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A central challenge in building robotic prostheses is the creation of a sensor-based system able to read physiological signals from the lower limb and instruct a robotic hand to perform various tasks. Existing systems typically perform…
Robotic manipulation of tethered tools is widely seen in robotic work cells. They may cause excess strain on the tool's cable or undesired entanglements with the robot's arms. This paper presents a manipulation planner with cable…
Nonprehensile manipulation, such as pushing and pulling, enables robots to move, align, or reposition objects that may be difficult to grasp due to their geometry, size, or relationship to the robot or the environment. Much of the existing…
Assistive robotic manipulators are becoming increasingly important for people with disabilities. Teleoperating the manipulator in mundane tasks is part of their daily lives. Instead of steering the robot through all actions, applying…
Limb loss affects millions globally, impairing physical function and reducing quality of life. Most traditional surface electromyographic (sEMG) and semi-autonomous methods require users to generate myoelectric signals for each control,…
Current upper limb prostheses aim to enhance user independence in daily activities by incorporating basic motor functions. However, they fall short of replicating the natural movement and interaction capabilities of the human arm. In…
In previous work, the authors proposed a data-driven optimisation algorithm for the personalisation of human-prosthetic interfaces, demonstrating the possibility of adapting prosthesis behaviour to its user while the user performs tasks…
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not…
Commercially accessible dexterous robot hands are increasingly prevalent, but many remain difficult to use as scientific instruments. For example, the Inspire RH56DFX hand exposes only uncalibrated proprioceptive information and shows…
Hand impairment following neurological disorders substantially limits independence in activities of daily living, motivating the development of effective assistive and rehabilitation strategies. Soft robotic gloves have attracted growing…
Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic…
Traditional robotic hand metrics focus on static properties such as workspace, manipulability, and grasp stability. However, these metrics do not directly measure dexterity under the standard definition in robotic manipulation: the ability…
State-of-the-art motorized hand prostheses are endowed with actuators able to provide independent and proportional control of as many as six degrees of freedom (DOFs). The control signals are derived from residual electromyographic (EMG)…
Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation,…
Sonomyography (SMG) is a novel human-machine interface that controls upper-limb prostheses by monitoring forearm muscle activity using ultrasonic imaging. SMG has been investigated for controlling upper-limb prostheses during the last two…
Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asymmetric friction limits that…
The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy…
Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks which require the robot to interact with an unstructured and/or unknown…
Dexterous multi-fingered hands can provide robots with the ability to flexibly perform a wide range of manipulation skills. However, many of the more complex behaviors are also notoriously difficult to control: Performing in-hand object…
Objects with large base areas become ungraspable when they exceed the end-effector's maximum aperture. Existing approaches address this limitation through extrinsic dexterity, which exploits environmental features for non-prehensile…