4 accepted papers
Tactile perception on our fingers is a key sensory feedback that enables us to perceive and explore our world using our hands as probes, and is essential for efficient gripping and manipulation of objects. A tactile feedback system can therefore greatly improve the quality of life of individuals wit…
Human physical assistance requires the assistant to tune both his trajectory and impedance in order to assist an individual as well as be guided by him. In this study we propose a controller for teleoperated human assistance that allows the assistant to guide the assisting robot in both trajectory a…
Humans are adept at tool use. We can intuitively and immediately improvise and use unknown objects in our environment as tools, to assist us in performing tasks. In this study, we provide similar cognition and capabilities to robots. Neuroscientific studies on tool use have suggested that human dext…
Tool-held hitting tasks, like hammering a nail or striking a ball with a bat, require humans, and robots, to purposely collide and transfer momentum from their limbs to the environment. Due to the vibrational dynamics, every tool has a location where a hit is most efficient results in minimal tool v…