19 citations · 27 across the 15 of their papers we have counts for
17 papers
TacClip: a clip-on sensor measures dynamic contact forces without covering the fingerpads
Yuqian Ye, Hao Li, Jingxi Xu +3
TacClip is a minimally encumbering wearable device for recording fingertip deformation caused by contact forces and vibrations. It can be combined with vision- or glove-based hand…
Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback
Litian Liang, Jingxi Xu, Xinda Qi +7
For robots to work safely in household environments, they need to be compliant and react to torque and force feedback during contact. However, the majority of existing data collect…
ChatEMG: Synthetic Data Generation to Control a Robotic Hand Orthosis for Stroke
Jingxi Xu, Runsheng Wang, Siqi Shang +10
Intent inferral on a hand orthosis for stroke patients is challenging due to the difficulty of data collection. Additionally, EMG signals exhibit significant variations across diff…
Meta-Learning for Fast Adaptation in Intent Inferral on a Robotic Hand Orthosis for Stroke
Pedro Leandro La Rotta, Jingxi Xu, Ava Chen +5
We propose MetaEMG, a meta-learning approach for fast adaptation in intent inferral on a robotic hand orthosis for stroke. One key challenge in machine learning for assistive and r…
Volitional Control of the Paretic Hand Post-Stroke Increases Finger Stiffness and Resistance to Robot-Assisted Movement
Ava Chen, Katelyn Lee, Lauren Winterbottom +7
Increased effort during use of the paretic arm and hand can provoke involuntary abnormal synergy patterns and amplify stiffness effects of muscle tone for individuals after stroke,…
Tactile-based Object Retrieval From Granular Media
Jingxi Xu, Yinsen Jia, Dongxiao Yang +5
We introduce GEOTACT, the first robotic system capable of grasping and retrieving objects of potentially unknown shapes buried in a granular environment. While important in many ap…
An Investigation of Multi-feature Extraction and Super-resolution with Fast Microphone Arrays
Eric T. Chang, Runsheng Wang, Peter Ballentine +5
In this work, we use MEMS microphones as vibration sensors to simultaneously classify texture and estimate contact position and velocity. Vibration sensors are an important facet o…
Dynamic Grasping with a Learned Meta-Controller
Yinsen Jia, Jingxi Xu, Dinesh Jayaraman +1
Grasping moving objects is a challenging task that requires multiple submodules such as object pose predictor, arm motion planner, etc. Each submodule operates under its own set of…
TANDEM3D: Active Tactile Exploration for 3D Object Recognition
Jingxi Xu, Han Lin, Shuran Song +1
Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, an…
TANDEM: Learning Joint Exploration and Decision Making with Tactile Sensors
Jingxi Xu, Shuran Song, Matei Ciocarlie
Inspired by the human ability to perform complex manipulation in the complete absence of vision (like retrieving an object from a pocket), the robotic manipulation field is motivat…
Thumb Stabilization and Assistance in a Robotic Hand Orthosis for Post-Stroke Hemiparesis
Ava Chen, Lauren Winterbottom, Sangwoo Park +4
We propose a dual-cable method of stabilizing the thumb in the context of a hand orthosis designed for individuals with upper extremity hemiparesis after stroke. This cable network…
How Are Learned Perception-Based Controllers Impacted by the Limits of Robust Control?
Jingxi Xu, Bruce Lee, Nikolai Matni +1
The difficulty of optimal control problems has classically been characterized in terms of system properties such as minimum eigenvalues of controllability/observability gramians. W…
Dynamic Grasping with Reachability and Motion Awareness
Iretiayo Akinola, Jingxi Xu, Shuran Song +1
Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning n…
Learning a Decentralized Multi-arm Motion Planner
Huy Ha, Jingxi Xu, Shuran Song
We present a closed-loop multi-arm motion planner that is scalable and flexible with team size. Traditional multi-arm robot systems have relied on centralized motion planners, whos…
Adaptive Semi-Supervised Intent Inferral to Control a Powered Hand Orthosis for Stroke
Jingxi Xu, Cassie Meeker, Ava Chen +8
In order to provide therapy in a functional context, controls for wearable robotic orthoses need to be robust and intuitive. We have previously introduced an intuitive, user-driven…
Accelerated Robot Learning via Human Brain Signals
Iretiayo Akinola, Zizhao Wang, Junyao Shi +6
In reinforcement learning (RL), sparse rewards are a natural way to specify the task to be learned. However, most RL algorithms struggle to learn in this setting since the learning…
Learning Your Way Without Map or Compass: Panoramic Target Driven Visual Navigation
David Watkins-Valls, Jingxi Xu, Nicholas Waytowich +1
We present a robot navigation system that uses an imitation learning framework to successfully navigate in complex environments. Our framework takes a pre-built 3D scan of a real e…