5 papers · 1 filter
ArrayTac: A Closed-loop Piezoelectric Tactile Platform for Continuously Tunable Rendering of Shape, Stiffness, and Friction
Tianhai Liang, Shiyi Guo, Baiye Cheng +3
Human touch depends on the integration of shape, stiffness, and friction, yet existing tactile displays cannot render these cues together as continuously tunable, high-fidelity sig…
DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation
Mengda Xu, Han Zhang, Yifan Hou +4
We present DexUMI - a data collection and policy learning framework that uses the human hand as the natural interface to transfer dexterous manipulation skills to various robot han…
DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove
Han Zhang, Songbo Hu, Zhecheng Yuan +1
Dexterous hand teleoperation plays a pivotal role in enabling robots to achieve human-level manipulation dexterity. However, current teleoperation systems often rely on expensive e…
9DTact: A Compact Vision-Based Tactile Sensor for Accurate 3D Shape Reconstruction and Generalizable 6D Force Estimation
Changyi Lin, Han Zhang, Jikai Xu +2
The advancements in vision-based tactile sensors have boosted the aptitude of robots to perform contact-rich manipulation, particularly when precise positioning and contact state o…
ArrayBot: Reinforcement Learning for Generalizable Distributed Manipulation through Touch
Zhengrong Xue, Han Zhang, Jingwen Cheng +5
We present ArrayBot, a distributed manipulation system consisting of a array of vertically sliding pillars integrated with tactile sensors, which can simultaneously…