2026 · AI 安全与对齐 · AI-enabled smart glasses with real-time AI capabilities are now mass-market consumer products, in many cases indistinguishable from ordinary eyewear. They can display AI-generated text within the wearer’s line of sight, …
2025 · 数字孪生 · 6D pose estimation in the bin-picking task has attracted increasing attention from researchers. CAD model-based method have been proposed, demonstrating its effectiveness. However, most existing research relies on point …
2025 · 具身智能 · Task-oriented grasping (TOG) aims to predict the appropriate pose for grasping based on a specific task. While recent approaches have incorporated semantic knowledge into TOG models to enable robots to understand linguis…
2024 · 数字孪生 · Introduction: A digital twin is a virtual representation of a patient's disease, facilitating real-time monitoring, analysis, and simulation. This enables the prediction of disease progression, optimization of care deliv…
2024 · 类脑计算 · In order to achieve higher accuracy, the complexity of grasp detection network increases accordingly with complicated model structures and tremendous parameters. Although various light-weight strategies are adopted, dire…
2023 · 深海科技 · Marine ecosystems and their fish habitats are becoming increasingly important due to their integral role in providing a valuable food source and conservation outcomes. Due to their remote and difficult to access nature, …
2023 · 深海科技 · The advent of variable stiffness soft robotic grippers furnishes a conduit for exploration and manipulation within uncharted, non-structured environments. The paper provides a comprehensive review of the necessary techno…
2023 · 数字孪生 · With the emergence of digitalization technology, digital twin bridges the gap between physical and virtual worlds in industrial production with synchronization, reliability, and fidelity. The manufacturing process of com…
2023 · 数字孪生 · In order to adapt to the multi-variety and small-batch production mode, reconfigurable manufacturing systems have been widely applied in various industries. However, the rapid reconfiguration of these systems poses chall…
2023 · 具身智能 · We focus on the task of language-conditioned grasping in clutter, in which a robot is supposed to grasp the target object based on a language instruction. Previous works separately conduct visual grounding to localize th…
2023 · 具身智能 · Learning diverse dexterous manipulation behaviors with assorted objects remains an open grand challenge. While policy learning methods offer a powerful avenue to attack this problem, these approaches require extensive pe…
2022 · 生物计算 · With the development of technology, Moore's law will come to an end, and scientists are trying to find a new way out in brain-like computing. But we still know very little about how the brain works. At the present stage …
2022 · 仿生智能 · Bionic hands have been employed in a wide range of applications, including prosthetics, robotic grasping, and human–robot interaction. However, considering the underactuated and nonlinear characteristics, as well as the …
2022 · 仿生智能 · With the development of technology, Moore's law will come to an end, and scientists are trying to find a new way out in brain-like computing. But we still know very little about how the brain works. At the present stage …
2022 · 仿生智能 · We propose the use of computer vision for adaptive semi-autonomous control of an upper limb exoskeleton for assisting users with severe tetraplegia to increase independence and quality of life. A tongue-based interface w…
2022 · 具身智能 · The ability to grasp a wider range of objects in size and shape directly relates to the performance of robotic grippers. Adapting to complex geometries of objects requires large degrees of freedom to allow complex config…
2022 · 具身智能 · Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or real…
2022 · 具身智能 · Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping data…
2021 · 仿生智能 · Bionic prostheses have restorative potential. However, the complex interplay between intuitive motor control, proprioception, and touch that represents the hallmark of human upper limb function has not been revealed. Her…
2021 · 深海科技 · The diversity of end-effectors for manipulation enables a robot to grasp objects with various shapes. As underwater manipulation becomes more common, various types of end-effectors for underwater robots are required. In …
2021 · 具身智能 · How to use few actuators to endow a multifingered robotic hand with the human grasping and manipulation abilities is a challenging problem. This article develops a design principle of a five-fingered robotic hand with on…
2021 · 具身智能 · Manipulation in contrast to grasping is a trajectorial task that needs to use dexterous hands. Improving the dexterity of robot hands increases the controller complexity and thus requires to use the concept of postural s…
2020 · 仿生智能 · Neurorobotic augmentation (e.g., robotic assist) is now in regular use to support individuals suffering from impaired motor functions. A major unresolved challenge, however, is the excessive cognitive load necessary for …
2019 · 仿生智能 · Despite previous studies on the restoration of tactile sensation on the fingers and the hand, there are no examples of use of the routed sensory information to finely control the prosthesis hand in complex grasp and mani…
2019 · 数字孪生 · Many advanced product manufacturing approaches have been introduced in the market in recent years. Thus, it is critical to develop modern techniques which can effectively familiarize budding minds with the latest manufac…
2018 · AI 安全与对齐 · Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, p…
2018 · 深海科技 · Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, p…
2018 · 具身智能 · Humans can handle and manipulate objects with ease; however, human dexterity has yet to be matched by artificial systems. Receptors in our fingers and hands provide essential tactile information to the motor control syst…
2018 · 具身智能 · In this paper, a high-speed multi-fingered reconfigurable gripper is presented. The aim is to create a robotic end effector that is capable of handling parts of different geometries and weight. It consists of three finge…
2018 · 具身智能 · In this paper, we study the problem of learning vision-based dynamic manipulation skills using a scalable reinforcement learning approach. We study this problem in the context of grasping, a longstanding challenge in rob…
2018 · 机器人零部件 · Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, p…
2017 · 具身智能 · Deep learning and reinforcement learning methods have recently been used to solve a variety of problems in continuous control domains. An obvious application of these techniques is dexterous manipulation tasks in robotic…
