Related papers: HapMorph: A Pneumatic Framework for Multi-Dimensio…
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…
Haptic feedback is important to make robots more dexterous and effective in unstructured environments. High-resolution haptic sensors are still not widely available, and their application is often bound by the resolution-robustness dilemma.…
Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force models, which limits their applicability…
Soft Robotics presents a rich canvas for free-form and continuum devices capable of exerting forces in any direction and transforming between arbitrary configurations. However, there is no current way to tractably and directly exploit the…
Claims that humanoid robots achieve ``human-level'' actuation are common but rarely quantified. Peak torque or speed specifications tell us little about whether a joint can deliver the right combination of torque, power, and endurance at…
This article takes a step to provide humanoid robots with adaptive morphology abilities. We present a systematic approach for enabling robotic covers to morph their shape, with an overall size fitting the anthropometric dimensions of a…
Kirigami metamaterial sheets and tubes, owing to their capacity to undergo large elastic deformations while developing three-dimensional surface textures, have enormous potential as skins for soft robots. Here, we propose to use kirigami…
Ensuring symmetric stiffness in impedance-controlled robots is crucial for physically meaningful and stable interaction in contact-rich manipulation. Conventional approaches neglect the change of basis vectors in curved spaces, leading to…
Force control is essential for medical robots when touching and contacting the patient's body. To increase the stability and efficiency in force control, an Adaption Module could be used to adjust the parameters for different contact…
Grip surfaces with tunable friction can actively modify contact conditions, enabling transitions between higher- and lower-friction states for grasp adjustment. Friction can be increased to grip securely and then decreased to gently release…
Visual actionable affordance has emerged as a transformative approach in robotics, focusing on perceiving interaction areas prior to manipulation. Traditional methods rely on pixel sampling to identify successful interaction samples or…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
We propose a new bottom-up method for multi-person 2D human pose estimation that is particularly well suited for urban mobility such as self-driving cars and delivery robots. The new method, PifPaf, uses a Part Intensity Field (PIF) to…
Due to the effective multi-scale feature fusion capabilities of the Path Aggregation FPN (PAFPN), it has become a widely adopted component in YOLO-based detectors. However, PAFPN struggles to integrate high-level semantic cues with…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios…
Current anthropomorphic robotic hands mainly focus on improving their dexterity by devising new mechanical structures and actuation systems. However, most of them rely on a single structure/system (e.g., bone-only) and ignore the fact that…
A Computer-Aided Design (CAD) model encodes an object in two coupled forms: a parametric construction sequence and its resulting visible geometric shape. During iterative design, adjustments to the geometric shape inevitably require…
4D modeling of human-object interactions is critical for numerous applications. However, efficient volumetric capture and rendering of complex interaction scenarios, especially from sparse inputs, remain challenging. In this paper, we…
In this study, an adaptive object deformability-agnostic human-robot collaborative transportation framework is presented. The proposed framework enables to combine the haptic information transferred through the object with the human…