相关论文: Fast 3D Modeling of Anthropomorphic Robotic Hands …

Dexterous in-hand manipulation remains a foundational challenge in robotics, with progress often constrained by the prevailing paradigm of imitating the human hand. This anthropomorphic approach creates two critical barriers: 1) it limits…

Despite decades of research and development, myoelectric prosthetic hands lack functionality and are often rejected by users. This lack in functionality can be partially attributed to the widely accepted anthropomorphic design ideology in…

The scarcity of organs for transplant has led to large waiting lists of very sick patients. In drug development, the time required for human trials greatly increases the time to market. Drug companies are searching for alternative…

Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…

3D generative AI enables rapid and accessible creation of 3D models from text or image inputs. However, translating these outputs into physical objects remains a challenge due to the constraints in the physical world. Recent studies have…

Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…

It is challenging to grasp numerous objects with varying sizes and shapes with a single robot hand. To address this, we propose a new robot hand called the 'F3 hand' inspired by the complex movements of human index finger and thumb. The F3…

The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…

The rapid increase in the development of humanoid robots and customized manufacturing solutions has brought dexterous manipulation to the forefront of modern robotics. Over the past decade, several expensive dexterous hands have come to…

Upper limb and hand functionality is critical to many activities of daily living and the amputation of one can lead to significant functionality loss for individuals. From this perspective, advanced prosthetic hands of the future are…

Robots are notoriously difficult to design because of complex interdependencies between their physical structure, sensory and motor layouts, and behavior. Despite this, almost every detail of every robot built to date has been manually…

Deformable object manipulation remains a key challenge in developing autonomous robotic systems that can be successfully deployed in real-world scenarios. In this work, we explore the challenges of deformable object manipulation through the…

We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled…

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…

Mesh deformation is a fundamental tool in 3D content manipulation. Despite extensive prior research, existing approaches often suffer from low output quality, require significant manual tuning, or depend on data-intensive training. To…

Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…

In this work, we aim to learn dexterous manipulation of deformable objects using multi-fingered hands. Reinforcement learning approaches for dexterous rigid object manipulation would struggle in this setting due to the complexity of physics…

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…

To touch and be touched are vital to human development, well being, and relationships. However, to those who have lost their arms and hands due to accident or war, touching becomes a serious concern that often leads to psychosocial issues…

Handovers are basic yet sophisticated motor tasks performed seamlessly by humans. They are among the most common activities in our daily lives and social environments. This makes mastering the art of handovers critical for a social and…