Related papers: Capturing complex hand movements and object intera…

Scaling dexterous robot learning is constrained by the difficulty of collecting high-quality demonstrations across diverse operators. Existing wearable interfaces often trade comfort and cross-user adaptability for kinematic fidelity, while…

Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…

In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…

Soft optical tactile sensors enable robots to manipulate deformable objects by capturing important features such as high-resolution contact geometry and estimations of object compliance. This work presents a variable stiffness soft tactile…

Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…

Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…

The development of wearable sensing systems for sports performance tracking, rehabilitation, and injury prevention has driven growing demand for smart garments that combine comfort, durability, and accurate motion detection. This paper…

Despite significant advances in touch and force transduction, tactile sensing is still far from ubiquitous in robotic manipulation. Existing methods for building touch sensors have proven difficult to integrate into robot fingers due to…

Motivated by the growing interest in enhancing intuitive physical Human-Machine Interaction (HRI/HVI), this study aims to propose a robust tactile hand gesture recognition system. We performed a comprehensive evaluation of different hand…

Hand Gesture Recognition (HGR) based on inertial data has grown considerably in recent years, with the state-of-the-art approaches utilizing a single handheld sensor and a vocabulary comprised of simple gestures. In this work we explore the…

Sensory feedback is the fundamental driving force behind motor control and learning. However, the technology for low-cost and efficient sensory feedback remains a big challenge during stroke rehabilitation, and for prosthetic designs. Here…

In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…

In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…

Tracking the full skeletal pose of the hands and fingers is a challenging problem that has a plethora of applications for user interaction. Existing techniques either require wearable hardware, add restrictions to user pose, or require…

Daily objects embedded in a contextual environment are often ungraspable initially. Whether it is a book sandwiched by other books on a fully packed bookshelf or a piece of paper lying flat on the desk, a series of nonprehensile pregrasp…

Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement learning (DRL) based methods aim at improving sample…

Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…

Object handover is an important skill that we use daily when interacting with other humans. To deploy robots in collaborative setting, like houses, being able to receive and handing over objects safely and efficiently becomes a crucial…

People with speech and hearing impairments often rely on sign language to communicate with others but most of the general population cannot understand sign language and sign language itself is a difficult language to learn, so there is a…

Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…