相关论文: At First Contact: Stiffness Estimation Using Vibra…

Robotic hands with soft surfaces can perform stable grasping, but the high friction of the soft surfaces makes it difficult to release objects, or to perform operations that require sliding. To solve this issue, we previously developed a…

We present an adaptive grasping method that finds stable grasps on novel objects. The main contributions of this paper is in the computation of the probability of success of grasps in the vicinity of an already applied grasp. Our method…

Accurate pre-contact grasp force selection is critical for safe and reliable robotic manipulation. Adaptive controllers regulate force after contact but still require a reasonable initial estimate. Starting a grasp with too little force…

Sensing contact pressure applied by a gripper can benefit autonomous and teleoperated robotic manipulation, but adding tactile sensors to a gripper's surface can be difficult or impractical. If a gripper visibly deforms, contact pressure…

Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…

We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…

The study of dexterous manipulation has provided important insights in humans sensorimotor control as well as inspiration for manipulation strategies in robotic hands. Previous work focused on experimental environment with restrictions.…

Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during interactions. Providing accurate estimation of pose and…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

This paper proposes a new variable stiffness soft gripper that enables high-performance grasping tasks in industrial applications. The design of the proposed monolithic soft gripper includes a middle bellow and two side bellows (i.e.,…

Creating haptic interfaces capable of rendering the rich sensation needed for dexterous manipulation is crucial for the advancement of human-in-the-loop telerobotic systems (HiLTS). One limiting factor has been the absence of detailed…

The replication of object stiffness is essential for enhancing haptic feedback in virtual environments. However, existing research has overlooked how stylus stiffness influences the perception of virtual object stiffness during…

In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures the tactile imprints of the contact object and their changes…

Soft tissue elasticity is directly related to different stages of diseases and can be used for tissue identification during minimally invasive procedures. By palpating a tissue with a robot in a minimally invasive fashion force-displacement…

Soft robotic fingers can safely grasp fragile or variable form objects, but their force capacity is limited, especially with less contact area: precision grasps and when objects are smaller or not spherical. Current research is improving…

Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…

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…

As computing devices become increasingly integrated into daily life, there is a growing need for intuitive, always-available interaction methods, even when users' hands are occupied. In this paper, we introduce Grab-n-Go, the first wearable…

Although robots with flexible bodies are superior in terms of the contact and adaptability, it is difficult to control them precisely. On the other hand, human beings make use of the surrounding environments to stabilize their bodies and…

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…