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Harris Kristanto

4 accepted papers

2020

Development of Exo-Glove for Measuring 3-axis Forces Acting on the Human Finger without Obstructing Natural Human-Object Interaction

Prathamesh Sathe, Alexander Schmitz, Harris Kristanto, Chincheng Hsu, Tito Pradhono Tomo, Sophon Somlor +1
IROS 2020poster

Measuring the forces that humans exert with their fingers could have many potential applications, such as skill transfer from human experts to robots or monitoring humans. In this paper we introduce the "Exo-Glove" system, which can measure the joint angles and forces acting on the human finger with…

Cited by 4Source ↗Scholar ↗
2018

A New Silicone Structure for uSkin - A Soft, Distributed, Digital 3-Axis Skin Sensor and Its Integration on the Humanoid Robot iCub

Tito Pradhono Tomo, Massimo Regoli, Alexander Schmitz, Lorenzo Natale, Harris Kristanto, Sophon Somlor +3
RA-L 2018

Tactile sensing is one important element that can enable robots to interact with an unstructured world. By having tactile perception, a robot can explore its environment by touching objects. Like human skin, a tactile sensor that can provide rich information such as distributed normal and shear forc

Cited by 132Source ↗Scholar ↗
2018

A Wearable Three-Axis Tactile Sensor for Human Fingertips

Harris Kristanto, Prathamesh Sathe, Alexander Schmitz, Tito Pradhono Tomo, Sophon Somlor, Shigeki Sugano
RA-L 2018

Human training data can scaffold robot imitation learning. However, most datagloves only record joint angles, but for many tasks, force control is more important. They also cover the human skin, thereby making a natural interaction of the human with the object impossible. This letter suggests a wear

Cited by 17Source ↗Scholar ↗
2018

Covering a Robot Fingertip With uSkin: A Soft Electronic Skin With Distributed 3-Axis Force Sensitive Elements for Robot Hands

Tito Pradhono Tomo, Alexander Schmitz, Wai Keat Wong, Harris Kristanto, Sophon Somlor, Jinsun Hwang +2
RA-L 2018

Distributed tactile sensing is crucial to perform stable, subtle, and precise manipulation so that a robot can recognize and handle objects properly. However, currently existing skin sensors still have common problems such as complex and expensive production or are difficult to integrate into robot

Cited by 150Source ↗Scholar ↗