6 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…
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…
Few-shot transfer of tool-use skills using human demonstrations with proximity and tactile sensing
Marina Y. Aoyama, Sethu Vijayakumar, Tetsuya Narita
Tools extend the manipulation abilities of robots, much like they do for humans. Despite human expertise in tool manipulation, teaching robots these skills faces challenges. The co…
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…