5 papers · 1 filter
Whole-Body Motion Guided Reference Generation for Uncertainty-Aware Compliant Assistance
Muyuan Ma, Long Cheng, Lijun Han +5
Exoskeletons have shown great potential for augmenting human physical capabilities, yet generating reliable assistance remains challenging because human motion patterns and interac…
InsertAnything: Generalizable Contact-Rich Precision Insertion from Simulation to Reality
Zhenghua Ma, Xinpan Meng, Zeyu Liu +4
Contact-rich precision insertion is a key manipulation skill in robotic assembly. Tight clearances make insertion more sensitive to alignment errors and prone to collisions and jam…
GelNeuro: A Sensing-Computing Integrated Neuromorphic Tactile System for Texture Recognition
Luoyang Bian, Xinpan Meng, Zhenghua Ma +2
Neuromorphic visuo-tactile sensing offers a promising paradigm for low-latency and low-power robotic perception. However, existing systems still rely heavily on a host computer for…
Ensuring Interaction Safety in Multitask Exoskeleton Control: A Simulation-Trained Variable Impedance Framework
Muyuan Ma, Houcheng Li, Haotian Zhai +4
Wearable exoskeletons can augment human phys ical capabilities during complex activities. However, ensuring adaptation across diverse tasks while guaranteeing interaction safety re…
From Reach to Insert: Tactile-Augmented Precision Assembly under Sub-Millimeter Tolerances
Xinpan Meng, Siyao Huang, JingPu Yang +6
High-precision assembly frequently involves tight-tolerance insertions, where even slight pose errors can cause jamming or excessive interaction forces, making robust and safe inse…