相关论文: RBO Hand 3 -- A Platform for Soft Dexterous Manipu…
This paper proposes a vision-based framework for a 7-degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous…
A significant barrier preventing model-based methods from achieving real-time and versatile dexterous robotic manipulation is the inherent complexity of multi-contact dynamics. Traditionally formulated as complementarity models,…
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…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
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…
Deformable linear object (DLO) manipulation is needed in many fields. Previous research on deformable linear object (DLO) manipulation has primarily involved parallel jaw gripper manipulation with fixed grasping positions. However, the…
Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful missions often depend on the ability of these robots to grasp…
Human dexterity is an invaluable capability for precise manipulation of objects in complex tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects is critical for their use in the ever changing human…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…
The topic of this final qualification work was chosen due to the importance of developing robotic systems designed to assist people with disabilities. Advances in robotics and automation technologies have opened up new prospects for…
In contact-rich tasks, like dexterous manipulation, the hybrid nature of making and breaking contact creates challenges for model representation and control. For example, choosing and sequencing contact locations for in-hand manipulation,…
Dexterous manipulation is a critical aspect of human capability, enabling interaction with a wide variety of objects. Recent advancements in learning from human demonstrations and teleoperation have enabled progress for robots in such…
Human hands play a central role in interacting, motivating increasing research in dexterous robotic manipulation. Data-driven embodied AI algorithms demand precise, large-scale, human-like manipulation sequences, which are challenging to…
In this work, we present a reconfigurable data glove design to capture different modes of human hand-object interactions, which are critical in training embodied artificial intelligence (AI) agents for fine manipulation tasks. To achieve…
Soft actuators have drawn significant attention from researchers with an inherently compliant design to address the safety issues in physical human-robot interactions. However, they are also vulnerable and pose new challenges in the design,…
This study addresses the absence of an identification framework to quantify a comprehensive dynamic model of human and anthropomorphic tendon-driven fingers, which is necessary to investigate the physiological properties of human fingers…
This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions that render…
Recent research has seen notable progress in the development of linkage-based artificial hands. While previous designs have focused on adaptive grasping, dexterity and biomimetic artificial skin, only a few systems have proposed a…
Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…