3 papers
cs.GR2026
MUSIC: Learning Muscle-Driven Dexterous Hand Control
Pei Xu, Yufei Ye, Shuchun Sun +3
We present a data-driven approach for physics-based, muscle-driven dexterous control that enables musculoskeletal hands to perform precise piano playing for novel pieces of music o…
cs.RO2025
TacCap: A Wearable FBG-Based Tactile Sensor for Seamless Human-to-Robot Skill Transfer
Chengyi Xing, Hao Li, Yi-Lin Wei +6
Tactile sensing is essential for dexterous manipulation, yet large-scale human demonstration datasets lack tactile feedback, limiting their effectiveness in skill transfer to robot…
cs.GR2024
FürElise: Capturing and Physically Synthesizing Hand Motions of Piano Performance
Ruocheng Wang, Pei Xu, Haochen Shi +2
Piano playing requires agile, precise, and coordinated hand control that stretches the limits of dexterity. Hand motion models with the sophistication to accurately recreate piano…