20 citations · 21 across the 8 of their papers we have counts for
8 papers
Educational SoftHand-A: Building an Anthropomorphic Hand with Soft Synergies using LEGO MINDSTORMS
Jared K. Lepora, Haoran Li, Efi Psomopoulou +1
This paper introduces an anthropomorphic robot hand built entirely using LEGO MINDSTORMS: the Educational SoftHand-A, a tendon-driven, highly-underactuated robot hand based on the…
Classification of Vision-Based Tactile Sensors: A Review
Haoran Li, Yijiong Lin, Chenghua Lu +3
Vision-based tactile sensors (VBTS) have gained widespread application in robotic hands, grippers and prosthetics due to their high spatial resolution, low manufacturing costs, and…
StereoTacTip: Vision-based Tactile Sensing with Biomimetic Skin-Marker Arrangements
Chenghua Lu, Kailuan Tang, Xueming Hui +3
Vision-Based Tactile Sensors (VBTSs) stand out for their superior performance due to their high-information content output. Recently, marker-based VBTSs have been shown to give acc…
Shear-based Grasp Control for Multi-fingered Underactuated Tactile Robotic Hands
Christopher J. Ford, Haoran Li, Manuel G. Catalano +3
This paper presents a shear-based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand equipped with soft biomimetic tactile senso…
Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism
Haoran Li, Christopher J. Ford, Chenghua Lu +5
A challenging and important problem for tendon-driven multi-fingered robotic hands is to ensure grasping adaptivity while minimizing the number of actuators needed to provide human…
TacShade A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction
Zhenyu Lu, Jialong Yang, Haoran Li +4
In this paper, we present the TacShade a newly designed 3D-printed soft optical tactile sensor. The sensor is developed for shape reconstruction under the inspiration of sketch dra…
DexiTac: Soft Dexterous Tactile Gripping
Chenghua Lu, Kailuan Tang, Max Yang +2
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even fo…
AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch
Max Yang, Chenghua Lu, Alex Church +6
Human hands are capable of in-hand manipulation in the presence of different hand motions. For a robot hand, harnessing rich tactile information to achieve this level of dexterity…