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cs.RO2026
MIDAS Hand: Modular low-Impedance Direct-drive Anthropomorphic Sensing Hand
Alvin Zhu, Mingzhang Zhu, Beom Jun Kim +3
Dexterous manipulation is limited not only by algorithms but by a shortage of accessible hand hardware that combines human-scale morphology, ease of manufacturing or maintenance, t…
cs.RO2026
DexEXO: A Wearability-First Dexterous Exoskeleton for Operator-Agnostic Demonstration and Learning
Alvin Zhu, Mingzhang Zhu, Beom Jun Kim +10
Scaling dexterous robot learning is constrained by the difficulty of collecting high-quality demonstrations across diverse operators. Existing wearable interfaces often trade comfo…
cs.RO2026
WHED: A Wearable Hand Exoskeleton for Natural, High-Quality Demonstration Collection
Mingzhang Zhu, Alvin Zhu, Jose Victor S. H. Ramos +9
Scalable learning of dexterous manipulation remains bottlenecked by the difficulty of collecting natural, high-fidelity human demonstrations of multi-finger hands due to occlusion,…