IROS 2014: Human fingertip usage in precision manipulation

My paper for IROS 2014 discusses human fingertip usage during precision manipulation. Specifically, participants manipulated a small spherical object with 2 or 3 fingertips (thumb and index or thumb, index, and middle fingers). Participants explored their workspace, and the resulting object and fingertip locations were recorded using a magnetic tracker. The results show quite substantial use of the middle finger on its side surface in the 3-finger case, as well as a shift in usage of the index finger. The index finger is used more on its lateral surface in the two finger case than in the three finger case.

Overall, the results suggest that finger side surfaces could be useful for robotic manipulators designed for precision manipulation. It is interesting that the middle finger is used in a direction that it can’t directly actively apply force, rather the passive stiffness of the finger is often used to support the object during manipulation.

The paper can be seen here.

ICRA 2013: Assisted with OpenHand workshop, finalist for best manipulation paper

I recently attended the ICRA 2013 conference in Karlsruhe, Germany. A few highlights are below:

My paper, Finding Small, Versatile Sets of Human Grasps to Span Common Objects, was a finalist for Best Manipulation Paper. I didn’t win, but they still gave me a nice certificate:

Best Manipulation Paper Finalist Certificate

I am honored by this recognition for my work with Thomas Feix and Aaron Dollar.

I also got to help out with the OpenHand workshop, led by Raymond Ma and Lael Odhner. It was fun to teach a bunch of people about how our lab’s underactuated hands work, and how they can be fabricated.

Pouring rubber materials into the fingers at the OpenHand workshop at ICRA 2013.

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BioRob 2012: Presented kinematic human hand model paper

I attended Biorob 2012 in Rome this summer. I presented a poster discussing various kinematic models for the human hand, as well as their trade-offs. More details can be found at my main research page. Thanks to my co-author Júlia Borràs and my adviser Aaron Dollar for helping to make this possible!

Below are a few quick pictures from my trip:
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