5 papers
ReactEMG Stroke: Healthy-to-Stroke Few-shot Adaptation for sEMG-Based Intent Detection
Runsheng Wang, Katelyn Lee, Xinyue Zhu +4
Surface electromyography (sEMG) is a promising control signal for assist-as-needed hand rehabilitation after stroke, but detecting intent from paretic muscles often requires length…
Tactile-based Object Retrieval From Granular Media
Jingxi Xu, Yinsen Jia, Dongxiao Yang +5
We introduce GEOTACT, the first robotic system capable of grasping and retrieving objects of potentially unknown shapes buried in a granular environment. While important in many ap…
ReactEMG: Stable, Low-Latency Intent Detection from sEMG via Masked Modeling
Runsheng Wang, Xinyue Zhu, Ava Chen +5
Surface electromyography (sEMG) signals show promise for effective human-machine interfaces, particularly in rehabilitation and prosthetics. However, challenges remain in developin…
Touch in the Wild: Learning Fine-Grained Manipulation with a Portable Visuo-Tactile Gripper
Xinyue Zhu, Binghao Huang, Yunzhu Li
Handheld grippers are increasingly used to collect human demonstrations due to their ease of deployment and versatility. However, most existing designs lack tactile sensing, despit…
ChatEMG: Synthetic Data Generation to Control a Robotic Hand Orthosis for Stroke
Jingxi Xu, Runsheng Wang, Siqi Shang +10
Intent inferral on a hand orthosis for stroke patients is challenging due to the difficulty of data collection. Additionally, EMG signals exhibit significant variations across diff…