Pranav Ponnivalavan

TaSA: Two-Phased Deep Predictive Learning of Tactile Sensory Attenuation for Improving In-Grasp Manipulation

Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous manipulation requires distinguishing between tactile sensatio…