相关论文: Cutaneous Feedback Interface for Teleoperated In-H…
In robotic bimanual teleoperation, multimodal sensory feedback plays a crucial role, providing operators with a more immersive operating experience, reducing cognitive burden, and improving operating efficiency. In this study, we develop an…
[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This…
Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…
Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively…
Bilateral teleoperation provides humanoid robots with human planning intelligence while enabling the human to feel what the robot feels. It has the potential to transform physically capable humanoid robots into dynamically intelligent ones.…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
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…
In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is…
Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery. Applying such a simple tool in a diverse repertoire of…
Complex robotic tasks require human collaboration to benefit from their high dexterity. Frequent human-robot interaction is mentally demanding and time-consuming. Intuitive and easy-to-use robot control interfaces reduce the negative…
Replicating human--level dexterity remains a fundamental robotics challenge, requiring integrated solutions from mechatronic design to the control of high degree--of--freedom (DoF) robotic hands. While imitation learning shows promise in…
This paper presents a feedback-control framework for in-hand manipulation (IHM) with dexterous soft hands that enables the acquisition of manipulation skills in the real-world within minutes. We choose the deformation state of the soft hand…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…
Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…
Previous work has shown that the addition of haptic feedback to the hands can improve awareness of tool-tissue interactions and enhance performance of teleoperated tasks in robot-assisted minimally invasive surgery. However, hand-based…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
Dexterous robotic manipulation remains a challenging domain due to its strict demands for precision and robustness on both hardware and software. While dexterous robotic hands have demonstrated remarkable capabilities in complex tasks,…
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…
Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods.…