24 papers · ranked by Valyu relevance
Chunmiao Yu, Peng Wang
With the increasing demand for the dexterity of robotic operation, dexterous manipulation of multi-fingered robotic hands with reinforcement learning is an interesting subject in the field of robotics research. Our purpose is to present a comprehensive review of the techniques for dexterous manipulation with…
Edgar Welte, Rania Rayyes
Dexterous manipulation is a crucial yet highly complex challenge in humanoid robotics, demanding precise, adaptable, and sample-efficient learning methods. As humanoid robots are usually designed to operate in human-centric environments and interact with everyday objects, mastering dexterous manipulation is critical…
Khandate, Gagan
Dexterous intelligence—the ability to perform complex interactions with multi-fingered hands—is a pinnacle of human physical intelligence and emergent higher-order cognitive skills. However, contrary to Moravec's paradox, dexterous intelligence in humans appears simple only superficially. Many million years were spent…
Shan An, Ziyu Meng, Chao Tang, Yuning Zhou + 8 more
'Fangqiang Ding' 'Shufang Zhang' 'Yao Mu' 'Ran Song' 'Wei Zhang' 'Zeng-Guang Hou' 'Hong Zhang'] Abstract—Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive…
Pranav J. Parikh, Justin M. Fine, Marco Santello
Humans are unique in their ability to perform dexterous object manipulation in a wide variety of scenarios. However, previous work has used a grasping context that predominantly elicits memory-based control of digit forces by constraining where the object should be grasped. For this ‘constrained’ grasping context…
Huaiyong Li, Changlong Ye, Rongdian Jia, Suyang Yu + 2 more
Traditional dexterous hands can readily grasp objects but face limitations in dexterous manipulation due to complex control systems and high actuation demands. This paper presents a novel dexterous hand designed to address these challenges. The hand consists of four fingers, each equipped with two mecanum wheels at the…
Yinlin Li, Peng Wang, Rui Li, Mo Tao + 2 more
Multifingered robotic hands (usually referred to as dexterous hands) are designed to achieve human-level or human-like manipulations for robots or as prostheses for the disabled. The research dates back 30 years ago, yet, there remain great challenges to effectively design and control them due to their high…
Weiguang Zhao, Xihao Guo, Tian Liang, Rui Zhang + 2 more
Robotic dexterous hands are central to contact-rich manipulation, with rapid progress driven by advances in hardware, sensing, control, simulation, and data generation. However, existing studies are often developed under different assumptions regarding hand embodiments, sensory configurations, task settings, training…
Nathan Elangovan, Che-Ming Chang, Geng Gao, Minas Liarokapis
Evaluating the dexterity of human and robotic hands through appropriate benchmarks, scores, and metrics is of paramount importance for determining how skillful humans are and for designing and developing new bioinspired or even biomimetic end-effectors (e.g., robotic grippers and hands). Dexterity tests have been used…
Chung Hee Kim, Ka Hei Mak, Jungwon Seo
— This paper presents a robotic manipulation technique for dexterous ungrasping. It refers to the capability of securely transferring a grasped object from the gripper to the robot's environment, i.e. the inverse of grasping or picking, through dexterous manipulation. The game of Go offers an example: consider how the…
Hanwen Wang, Weizhi Zhao, Xiangyu Wang, Siyuan Huang + 10 more
Achieving human-level manipulation requires dexterous robotic hands capable of complex object interactions. Advancing such capabilities further demands standardized benchmarks for systematic evaluation. However, existing dexterous benchmarks lack tasks that reflect the unique manipulation capabilities of dexterous…
David Córdova Bulens, Sophie du Bois de Dunilac, Benoit Delhaye, Philippe Lefèvre + 1 more
Humans use tactile feedback to perform skillful manipulation. When tactile sensory feedback is unavailable, for instance, if the fingers are anesthetized, dexterity is severely impaired. Imaging the deformation of the finger pad skin when in contact with a transparent plate provides information about the tactile…
Francisco J. Valero-Cuevas, Marco Santello
