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Hojung Choi

9 accepted papers

2026

Fourigami: A 4-Degree-Of-Freedom, Force-Controlled, Origami, Finger Pad Haptic Device

Crystal Winston, Hojung Choi, Rianna Jitosho, Zhenishbek Zhakypov, Jasmin Elena Palmer, Mark Cutkosky +1
ICRA 2026poster

Skin deformation haptic devices worn on the finger pad provide realistic touch feedback during interactions with virtual objects. Two primary challenges in creating such devices are: (1) making a multi-degree-of-freedom device that is small and lightweight so it does not encumber the wearer and (2) …

Cited by 0Source ↗Scholar ↗
2026

In-The-Wild Compliant Manipulation with UMI-FT

Hojung Choi, Yifan Hou, Chuer Pan, Seongheon Hong, Austin Patel, Xiaomeng Xu +2
ICRA 2026poster

Many manipulation tasks require careful force modulation. With insufficient force the task may fail, while excessive force could cause damage. The high cost, bulky size and fragility of commercial force/torque (F/T) sensors have limited large-scale, force-aware policy learning. We introduce UMI-FT, …

Cited by 0Source ↗PDF ↗code ↗Scholar ↗
2025

DexForce: Extracting Force-Informed Actions From Kinesthetic Demonstrations for Dexterous Manipulation

Claire Chen, Zhongchun Yu, Hojung Choi, Mark R. Cutkosky, Jeannette Bohg
RA-L 2025

Imitation learning requires high-quality demonstrations consisting of sequences of state-action pairs. For contact-rich dexterous manipulation tasks that require dexterity, the actions in these state-action pairs must produce the right forces. Current widely-used methods for collecting dexterous man

Cited by 38Source ↗Scholar ↗
2024

Tactile-Informed Action Primitives Mitigate Jamming in Dense Clutter

Dane Brouwer, Joshua Citron, Hojung Choi, Marion Lepert, Michael Lin, Jeannette Bohg +1
ICRA 2024poster

It is difficult for robots to retrieve objects in densely cluttered lateral access scenes with movable objects as jamming against adjacent objects and walls can inhibit progress. We propose the use of two action primitives— burrowing and excavating—that can fluidize the scene to unjam obstacles and…

Cited by 2Source ↗code ↗Scholar ↗
2022

Deep Learning Classification of Touch Gestures Using Distributed Normal and Shear Force

Hojung Choi, Dane Brouwer, Michael A. Lin, Kyle T. Yoshida, Carine Rognon, Benjamin Stephens-Fripp +2
IROS 2022poster

When humans socially interact with another agent (e.g., human, pet, or robot) through touch, they do so by applying varying amounts of force with different directions, locations, contact areas, and durations. While previous work on touch gesture recognition has focused on the spatio-temporal distrib…

Cited by 13Source ↗Scholar ↗
2022

Perceived Intensities of Normal and Shear Skin Stimuli Using a Wearable Haptic Bracelet

Mine Sarac, Tae Myung Huh, Hojung Choi, Mark R. Cutkosky, Massimiliano Di Luca, Allison M. Okamura
RA-L 2022

Our aim is to provide effective interaction with virtual objects, despite the lack of co-location of virtual and real-world contacts, while taking advantage of relatively large skin area and ease of mounting on the forearm. We performed two human participant studies to determine the effects of hapti

Cited by 26Source ↗Scholar ↗
2021

Exploratory Hand: Leveraging Safe Contact to Facilitate Manipulation in Cluttered Spaces

Michael A. Lin, Rachel Thomasson, Gabriela Uribe, Hojung Choi, Mark R. Cutkosky
RA-L 2021

We present a new gripper and exploration approach that uses a finger with very low reflected inertia for probing and then grasping objects. The finger employs a transparent transmission, resulting in a light touch when contact occurs. The finger elements are stiff and mounted on precise Cartesian ax

Cited by 13Source ↗Scholar ↗
2020

Dynamically Reconfigurable Tactile Sensor for Robotic Manipulation

Tae Myung Huh, Hojung Choi, Simone Willcox, Stephanie Moon, Mark R. Cutkosky
RA-L 2020

We present a tactile sensor intended for manipulation by mobile robots, e.g., in the home. The surface consists of an array of small, rounded bumps or “nibs,” for reliable traction on objects like wet dishes. When the nibs contact a surface they deflect, and capacitive sensors measure the correspond

Cited by 38Source ↗Scholar ↗