Related papers: MFE: A Multimodal Hand Exoskeleton with Interactiv…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
The ability to estimate 3D human body pose and movement, also known as human pose estimation (HPE), enables many applications for home-based health monitoring, such as remote rehabilitation training. Several possible solutions have emerged…
Tendon-driven underactuated hands excel in adaptive grasping but often suffer from kinematic unpredictability and highly non-linear force transmission. This ambiguity limits their ability to perform precise free-motion shaping and deliver…
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…
Scaling dexterous robot learning is constrained by the difficulty of collecting high-quality demonstrations across diverse operators. Existing wearable interfaces often trade comfort and cross-user adaptability for kinematic fidelity, while…
Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridging this gap necessitates prioritizing reliable contact…
Model Predictive Control (MPC) schemes have proven their efficiency in controlling high degree-of-freedom (DoF) complex robotic systems. However, they come at a high computational cost and an update rate of about tens of hertz. This…
This study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…
We present a technique for providing remote tactile feedback to the thumb and index finger via a wristband device. This enables haptics for touch and pinch interactions in mixed reality (MR) while keeping the hand entirely free. We achieve…
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.…
Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these…
Recent advancements in teleoperation systems have enabled high-quality data collection for robotic manipulators, showing impressive results in learning manipulation at scale. This progress suggests that extending these capabilities to…
This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often suffer from limited portability,…
Haptic feedback is essential for human-machine interaction, as it bridges physical and digital experiences and enables immersive engagement with virtual environments. However, current haptic devices are frequently tethered, lack portability…
High-fidelity teleoperation of dexterous robotic hands is essential for bringing robots into unstructured domestic environments. However, existing teleoperation systems often face a trade-off between performance and portability:…
Egocentric human pose estimation (HPE) using wearable sensors is essential for VR/AR applications. Most methods rely solely on either egocentric-view images or sparse Inertial Measurement Unit (IMU) signals, leading to inaccuracies due to…
This paper presents a wearable electrotactile feedback system to enhance contact information for mid-air interactions with virtual objects. In particular, we propose the use of electrotactile feedback to render the interpenetration distance…
Mobile manipulators broaden the operational envelope for robot manipulation. However, the whole-body teleoperation of such robots remains a problem: operators must coordinate a wheeled base and two arms while reasoning about obstacles and…
The growing adoption of extended reality (XR) has increased demand for wearable technologies that provide naturalistic tactile sensations while allowing users to interact freely with their environments using bare fingers. However, most…
To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, such spatial awareness involves estimating the object's pose…