10 papers
Hair is a functionally graded composite, not a uniform fiber
Andrew K. Schulz, Svetlana Griego, Vesna Srot +11
Hair provides mammals with diverse benefits, including protection, thermoregulation, and enhanced sensory perception. Unlike tendons and teeth, which are biomineralized, hair is hy…
Contact-Aware Refinement of Human Pose Pseudo-Ground Truth via Bioimpedance Sensing
Maria-Paola Forte, Nikos Athanasiou, Giulia Ballardini +3
Capturing accurate 3D human pose in the wild would provide valuable data for training pose estimation and motion generation methods. While video-based estimation approaches have be…
Rendering Forces With a Modular Cable System, Motors, and Brakes
Jan Ulrich Bartels, Alexander Achberger, Katherine J. Kuchenbecker +1
We describe the hardware design, force-rendering approach, and evaluation of a new reconfigurable haptic interface consisting of a network of hybrid motor-brake actuation modules t…
Adding internal audio sensing to internal vision enables human-like in-hand fabric recognition with soft robotic fingertips
Iris Andrussow, Jans Solano, Benjamin A. Richardson +2
Distinguishing the feel of smooth silk from coarse cotton is a trivial everyday task for humans. When exploring such fabrics, fingertip skin senses both spatio-temporal force patte…
ISyHand: A Dexterous Multi-finger Robot Hand with an Articulated Palm
Benjamin A. Richardson, Felix Grüninger, Lukas Mack +2
The rapid increase in the development of humanoid robots and customized manufacturing solutions has brought dexterous manipulation to the forefront of modern robotics. Over the pas…
Diffusion-Based Approximate MPC: Fast and Consistent Imitation of Multi-Modal Action Distributions
Pau Marquez Julbe, Julian Nubert, Henrik Hose +2
Approximating model predictive control (MPC) using imitation learning (IL) allows for fast control without solving expensive optimization problems online. However, methods that use…