相关论文: A Soft Humanoid Hand with In-Finger Visual Percept…

Soft robots enable safe, adaptive interaction with complex environments but remain difficult to sense and control due to their highly deformable structures. Architected soft materials such as helicoid lattices offer tunable stiffness and…

Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…

Open Arms is a novel open-source platform of realistic human-like robotic hands and arms hardware with 28 Degree-of-Freedom (DoF), designed to extend the capabilities and accessibility of humanoid robotic grasping and manipulation. The Open…

Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…

LinkGlide-S is a novel wearable hand-worn tactile display to deliver multi-contact and multi-modal stimuli at the user's palm.} The array of inverted five-bar linkages generates three independent contact points to cover the whole palm area.…

Soft sensors that can discriminate shear and normal force could help provide machines the fine control desirable for safe and effective physical interactions with people. A capacitive sensor is made for this purpose, composed of patterned…

Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…

Hand gesture is one of the most important means of touchless communication between human and machines. There is a great interest for commanding electronic equipment in surgery rooms by hand gesture for reducing the time of surgery and the…

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…

This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…

Human can not only support their body during standing or walking, but also support them by hand, so that they can dangle a bar and others. But most humanoid robots support their body only in the foot and they use their hand just to…

This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device's design utilizes thin…

Robotic fingers made of soft material and compliant structures usually lead to superior adaptation when interacting with the unstructured physical environment. In this paper, we present an embedded sensing solution using optical fibers for…

Fingernail imaging has been proven to be effective in prior works [1],[2] for estimating the 3D fingertip forces with a maximum RMS estimation error of 7%. In the current research, fingernail imaging is used to perform unconstrained grasp…

Proprioception, a key sensory modality in haptic perception, plays a vital role in perceiving the 3D structure of objects by providing feedback on the position and movement of body parts. The restoration of proprioceptive sensation is…

Soft robots, made from compliant materials, exhibit complex dynamics due to their flexibility and high degrees of freedom. Controlling soft robots presents significant challenges, particularly underactuation, where the number of inputs is…

Modeling and simulating soft robot hands can aid in design iteration for complex and high degree-of-freedom (DoF) morphologies. This can be further supplemented by iterating on the design based on its performance in real world manipulation…

This paper introduces the i-HY Hand, an underactuated hand driven by 5 actuators that is capable of performing a wide range of grasping and in-hand manipulation tasks. This hand was designed to address the need for a durable, inexpensive,…

In this work, a real-time hand gesture recognition system-based human-computer interface (HCI) is presented. The system consists of six stages: (1) hand detection, (2) gesture segmentation, (3) use of five pre-trained convolutional neural…

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…