Ronan Hinchet — accepted AI-conference papers

2026

PokeFlex: A Real-World Dataset of Volumetric Deformable Objects for Robotics

Jan Obrist, Miguel Angel Zamora Mora, Hehui Zheng, Ronan Hinchet, Firat Ozdemir, Juan Jose Zarate +2

ICRA 2026poster

Data-driven methods have shown great potential in solving challenging manipulation tasks; however, their application in the domain of deformable objects has been constrained, in part, by the lack of data. To address this lack, we propose PokeFlex, a dataset featuring real-world multimodal data that …

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2025

Beyond Anthropomorphism: Enhancing Grasping and Eliminating a Degree of Freedom by Fusing the Abduction of Digits Four and Five

Simon Fritsch, Liam Achenbach, Riccardo Bianco, Nicola Irmiger, Gawain Marti, Samuel Visca +6

IROS 2025

This paper presents the SABD hand, a 16-degree-of-freedom (DoF) robotic hand that departs from purely anthropomorphic designs to achieve an expanded grasp envelope, enable manipulation poses beyond human capability, and reduce the required number of actuators. This is achieved by combining the adduc

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2025

ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning

Clemens C. Christoph, Maximilian Eberlein, Filippos Katsimalis, Arturo Roberti, Aristotelis Sympetheros, Michel R. Vogt +5

IROS 2025

General-purpose robots should possess humanlike dexterity and agility to perform tasks with the same versatility as us. A human-like form factor further enables the use of vast datasets of human-hand interactions. However, the primary bottleneck in dexterous manipulation lies not only in software bu

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2025

Stretchable Electrohydraulic Artificial Muscle for Full Motion Ranges in Musculoskeletal Antagonistic Joints

Amirhossein Kazemipour, Ronan Hinchet, Robert K. Katzschmann

ICRA 2025

Artificial muscles play a crucial role in musculoskeletal robotics and prosthetics to approximate the force-generating functionality of biological muscle. However, current artificial muscle systems are typically limited to either contraction or extension, not both. This limitation hinders the develo

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