Related papers: RUKA: Rethinking the Design of Humanoid Hands with…
It is challenging to grasp numerous objects with varying sizes and shapes with a single robot hand. To address this, we propose a new robot hand called the 'F3 hand' inspired by the complex movements of human index finger and thumb. The F3…
We study the problem of functional retargeting: learning dexterous manipulation policies to track object states from human hand-object demonstrations. We focus on long-horizon, bimanual tasks with articulated objects, which is challenging…
We address the challenge of developing a generalizable neural tracking controller for dexterous manipulation from human references. This controller aims to manage a dexterous robot hand to manipulate diverse objects for various purposes…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…
Tendon-driven hand orthoses have advantages over exoskeletons with respect to wearability and safety because of their low-profile design and ability to fit a range of patients without requiring custom joint alignment. However, no existing…
One of the first and foremost non-verbal interactions that humans perform is a handshake. It has an impact on first impressions as touch can convey complex emotions. This makes handshaking an important skill for the repertoire of a social…
This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the…
I present the design, implementation and control of a novel, linkage-based, underactuated hand exoskeleton aimed to assist patients with hand disabilities during grasping tasks for robot assisted physical rehabilitation or robot assisted…
For contact-intensive tasks, the ability to generate policies that produce comprehensive tactile-aware motions is essential. However, existing data collection and skill learning systems for dexterous manipulation often suffer from…
Human fingers achieve exceptional dexterity and adaptability by combining structures with varying stiffness levels, from soft tissues (low) to tendons and cartilage (medium) to bones (high). This paper explores developing a robotic finger…
A robotic hand design suitable for dexterity should be examined using functional tests. To achieve this, we designed a mechanical glove, which is a rigid wearable glove that enables us to develop the corresponding isomorphic robotic hand…
Kinematic retargeting from human hands to robot hands is essential for transferring dexterity from humans to robots in manipulation teleoperation and imitation learning. However, due to mechanical differences between human and robot hands,…
We hand the community HAND, a simple and time-efficient method for teaching robots new manipulation tasks through human hand demonstrations. Instead of relying on task-specific robot demonstrations collected via teleoperation, HAND uses…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world…
A dexterous hand capable of grasping any object is essential for the development of general-purpose embodied intelligent robots. However, due to the high degree of freedom in dexterous hands and the vast diversity of objects, generating…
We present a new approach to robot hand design specifically suited for successfully implementing robot learning methods to accomplish tasks in daily human environments. We introduce BaRiFlex, an innovative gripper design that alleviates the…
Many amputees throughout the world are left with limited options to personally own a prosthetic arm due to the expensive cost, mechanical system complexity, and lack of availability. The three main control methods of prosthetic hands are:…
Teleoperation offers the possibility of imparting robotic systems with sophisticated reasoning skills, intuition, and creativity to perform tasks. However, current teleoperation solutions for high degree-of-actuation (DoA), multi-fingered…