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03/12/2023
Decision Making for Human-in-the-loop Robotic Agents via Uncertainty-Aware Reinforcement Learning
In a Human-in-the-Loop paradigm, a robotic agent is able to act mostly a...
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03/06/2023
Value Guided Exploration with Sub-optimal Controllers for Learning Dexterous Manipulation
Recently, reinforcement learning has allowed dexterous manipulation skil...
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03/06/2023
Sampling-based Exploration for Reinforcement Learning of Dexterous Manipulation
In this paper, we present a novel method for achieving dexterous manipul...
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09/19/2022
TANDEM3D: Active Tactile Exploration for 3D Object Recognition
Tactile recognition of 3D objects remains a challenging task. Compared t...
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03/01/2022
TANDEM: Learning Joint Exploration and Decision Making with Tactile Sensors
Inspired by the human ability to perform complex manipulation in the com...
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10/05/2021
Design of Spiral-Cable Forearm Exoskeleton to Provide Supination Adjustment for Hemiparetic Stroke Subjects
We present the development of a cable-based passive forearm exoskeleton,...
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10/05/2021
Thumb Assistance Via Active and Passive Exotendons in a Robotic Hand Orthosis for Stroke
We present a tendon-driven, active-extension thumb exoskeleton adding op...
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10/04/2021
Discovering Synergies for Robot Manipulation with Multi-Task Reinforcement Learning
Controlling robotic manipulators with high-dimensional action spaces for...
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09/26/2021
On the Feasibility of Learning Finger-gaiting In-hand Manipulation with Intrinsic Sensing
Finger-gaiting manipulation is an important skill to achieve large-angle...
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11/03/2020
Design Paradigms Based on Spring Agonists for Underactuated Robot Hands: Concepts and Application
In this paper, we focus on a rarely used paradigm in the design of under...
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10/30/2020
Semi-Supervised Intent Inferral Using Ipsilateral Biosignals on a Hand Orthosis for Stroke Subjects
In order to provide therapy in a functional context, controls for wearab...
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08/11/2020
Hardware as Policy: Mechanical and Computational Co-Optimization using Deep Reinforcement Learning
Deep Reinforcement Learning (RL) has shown great success in learning com...
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04/01/2020
A Sensorized Multicurved Robot Finger with Data-driven Touch Sensing via Overlapping Light Signals
Despite significant advances in touch and force transduction, tactile se...
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11/21/2019
A Continuous Teleoperation Subspace with Empirical and Algorithmic Mapping Algorithms for Non-Anthropomorphic Hands
Teleoperation is a valuable tool for robotic manipulators in highly unst...
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11/18/2019
User-Driven Functional Movement Training with a Wearable Hand Robot after Stroke
We studied the performance of a robotic orthosis designed to assist the ...
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09/24/2019
Automatic Snake Gait Generation Using Model Predictive Control
In this paper, we propose a method for generating undulatory gaits for s...
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05/27/2019
Tendon-driven Underactuated Hand Design via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces
Grasp synergies represent a useful idea to reduce grasping complexity wi...
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04/30/2019
3D Grasp Stability Analysis with Coulomb Friction with Hierarchical Convex Relaxations
We present an algorithm to determine quasistatic equilibrium of three di...
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09/25/2018
EMG-Controlled Hand Teleoperation Using a Continuous Teleoperation Subspace
We present a method for EMG-driven teleoperation of non-anthropomorphic ...
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07/31/2018
Multimodal Sensing and Interaction for a Robotic Hand Orthosis
Wearable robotic hand rehabilitation devices can allow greater freedom a...
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06/04/2018
Passive Static Equilibrium with Frictional Contacts and Application to Grasp Stability Analysis
This paper studies the problem of passive grasp stability under an exter...
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03/26/2018
Grasping Unknown Objects with Proprioception Using a Series-Elastic-Actuated Gripper
Grasping unknown objects has been an active research topic for decades. ...
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03/26/2018
Underactuated Hand Design Using Mechanically Realizable Manifolds
Hand synergies, or joint coordination patterns, have become an effective...
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02/26/2018
Data-driven Super-resolution on a Tactile Dome
While tactile sensor technology has made great strides over the past dec...
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02/22/2018
Data-driven Tactile Sensing using Spatially Overlapping Signals
Traditional methods for achieving high localization accuracy on tactile ...
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02/19/2018
Accurate Contact Localization and Indentation Depth Prediction With an Optics-based Tactile Sensor
Traditional methods to achieve high localization accuracy with tactile s...
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02/16/2018
Design and Development of Effective Transmission Mechanisms on a Tendon Driven Hand Orthosis for Stroke Patients
Tendon-driven hand orthoses have advantages over exoskeletons with respe...
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02/12/2018
Intuitive Hand Teleoperation by Novice Operators Using a Continuous Teleoperation Subspace
Human-in-the-loop manipulation is useful in when autonomous grasping is ...
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02/01/2018
EMG Pattern Classification to Control a Hand Orthosis for Functional Grasp Assistance after Stroke
Wearable orthoses can function both as assistive devices, which allow th...
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01/23/2018
Contact Localization through Spatially Overlapping Piezoresistive Signals
Achieving high spatial resolution in contact sensing for robotic manipul...
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01/19/2018
Passive Reaction Analysis for Grasp Stability
In this paper we focus on the following problem in multi-fingered roboti...
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12/19/2017
