3 papers
cs.RO2025
HydroelasticTouch: Simulation of Tactile Sensors with Hydroelastic Contact Surfaces
David P. Leins, Florian Patzelt, Robert Haschke
Thanks to recent advancements in the development of inexpensive, high-resolution tactile sensors, touch sensing has become popular in contact-rich robotic manipulation tasks. With…
cs.RO2024
Precision-Focused Reinforcement Learning Model for Robotic Object Pushing
Lara Bergmann, David Leins, Robert Haschke +1
Non-prehensile manipulation, such as pushing objects to a desired target position, is an important skill for robots to assist humans in everyday situations. However, the task is ch…
cs.HC2024
Adaptive Kinematic Modeling for Improved Hand Posture Estimates Using a Haptic Glove
Kathrin Krieger, David P. Leins, Thorben Markmann +4
Most commercially available haptic gloves compromise the accuracy of hand-posture measurements in favor of a simpler design with fewer sensors. While inaccurate posture data is oft…