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Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. This is achieved by coupling the motion of the prosthesis to the human command, such as the residual limb…
Motion planning in multi-contact scenarios has recently gathered interest within the legged robotics community, however actuator force/torque limits are rarely considered. We believe that these limits gain paramount importance when the…
Wearable devices like exoskeletons are designed to reduce excessive loads on specific joints of the body. Specifically, single- or two-degrees-of-freedom (DOF) upper-body industrial exoskeletons typically focus on compensating for the…
Teaching dexterity to multi-fingered robots has been a longstanding challenge in robotics. Most prominent work in this area focuses on learning controllers or policies that either operate on visual observations or state estimates derived…
Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse use cases remains challenging. Although co-design of…
Ergonomics is a key factor to consider when designing control architectures for effective physical collaborations between humans and humanoid robots. In contrast, ergonomic indexes are often overlooked in the robot design phase, which leads…
Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…
A human-shaped robotic hand offers unparalleled versatility and fine motor skills, enabling it to perform a broad spectrum of tasks with precision, power and robustness. Across the paleontological record and animal kingdom we see a wide…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
One of the first tasks we learn as children is to grasp objects based on our tactile perception. Incorporating such skill in robots will enable multiple applications, such as increasing flexibility in industrial processes or providing…
In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design…
The emergence of robot-based body augmentation promises exciting innovations that will inform robotics, human-machine interaction, and wearable electronics. Even though augmentative devices like extra robotic arms and fingers in many ways…
The paper focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elastostatic parameters and calibration accuracy. To reduce impact of the…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interactions with…
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…
Task-oriented grasping is a crucial yet challenging task in robotic manipulation. Despite the recent progress, few existing methods address task-oriented grasping with dexterous hands. Dexterous hands provide better precision and…
The problem of grasping objects using a multi-finger hand has received significant attention in recent years. However, it remains challenging to handle a large number of unfamiliar objects in real and cluttered environments. In this work,…
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…
A robot's ability to complete a task is heavily dependent on its physical design. However, identifying an optimal physical design and its corresponding control policy is inherently challenging. The freedom to choose the number of links,…