9 papers
VibeAct: Vibration to Actions for Contact-Rich Reactive Robot Dexterity
Yuemin Mao, Uksang Yoo, Jean Oh +2
Dexterous manipulation depends on contact events that are fast, local, and often visually occluded. Piezoelectric microphones provide compact, high-bandwidth sensing of these inter…
DYMO-Hair: Generalizable Volumetric Dynamics Modeling for Robot Hair Manipulation
Chengyang Zhao, Uksang Yoo, Arkadeep Narayan Chaudhury +4
Hair care is an essential daily activity, yet it remains inaccessible to individuals with limited mobility and challenging for autonomous robot systems due to the fine-grained phys…
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…
RoPotter: Toward Robotic Pottery and Deformable Object Manipulation with Structural Priors
Uksang Yoo, Adam Hung, Jonathan Francis +2
Humans are capable of continuously manipulating a wide variety of deformable objects into complex shapes. This is made possible by our intuitive understanding of material propertie…
POE: Acoustic Soft Robotic Proprioception for Omnidirectional End-effectors
Uksang Yoo, Ziven Lopez, Jeffrey Ichnowski +1
Soft robotic shape estimation and proprioception are challenging because of soft robot's complex deformation behaviors and infinite degrees of freedom. A soft robot's continuously…