4 papers
A Bilateral Teleoperation Framework for Dexterous Manipulation
Stefano Dalla Gasperina, Dong Ho Kang, Haiyun Zhang +10
Dexterous teleoperation requires precise arm-hand coordination, low-latency feedback, and robust interaction in real-world contact-rich environments. This paper presents a modular…
Human-Exoskeleton Kinematic Calibration to Improve Hand Tracking for Dexterous Teleoperation
Haiyun Zhang, Stefano Dalla Gasperina, Saad N. Yousaf +3
Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specifi…
Novel bio-inspired soft actuators for upper-limb exoskeletons: design, fabrication and feasibility study
Haiyun Zhang, Gabrielle Naquila, Jung Hyun Bae +3
Soft robots have been increasingly utilized as sophisticated tools in physical rehabilitation, particularly for assisting patients with neuromotor impairments. However, many soft r…
A novel parameter estimation method for pneumatic soft hand control applying logarithmic decrement for pseudo rigid body modeling
Haiyun Zhang, Kelvin HoLam Heung, Gabrielle J. Naquila +2
The rapid advancement in physical human-robot interaction (HRI) has accelerated the development of soft robot designs and controllers. Controlling soft robots, especially soft hand…