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Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating…
We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose. This is challenging, because it requires reasoning about…
Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…
Many people living with neurological disorders, such as cerebral palsy, stroke, muscular dystrophy or dystonia experience upper limb impairments (muscle spasticity, loss of selective motor control, muscle weakness or tremors) and have…
Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities of impaired users or to enhance the dexterity of industrial…
Touchable projection with structured light range cameras is a prolific medium for large interaction surfaces, affording multiple simultaneous users and simple, cheap setup. However robust touch detection in such projector-depth systems is…
Robotic hands are an important tool for replacing humans in handling toxic or radioactive materials. However, these are usually highly expensive, and in many cases, once they are contaminated, they cannot be re-used. Some solutions cope…
The significance of employing a controller in prosthetic hands cannot be overstated, as it plays a crucial role in enhancing the functionality and usability of these systems. This paper introduces an adaptive neuro-controller specifically…
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…
In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…
Recent studies have focused on facilitating perception and outdoor navigation for people with blindness or some form of vision loss. However, a significant portion of these studies is centered around treatment and vision rehabilitation,…
Advanced neural interfaces are transforming applications ranging from neuroscience research to diagnostic tools (for mental state recognition, tremor and seizure detection) as well as prosthetic devices (for motor and communication…
The problem of grasping objects using a multi-finger hand has received significant attention in recent years. However, it remains challenging to handle a large number of unfamiliar objects in real and cluttered environments. In this work,…
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…
Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a…
Soft robotic hands and grippers are increasingly attracting attention as a robotic end-effector. Compared with rigid counterparts, they are safer for human-robot and environment-robot interactions, easier to control, lower cost and weight,…
The lack of interpretability of existing CNN-based hand detection methods makes it difficult to understand the rationale behind their predictions. In this paper, we propose a novel neural network model, which introduces interpretability…
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…
The malformed hands in the AI-generated images seriously affect the authenticity of the images. To refine malformed hands, existing depth-based approaches use a hand depth estimator to guide the refinement of malformed hands. Due to the…
Recent advances in upper limb prostheses have led to significant improvements in the number of movements provided by the robotic limb. However, the method for controlling multiple degrees of freedom via user-generated signals remains…