62 citations · 280 across the 51 of their papers we have counts for
13 papers · 1 filter
EMG-Controlled Non-Anthropomorphic Hand Teleoperation Using a Continuous Teleoperation Subspace
Cassie Meeker, Matei Ciocarlie
We present a method for EMG-driven teleoperation of non-anthropomorphic robot hands. EMG sensors are appealing as a wearable, inexpensive, and unobtrusive way to gather information…
Multimodal Sensing and Interaction for a Robotic Hand Orthosis
Sangwoo Park, Cassie Meeker, Lynne M. Weber +3
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective m…
Passive Static Equilibrium with Frictional Contacts and Application to Grasp Stability Analysis
Maximilian Haas-Heger, Christos Papadimitriou, Mihalis Yannakakis +2
This paper studies the problem of passive grasp stability under an external disturbance, that is, the ability of a grasp to resist a disturbance through passive responses at the co…
Proprioception-Based Grasping for Unknown Objects Using a Series-Elastic-Actuated Gripper
Tianjian Chen, Matei Ciocarlie
Grasping unknown objects has been an active research topic for decades. Approaches range from using various sensors (e.g. vision, tactile) to gain information about the object, to…
Underactuated Hand Design Using Mechanically Realizable Manifolds
Tianjian Chen, Maximilian Haas-Heger, Matei Ciocarlie
Hand synergies, or joint coordination patterns, have become an effective tool for achieving versatile robotic grasping with simple hands or planning algorithms. Here we propose a m…
Data-driven Super-resolution on a Tactile Dome
Pedro Piacenza, Sydney Sherman, Matei Ciocarlie
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration…
Accurate Contact Localization and Indentation Depth Prediction With an Optics-based Tactile Sensor
Pedro Piacenza, Weipeng Dang, Emily Hannigan +4
Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This app…
Intuitive Hand Teleoperation by Novice Operators Using a Continuous Teleoperation Subspace
Cassie Meeker, Thomas Rasmussen, Matei Ciocarlie
Human-in-the-loop manipulation is useful in when autonomous grasping is not able to deal sufficiently well with corner cases or cannot operate fast enough. Using the teleoperator's…
Touch Sensors with Overlapping Signals: Concept Investigation on Planar Sensors with Resistive or Optical Transduction
Pedro Piacenza, Emily Hannigan, Clayton Baumgart +8
Traditional methods for achieving high localization accuracy on tactile sensors usually involve a matrix of miniaturized individual sensors distributed on the area of interest. Thi…
Design and Development of Effective Transmission Mechanisms on a Tendon Driven Hand Orthosis for Stroke Patients
Sangwoo Park, Lynne M. Weber, Lauri Bishop +2
Tendon-driven hand orthoses have advantages over exoskeletons with respect to wearability and safety because of their low-profile design and ability to fit a range of patients with…
EMG Pattern Classification to Control a Hand Orthosis for Functional Grasp Assistance after Stroke
Cassie Meeker, Sangwoo Park, Lauri Bishop +2
Wearable orthoses can function both as assistive devices, which allow the user to live independently, and as rehabilitation devices, which allow the user to regain use of an impair…
Contact Localization through Spatially Overlapping Piezoresistive Signals
Pedro Piacenza, Yuchen Xiao, Steve Park +2
Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional appro…
Passive Reaction Analysis for Grasp Stability
Maximilian Haas-Heger, Garud Iyengar, Matei Ciocarlie
In this paper we focus on the following problem in multi-fingered robotic grasping: assuming that an external wrench is being applied to a grasped object, will the contact forces b…