The study of hand-object interaction requires generating viable grasp poses for high-
dimensional multi-finger models, often relying on analytic grasp synthesis which tends to …

Multi-finger grasping relies on high quality training data, which is hard to obtain: human data
is hard to transfer and synthetic data relies on simplifying assumptions that reduce grasp …

Robot grasping constitutes an essential capability in fulfilling the complexities of advanced
industrial operations. This field has been extensively investigated to address a range of …

The design and fabrication of soft robot hands is still a time-consuming and difficult process.
Advances in rapid prototyping have significantly accelerated the fabrication process while …

Posing high-contact interactions is challenging and time-consuming, with hand-object
interactions being especially difficult due to the large number of degrees of freedom (DOF) of …

Robots with multi-fingered grippers could perform advanced manipulation tasks for us if we
were able to properly specify to them what to do. In this study, we take a step in that direction …

Attaining human hand manipulation capabilities is a sought-after goal of robotic
manipulation. Several works have focused on understanding and applying human …

This work presents a framework for a robot with a multi-fingered hand to freely utilize daily
tools, including functional parts like buttons and triggers. An approach heatmap is generated …