5 papers
Visuo-Acoustic Hand Pose and Contact Estimation
Yuemin Mao, Uksang Yoo, Yunchao Yao +5
Accurately estimating hand pose and hand-object contact events is essential for robot data-collection, immersive virtual environments, and biomechanical analysis, yet remains chall…
KineSoft: Learning Proprioceptive Manipulation Policies with Soft Robot Hands
Uksang Yoo, Jonathan Francis, Jean Oh +1
Underactuated soft robot hands offer inherent safety and adaptability advantages over rigid systems, but developing dexterous manipulation skills remains challenging. While imitati…
SonicBoom: Contact Localization Using Array of Microphones
Moonyoung Lee, Uksang Yoo, Jean Oh +3
In cluttered environments where visual sensors encounter heavy occlusion, such as in agricultural settings, tactile signals can provide crucial spatial information for the robot to…
Soft Robotic Dynamic In-Hand Pen Spinning
Yunchao Yao, Uksang Yoo, Jean Oh +2
Dynamic in-hand manipulation remains a challenging task for soft robotic systems that have demonstrated advantages in safe compliant interactions but struggle with high-speed dynam…
Inclusion in Assistive Haircare Robotics: Practical and Ethical Considerations in Hair Manipulation
Uksang Yoo, Nathaniel Dennler, Sarvesh Patil +2
Robot haircare systems could provide a controlled and personalized environment that is respectful of an individual's sensitivities and may offer a comfortable experience. We argue…