相关论文: Adaptive Kinematic Modeling for Improved Hand Post…

The creation of unique control methods for a hand prosthesis is still a problem that has to be addressed. The best choice of a human-machine interface (HMI) that should be used to enable natural control is still a challenge. Surface…

Articulated hand pose tracking is an under-explored problem that carries the potential for use in an extensive number of applications, especially in the medical domain. With a robust and accurate tracking system on surgical videos, the…

Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

Predicting user intentions in virtual reality (VR) is crucial for creating immersive experiences, particularly in tasks involving complex grasping motions where accurate haptic feedback is essential. In this work, we leverage time-series…

Imitation learning has emerged as a powerful paradigm for robot skills learning. However, traditional data collection systems for dexterous manipulation face challenges, including a lack of balance between acquisition efficiency,…

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,…

Hand-held haptic devices can allow for greater freedom of motion and larger workspaces than traditional grounded haptic devices. They can also provide more compelling haptic sensations to the users' fingertips than many wearable haptic…

We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands. Unlike traditional methods that require millions of grasp labels for each…

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…

The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy…

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…

The recent introduction of depth cameras like Leap Motion Controller allows researchers to exploit the depth information to recognize hand gesture more robustly. This paper proposes a novel hand gesture recognition system with Leap Motion…

We present Adaptic, a novel "hybrid" active/passive haptic device that can change shape to act as a proxy for a range of virtual objects in VR. We use Adaptic with haptic retargeting to redirect the user's hand to provide haptic feedback…

Humans naturally perform bimanual skills to handle large and heavy objects. To enhance robots' object manipulation capabilities, generating effective bimanual grasp poses is essential. Nevertheless, bimanual grasp synthesis for dexterous…

Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…

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…

Dexterous robotic hands often struggle to generalize effectively in complex environments due to the limitations of models trained on low-diversity data. However, the real world presents an inherently unbounded range of scenarios, making it…

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It employs a low-cost measuring system…

The anthropomorphism of grasping process significantly benefits the experience and grasping efficiency of prosthetic hand wearers. Currently, prosthetic hands controlled by signals such as brain-computer interfaces (BCI) and…