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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…
We present the design, implementation, and experimental evaluation of a low-cost, customizable, easy-to-use transradial hand prosthesis capable of adapting its compliance. Variable stiffness actuation (VSA) of the prosthesis is based on…
Fully wearable hand rehabilitation and assistive devices could extend training and improve quality of life for patients affected by hand impairments. However, such devices must deliver meaningful manipulation capabilities in a small and…
In-hand object reorientation is necessary for performing many dexterous manipulation tasks, such as tool use in less structured environments that remain beyond the reach of current robots. Prior works built reorientation systems assuming…
Recent studies have made significant progress in addressing dexterous manipulation problems, particularly in in-hand object reorientation. However, there are few existing works that explore the potential utilization of developed dexterous…
This paper introduces GEX, an innovative low-cost dexterous manipulation system that combines the GX11 tri-finger anthropomorphic hand (11 DoF) with the EX12 tri-finger exoskeleton glove (12 DoF), forming a closed-loop teleoperation…
In previous research, various types of aerial robots equipped with perching mechanisms have been developed to extend operational time. However, most existing perching methods adopt either an upward or downward approach, making it difficult…
Dexterous multi-fingered hands can accomplish fine manipulation behaviors that are infeasible with simple robotic grippers. However, sophisticated multi-fingered hands are often expensive and fragile. Low-cost soft hands offer an appealing…
While parallel grippers and multi-fingered robotic hands are well developed and commonly used in structured settings, it remains a challenge in robotics to design a highly articulated robotic hand that can be comparable to human hands to…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…
Due to Motor Neurone Diseases, a large population remains disabled worldwide, negatively impacting their independence and quality of life. This typically involves a weakness in the hand and forearm muscles, making it difficult to perform…
For lower arm amputees, prosthetic hands promise to restore most of physical interaction capabilities. This requires to accurately predict hand gestures capable of grabbing varying objects and execute them timely as intended by the user.…
Dexterous manipulation has received considerable attention in recent research. Predominantly, existing studies have concentrated on reinforcement learning methods to address the substantial degrees of freedom in hand movements. Nonetheless,…
Most control techniques for prosthetic grasping focus on dexterous fingers control, but overlook the wrist motion. This forces the user to perform compensatory movements with the elbow, shoulder and hip to adapt the wrist for grasping. We…
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…
In robotic hand research, minimizing the number of actuators while maintaining human-hand-consistent dimensions and degrees of freedom constitutes a fundamental challenge. Drawing bio-inspiration from human hand kinematic configurations and…
Development of dexterous manipulation hardware has primarily focused on hands and grippers. However, these end-effectors are often paired with bulky and highly stiff wrists that limit performance in human environments. More designs have…
Achieving human-level dexterity in robotic hands remains a fundamental challenge for enabling versatile manipulation across diverse applications. This extended abstract presents BiDexHand, a cable-driven biomimetic robotic hand that…
Upper-limb amputees face tremendous difficulty in operating dexterous powered prostheses. Previous work has shown that aspects of prosthetic hand, wrist, or elbow control can be improved through "intelligent" control, by combining…
Despite increasing dataset scale and model capacity, robot manipulation policies still struggle to generalize beyond their training distributions. As a result, deploying state-of-the-art policies in new environments, tasks, or robot…