Robot-Manipulation

The paper presents a user study characterizing the effect of vibrotactile feedback on performance and cognitive load during teleoperated robotic grasping and manipulation using an affordable bilateral system with a Leap Motion and vibrotactile glove controlling a sensorized robot hand, showing vibrotactile feedback improves teleoperation and reduces cognitive load especially for complex in-hand manipulation tasks.

The paper proposes a method using motion and tactile features to automatically segment atomic actions from teleoperated demonstrations for complex robotic tasks, provides a dataset of pick-and-place teleoperation with a dexterous hand, and shows the proposed features generalize between episodes and similar objects while tactile sensing improves activity recognition within demonstrations.