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In the design stage of robotic hands, it is not straightforward to quantitatively evaluate the effect of phalanx length ratios on dexterity without defining specific objects or manipulation tasks. Therefore, this study presents a framework…
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…
Large-scale egocentric video datasets capture diverse human activities across a wide range of scenarios, offering rich and detailed insights into how humans interact with objects, especially those that require fine-grained dexterous…
Manipulating deformable linear objects (DLOs) is challenging due to their complex dynamics and the need for safe interaction in contact-rich environments. Most existing models focus on shape prediction alone and fail to account for contact…
This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions that render…
This paper addresses the scarcity of affordable, fully-actuated five-fingered hands for dexterous teleoperation, which is crucial for collecting large-scale real-robot data within the "Learning from Demonstrations" paradigm. We introduce…
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…
This paper presents the SoftHand Model-W: a 3D-printed, underactuated, anthropomorphic robot hand based on the Pisa/IIT SoftHand, with an integrated antagonistic tendon mechanism and 2 degree-of-freedom tendon-driven wrist. These four…
In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is…
Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a small step towards this grand goal, we demonstrate how to design and learn a simple adaptive controller to achieve in-hand object rotation using only…
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…
Dexterous robotic manipulation requires comprehensive perception across all phases of interaction: pre-contact, contact initiation, and post-contact. Such continuous feedback allows a robot to adapt its actions throughout interaction.…
This paper presents the SPARK finger, an innovative passive adaptive robotic finger capable of executing both parallel pinching and scooping grasps. The SPARK finger incorporates a multi-link mechanism with Kempe linkages to achieve a…
The development of robotic grippers and hands for automation aims to emulate human dexterity without sacrificing the efficiency of industrial grippers. This study introduces Rotograb, a tendon-actuated robotic hand featuring a novel…
Biomimetic, dexterous robotic hands have the potential to replicate much of the tasks that a human can do, and to achieve status as a general manipulation platform. Recent advances in reinforcement learning (RL) frameworks have achieved…
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…
This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions --linear sliding, pivoting, and rolling-- that…
Glovebox decommissioning tasks usually require manipulating relatively heavy objects in a highly constrained environment. Thus, contact with the surroundings becomes inevitable. In order to allow the robot to interact with the environment…