4 papers
Dexterous Robot Manipulation from Human Demonstrations via Contact-Anchored Retargeting and Residual Policy Learning
Zihao Yang, Chengyuan Liu, Yu Zhou +6
Learning dexterous manipulation from demonstrations is bottlenecked by data: the contact forces that determine whether a grasp succeeds are absent from every scalable source of hum…
Multi-Rigid-Body Approximation of Human Hands with Application to Digital Twin
Bin Zhao, Yiwen Lu, Haohua Zhu +2
Human hand simulation plays a critical role in digital twin applications, requiring models that balance anatomical fidelity with computational efficiency. We present a complete pip…
Development of the Bioinspired Tendon-Driven DexHand 021 with Proprioceptive Compliance Control
Jianbo Yuan, Haohua Zhu, Jing Dai +1
The human hand plays a vital role in daily life and industrial applications, yet replicating its multifunctional capabilities-including motion, sensing, and coordinated manipulatio…
DexCanvas: Bridging Human Demonstrations and Robot Learning for Dexterous Manipulation
Xinyue Xu, Jieqiang Sun, Jing +10
A dexterous hand succeeds or fails through contact, yet every scalable record of human manipulation (video, vision-based hand tracking, motion capture) observes how the hand moves…