists and roboticists…
In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T)…