Biological and robotic grasp and manipulation are undeniably similar at the level of mechanical task performance. However, their underlying fundamental biological vs. engineering mechanisms are, by definition, dramatically different and can even be antithetical. Even our approach to each is diametrically opposite…
Ali Hammoud, Valerio Belcamino, Quentin Huet, Alessandro Carfì + 3 more
'Mahdi Khoramshahi' 'Véronique Perdereau' 'Fulvio Mastrogiovanni'] Abstract— Dexterous in-hand manipulation is a unique and valuable human skill requiring sophisticated sensorimotor interaction with the environment while respecting stability constraints. Satisfying these constraints with generated motions is essential…
Nishant Rao, Neha Mehta, Pujan Patel, Pranav J. Parikh
Dexterous manipulation may be guided by explicit information about object property. Such a manipulation requires fine modulation of digit position and forces using explicit cues. Young adults can form arbitrary cue-object property associations for accurate modulation of digit position and forces. Aging, in contrast…
Daanish M. Mulla, Mario Costantino, Erez Freud, Jonathan A. Michaels
Studying naturalistic hand behaviours is challenging due to the limitations of conventional marker-based motion capture, which can be costly, time-consuming, and encumber participants. While markerless pose estimation exists – an accurate, off-the-shelf solution validated for hand-object manipulation is needed. We…
Jonathan Morley, Ana Bucchi, Carlos Lorenzo, Thomas A. Püschel
Extinct hominins can provide key insights into the development of tool use, with the morphological characteristics of the thumb of particular interest due to its fundamental role in enhanced manipulation. This study quantifies the shape of the first metacarpal’s body in the extant Homininae and some fossil hominins to…
Yudai Kimoto, Takanori Oku, Shinichi Furuya
Exceptional finger dexterity enables skillful motor actions such as those required for musical performance. However, it has been not known whether specialized neuromuscular or biomechanical features subserve the dexterity. We aimed to identify the features firstly differentiating the finger dexterity between trained…
Kevin Ung, Jeffrey M. Yau, Per F Nordmark
The role of sensory feedback is well established in current models of motor control, evidenced by deficits in movement coordination resulting from impaired sensory function. When vision and touch are both available for object-oriented manual behaviors, these senses can be distinctly leveraged; vision guides movement…
Hélio V. Cabral, Caterina Cosentino, Andrea Rizzardi, J. Greig Inglis + 2 more
Previous evidence suggests that shared synaptic inputs across spinal motor neurons play a key role in coordinating multiple muscles during hand movements, reducing control complexity. In this study, we investigated how the nervous system modulates these common synaptic inputs during a functionally relevant grip…
Alexander Fabisch, Wadhah Zai El Amri, Chandandeep Singh, Nicolás Navarro-Guerrero
Human manipulation skills represent a pinnacle of their voluntary motor functions, requiring the coordination of many degrees of freedom and processing of high-dimensional sensor input to achieve such a high level of dexterity. Thus, we set out to answer whether the human hand, with its associated biomechanical…
Authors not listed
For decades, molecular visualization software has been fundamental to education and research in chemistry, structural biology, and materials science. These tools have enabled the inspection of structures, dynamics, and interactions, yet their reliance on two-dimensional (2D) interfaces imposes persistent limitations.…
Naruki Yoshikawa, Kourosh Darvish, Animesh Garg, Alan Aspuru-Guzik
Self-driving laboratories promise to democratize automated chemical laboratories. Accurate liquid handling is an essential operation in the context of chemical labs, and consequently a self-driving laboratory will require a robotic liquid handling and transfer. Although many pipettes are available for human scientists…
Wei Zhang, Jonathan A Fine, Christopher Sculley, Jordon McGraw + 1 more
The representation of complex biomolecular structures and interactions is a difficult challenge across life sciences. Researchers and students use unintuitive 2D representations to gain an intuitive understanding of 3D space and molecular interactions. Since this is cumbersome for complex structures, such as…