2017 · 具身智能 · Dexterous manipulation has broad potential applications in assembly lines, warehouses and agriculture, and so on. To perform large-scale, complicated manipulation tasks, a multi-fingered robotic hand sometimes has to seq…
2017 · 机器人零部件 · A novel soft-robotic gripper design is presented, with three soft bending fingers and one passively adaptive palm. Each soft finger comprises two ellipse-profiled pneumatic chambers. Combined with the adaptive palm and t…
2017 · 机器人零部件 · To reduce data collection time for deep learning of robust robotic grasp plans, we explore training from a synthetic dataset of 6.7 million point clouds, grasps, and analytic grasp metrics generated from thousands of 3D …
2017 · 机器人零部件 · We present the grasping system and design approach behind Cartman, the winning entrant in the 2017 Amazon Robotics Challenge. We investigate the design processes leading up to the final iteration of the system and descri…
2016 · 仿生智能 · The loss of one hand can significantly affect the level of autonomy and the capability of performing daily living, working and social activities. The current prosthetic solutions contribute in a poor way to overcome thes…
2016 · 仿生智能 · BACKGROUND: Recent studies have shown that brain-machine interfaces (BMIs) offer great potential for restoring upper limb function. However, grasping objects is a complicated task and the signals extracted from the brain…
2015 · 具身智能 · In order to advance action generation and creation in robots beyond simple learned schemas we need computational tools that allow us to automatically interpret and represent human actions. This paper presents a system th…
2014 · 仿生智能 · Stable myoelectric control of hand prostheses remains an open problem. The only successful human-machine interface is surface electromyography, typically allowing control of a few degrees of freedom. Machine learning tec…
2011 · 仿生智能 · BACKGROUND: Prosthetic components and control interfaces for upper limb amputees have barely changed in the past 40 years. Many transradial prostheses have been developed in the past, nonetheless most of them would be in…
2011 · 具身智能 · Object-level control of a dexterous robot hand provides an intuitive high-level interface to solve fine manipulation tasks. In the past, many algorithms were proposed based on a weighted pseudoinverse of the grasp map. I…
2010 · 具身智能 · This paper presents a new methodology for the analysis and control of internal forces and center-of-mass (CoM) behavior, which are produced during multicontact interactions between humanoid robots and the environment. Th…
2010 · 具身智能 · Dexterous object manipulation requires anticipatory control of digit positions and forces. Despite extensive studies on sensorimotor learning of digit forces, how humans learn to coordinate digit positions and forces has…
2007 · 具身智能 · In this paper, we propose a new method for the motion planning problem of rigid object dexterous manipulation with a robotic multi-fingered hand, under quasi-static movement assumption. This method computes both object a…
2004 · 具身智能 · Human hand can not only catch and grasp the complex objects but also easily manipulate the objects by switching various types of interactions. Research on the basic mechanics and control principles of hand's dexterous ma…
2001 · 中医药工具 · The mechanism of action of acupuncture remains largely unknown. The reaction to acupuncture needling known as ‘de qi’, widely viewed as essential to the therapeutic effect of acupuncture, may be a key to understanding it…
2000 · 具身智能 · Most objects that we manipulate have curved surfaces. We have analyzed how subjects during a prototypical manipulatory task use visual and tactile sensory information for adapting fingertip actions to changes in object c…
2021 · 医疗人工智能 · Artificial intelligence is revolutionizing — and strengthening — modern healthcarethrough technologies that can predict, grasp, learn, and act, whether it's employed toidentify new relationships between genetic codes or …
2018 · 脑科学 · Updated fully, this accessible and comprehensive text highlights the most important theoretical, conceptual and methodological issues in cognitive neuroscience. Written by two experienced teachers, the consistent narrati…
2016 · 具身智能 · Current model free learning-based robot grasping approaches exploit human-labeled datasets for training the models. However, there are two problems with such a methodology: (a) since each object can be grasped in multipl…
2015 · 深海科技 · A review of some latest achievements in the area of military robotics is given, with main demands to management of advanced unmanned systems formulated. The developed Spatial Grasp Technology, SGT, capable of satisfying …
2014 · 具身智能 · This paper focuses on the problem of manipulating the orientation of a polygonal object in hand. We propose a control technique which integrates the use of palm and fingers to pick up a given object on the table, to drop…
2013 · 具身智能 · Dexterous, within-hand manipulation, in which an object generally held in the fingertips is manipulated by the fingers, shares many similarities to parallel robot configurations. This paper shows how to apply a mathemati…
2011 · 仿生智能 · BACKGROUND: It is widely believed that both feed-forward and feed-back mechanisms are required for successful object manipulation. Open-loop upper-limb prosthesis wearers receive no tactile feedback, which may be the cau…
2011 · 具身智能 · In this paper we show that it is possible to design underactuated robot hands capable of performing dexterous manipulation tasks, despite the fact that the motion of an underactuated hand is not fully constrained by its …
2010 · 脑科学 · Prehension, the capacity to reach and grasp, is the key behavior that allows humans to change their environment. It continues to serve as a remarkable experimental test case for probing the cognitive architecture of goal…
2000 · 具身智能 · In this paper, an attempt at summarizing the evolution and the state of the art in the field of robot hands is made. In such exposition, a critical evaluation of what in the author's view are the leading ideas and emergi…
1990 · 具身智能 · Dexterous manipulation refers to the skillful execution of object reorienting and repositioning maneuvers, especially when performed within the grasp of an articulated mechani cal hand. In this paper we study the problem…
2002 · 具身智能 · Presents an overview of research in dexterous manipulation. We first define robotic dexterous manipulation in comparison to traditional robotics and human manipulation. Next, kinematics, contact types and forces are used…