4 papers
Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity, Force/Torque, and Pressure Map Sensing
Gabriel Arslan Waltersson, Yiannis Karayiannidis
This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity, force/torque, and pressure map sensing into a single device…
Perception, Control and Hardware for In-Hand Slip-Aware Object Manipulation with Parallel Grippers
Gabriel Arslan Waltersson, Yiannis Karayiannidis
Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware con…
Friction Estimation for In-Hand Planar Motion
Gabriel Arslan Waltersson, Yiannis Karayiannidis
This paper presents a method for online estimation of contact properties during in-hand sliding manipulation with a parallel gripper. We estimate the static and Coulomb friction as…
Fine-tuning Myoelectric Control through Reinforcement Learning in a Game Environment
Kilian Freitag, Yiannis Karayiannidis, Jan Zbinden +1
Objective: Enhancing the reliability of myoelectric controllers that decode motor intent is a pressing challenge in the field of bionic prosthetics. State-of-the-art research has m…