Related papers: Motion Analysis of Upper Limb and Hand in a Haptic…
Modern robotic manipulation systems fall short of human manipulation skills partly because they rely on closing feedback loops exclusively around vision data, which reduces system bandwidth and speed. By developing autonomous grasping…
Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…
Wearable and Assistive robotics for human grasp support are broadly either tele-operated robotic arms or act through orthotic control of a paralyzed user's hand. Such devices require correct orientation for successful and efficient…
In typical in-hand manipulation tasks represented by object pivoting, the real-time perception of rotational slippage has been proven beneficial for improving the dexterity and stability of robotic hands. An effective strategy is to obtain…
After a grasp has been planned, if the object orientation changes, the initial grasp may not have to be modified to accommodate the orientation change. For example, rotation of a cylinder by any amount around its centerline does not change…
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may…
Rehabilitation therapies are widely employed to assist people with motor impairments in regaining control over their affected body parts. Nevertheless, factors such as fatigue and low self-efficacy can hinder patient compliance during…
In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…
We define "robotic contact juggling" to be the purposeful control of the motion of a three-dimensional smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." While specific examples of robotic contact juggling…
Centipede-like robots offer an effective and robust solution to navigation over complex terrain with minimal sensing. However, when climbing over obstacles, such multi-legged robots often elevate their center-of-mass into unstable…
In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can…
Hand-held haptic devices can allow for greater freedom of motion and larger workspaces than traditional grounded haptic devices. They can also provide more compelling haptic sensations to the users' fingertips than many wearable haptic…
The utility of Human-in-the-loop telerobotic systems (HiLTS) is driven in part by the quality of feedback it can provide to the operator. While the dynamic interaction between robot and environment can often be sensed or modeled, the…
Age-related mobility decline is frequently accompanied by a redistribution of joint kinetics, where older adults compensate for reduced ankle function by increasing demand on the hip. Paradoxically, this compensatory shift typically…
Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…
This paper presents a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. The planner includes a task level layer and a motion level layer. We formulate…
Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…
Human teams are able to easily perform collaborative manipulation tasks. However, for a robot and human to simultaneously manipulate an extended object is a difficult task using existing methods from the literature. Our approach in this…
As the world ages, elderly care becomes a big concern of the society. To address the elderly's issues on dementia and fall risk, we have investigated smart cognitive and fall risk assessment with machine learning methodology based on the…
Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one way to alleviate such restraints. It allows contacts to…