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…
ARISTO Hand: Sensing-Driven Distal Hyperextension for Fine-Grained Manipulation
Aaron Kim, Dong Ho Kang, Mark Helwig +4
Manipulating thin objects requires precise contact geometry and reliable force perception, yet many anthropomorphic robotic hands lack the mechanical and sensing capabilities neede…
PLATO Hand: Shaping Contact Behavior with Fingernails for Precise Manipulation
Dong Ho Kang, Aaron Kim, Mingyo Seo +3
We present the PLATO Hand, a dexterous robotic hand with a hybrid fingertip that combines a rigid fingernail, embedded distal phalanx, and compliant pulp to shape contact behavior…
Strategic Jenga Play via Graph Based Dynamics Modeling
Kavya Puthuveetil, Xinyi Zhang, Kazuto Yokoyama +1
Controlled manipulation of multiple objects whose dynamics are closely linked is a challenging problem within contact-rich manipulation, requiring an understanding of how the movem…