1 citations · 1 across the 4 of their papers we have counts for
4 papers · 1 filter
A-SLIP: Acoustic Sensing for Continuous In-hand Slip Estimation
Uksang Yoo, Yuemin Mao, Jean Oh +1
Reliable in-hand manipulation requires accurate real-time estimation of slip between a gripper and a grasped object. Existing tactile sensing approaches based on vision, capacitanc…
Functional Force-Aware Retargeting from Virtual Human Demos to Soft Robot Policies
Uksang Yoo, Mengjia Zhu, Evan Pezent +8
We introduce SoftAct, a framework for teaching soft robot hands to perform human-like manipulation skills by explicitly reasoning about contact forces. Leveraging immersive virtual…
SOFTMAP: Sim2Real Soft Robot Forward Modeling via Topological Mesh Alignment and Physics Prior
Ziyong Ma, Uksang Yoo, Jonathan Francis +3
While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to comple…
Soft and Compliant Contact-Rich Hair Manipulation and Care
Uksang Yoo, Nathaniel Dennler, Eliot Xing +4
Hair care robots can help address labor shortages in elderly care while enabling those with limited mobility to maintain their hair-related identity. We present MOE-Hair, a soft ro…