相关论文: Automatic Detection of Myocontrol Failures Based u…

The instability of myoelectric signals over time complicates their use to control highly articulated prostheses. To address this problem, studies have tried to combine surface electromyography with modalities that are less affected by the…

The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

Control of systems operating in unexplored environments is challenging due to lack of complete model knowledge. Additionally, under measurement noises, data collected from onboard sensors are of limited accuracy. This paper considers…

Despite significant advancements in robotic manipulation, achieving consistent and stable grasping remains a fundamental challenge, often limiting the successful execution of complex tasks. Our analysis reveals that even state-of-the-art…

Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…

We propose a deep visuo-tactile model for realtime estimation of the liquid inside a deformable container in a proprioceptive way.We fuse two sensory modalities, i.e., the raw visual inputs from the RGB camera and the tactile cues from our…

Designing robotic assistance devices for manipulation tasks is challenging. This work is concerned with improving accuracy and usability of semi-autonomous robots, such as human operated manipulators or exoskeletons. The key insight is to…

Current approaches to grasp planning for robotics demonstrate high success rates, but degrade with noisy sensors and other factors. Previous works have proposed tactile-based grasp stability classifiers to detect failures, but these…

Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…

Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…

Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…

Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…

In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…

Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…

With the accelerated development of robot technologies, optimal control becomes one of the central themes of research. In traditional approaches, the controller, by its internal functionality, finds appropriate actions on the basis of the…

While myoelectric control has recently become a focus of increased research as a possible flexible hands-free input modality, current control approaches are prone to inadvertent false activations in real-world conditions. In this work, a…

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,…

As robotic technology rapidly develops, robots are being employed in an increasing number of fields. However, due to the complexity of deployment environments or the prevalence of ambiguous-condition objects, the practical application of…

Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…