2 papers
cs.RO2024
Fingertip Contact Force Direction Control using Tactile Feedback
Dounia Kitouni, Elie Chelly, Mahdi Khoramshahi +1
The human hand is an immensely sophisticated tool adept at manipulating and grasping objects of unknown characteristics. Its capability lies in perceiving interaction dynamics thro…
cs.RO2023
A model-free approach to fingertip slip and disturbance detection for grasp stability inference
Dounia Kitouni, Mahdi Khoramshahi, Veronique Perdereau
Robotic capacities in object manipulation are incomparable to those of humans. Besides years of learning, humans rely heavily on the richness of information from physical interacti…