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Robot-assisted minimally invasive surgery has shown to improve patient outcomes, as well as reduce complications and recovery time for several clinical applications. While increasingly configurable robotic arms can maximize reach and avoid…
Cloth detection and manipulation is a common task in domestic and industrial settings, yet such tasks remain a challenge for robots due to cloth deformability. Furthermore, in many cloth-related tasks like laundry folding and bed making, it…
This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…
This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constraints such as surface collisions. Traditional robot…
High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning in real-time within unknown, changing environments remains…
When performing tasks like laundry, humans naturally coordinate both hands to manipulate objects and anticipate how their actions will change the state of the clothes. However, achieving such coordination in robotics remains challenging due…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
Most successes in robotic manipulation have been restricted to single-arm robots, which limits the range of solvable tasks to pick-and-place, insertion, and objects rearrangement. In contrast, dual and multi arm robot platforms unlock a…
Textile sensors transform our everyday clothing into a means to track movement and bio-signals in a completely unobtrusive way. One major hindrance to the adoption of "smart" clothing is the difficulty encountered with connections and space…
Compliant and soft hands have gained a lot of attention in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for grasping. However, when it comes to grasping highly flexible…
Garment manipulation using robotic systems is a challenging task due to the diverse shapes and deformable nature of fabric. In this paper, we propose a novel method for robotic garment smoothing and alignment that significantly improves the…
The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…
Embodied interaction has been introduced to human-robot interaction (HRI) as a type of teleoperation, in which users control robot arms with bodily action via handheld controllers or haptic gloves. Embodied teleoperation has made robot…
Physical manipulation of garments is often crucial when performing fabric-related tasks, such as hanging garments. However, due to the deformable nature of fabrics, these operations remain a significant challenge for robots in household,…
This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…
The advancements in embodied AI are increasingly enabling robots to tackle complex real-world tasks, such as household manipulation. However, the deployment of robots in these environments remains constrained by the lack of comprehensive…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
Without finger function, people with C5-7 spinal cord injury (SCI) regularly utilize wrist extension to passively close the fingers and thumb together for grasping. Wearable assistive grasping devices often focus on this familiar…
Multi-task robotic bimanual manipulation is becoming increasingly popular as it enables sophisticated tasks that require diverse dual-arm collaboration patterns. Compared to unimanual manipulation, bimanual tasks pose challenges to…