Modern robotic manipulation systems fall short of human manipulation skills partly because they rely on closing feedback loops exclusively around vision data, which reduces system bandwidth and speed. By developing autonomous grasping reflexes that rely on high-bandwidth force, contact, and proximity data, the overall system speed and robustness can be increased while reducing reliance on vision data. We are developing a new system built around a low-inertia, high-speed arm with nimble fingers that combines a high-level trajectory planner operating at less than 1 Hz with low-level autonomous reflex controllers running upwards of 300 Hz. We characterize the reflex system by comparing the volume of the set of successful grasps for a naive baseline controller and variations of our reflexive grasping controller, finding that our controller expands the set of successful grasps by 55% relative to the baseline. We also deploy our reflexive grasping controller with a simple vision-based planner in an autonomous clutter clearing task, achieving a grasp success rate above 90% while clearing over 100 items.
Lightweight Learning from Actuation-Space Demonstrations via Flow Matching for Whole-Body Soft Robotic Grasping
Mohamed bin Zayed University of Artificial Intelligence (MBZUAI)（穆罕默德·本·扎耶德人工智能大学）；University of Science and Technology of China (USTC)（中国科学技术大学）；University of Freiburg（弗莱堡大学）；Ludwig Maximilian University of Munich (LMU Munich)（慕尼黑大学）；Munich Center for Machine Learning (MCML)（慕尼黑机器学习中心）
RBO Hand 3 -- A Platform for Soft Dexterous Manipulation
Technische Universität Berlin（柏林工业大学）
我们提出了RBO手3，一个高度能力和多功能的拟人软手基于气动驱动。RBO Hand 3旨在实现灵巧的操作，促进对人类灵巧性的见解的转移，并作为广泛的现实世界实验的强大研究平台。它通过将许多程度的致动与固有顺应性相结合、复制人手的相关功能以及通过将坚固的部件组合在模块化设计中来实现这些设计目标。RBO Hand 3拥有16个独立的驱动自由度，实现了灵巧的对置拇指、双腔手指、驱动手掌以及展开手指的能力。在这项工作中，我们得出的设计目标，是基于实验与手的前辈，对人类的把握观察，并对灵巧的原则的见解。我们详细解释了RBO手3的设计功能如何实现这些目标，并通过展示其在Kapandji测试中获得最高分数的能力来评估手，以实现全面GRASP分类的所有33种抓握类型，复制常见的人类抓握策略，并执行灵巧的手操作。
Whole-Body Proprioceptive Morphing: A Modular Soft Gripper for Robust Cross-Scale Grasping
Mechanical Engineering Department at the University of Michigan-Ann Arbor（密歇根大学安娜堡分校机械工程系）；Robotics Department at the University of Michigan-Ann Arbor（密歇根大学安娜堡分校机器人学系）
Vision-Guided Targeted Grasping and Vibration for Robotic Pollination in Controlled Environments
Department of Artificial Intelligence, Korea University（韩国大学人工智能系）；University of California, Los Angeles（加州大学洛杉矶分校）；Department of Mechanical & Aerospace Engineering, University of California, Los Angeles（加州大学洛杉矶分校机械与航空航天工程系）；Department of Computer Science, University of California, Los Angeles（加州大学洛杉矶分校计算机科学系）
Development of a 15-Degree-of-Freedom Bionic Hand with Cable-Driven Transmission and Distributed Actuation
Department of Computer Science and Engineering, Shanghai Jiao Tong University（计算机科学与工程系，上海交通大学）；Department of Engineering Mechanics, Shanghai Jiao Tong University（工程力学系，上海交通大学）；Department of Automation, Shanghai Jiao Tong University（自动化系，上海交通大学）；Department of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education, Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University（自动化系，教育部系统控制与信息处理重点实验室，教育部海洋智能设备与系统重点实验室，智能控制与管理工程研究中心，上海交通大学）
Magnetic Tactile-Driven Soft Actuator for Intelligent Grasping and Firmness Evaluation
Soft BioRobotics Perception Lab, Istituto Italiano di Tecnologia (IIT)（软生物机器人感知实验室，意大利技术研究院）；The BioRobotics Institute, Scuola Superiore Sant’Anna (SSSA)（生物机器人研究所，圣安娜高等学院）；Department of Haptic Intelligence, CVTE Guangzhou Shiyuan Electronics Co., Ltd（触觉智能部门，广州世渊电子有限公司）；Università degli Studi di Genova (UniGe)（热那亚大学）
Phy-Tac: Toward Human-Like Grasping via Physics-Conditioned Tactile Goals
Department of Mechanical Engineering, The Hong Kong Polytechnic University (PolyU)（香港理工大学机械工程系）；Research Institute for Smart Ageing (RISA), PolyU（PolyU智能老龄化研究所以）；Ningbo Institute of Digital Twin, Eastern Institute of Technology (EIT)（宁波数字孪生研究所，东部技术研究所）；Department of Mechanical and Energy Engineering, Southern University of Science and Technology（南方科技大学机械与能源工程系）
SoFiE: Soft Finger Exoskeleton for Intelligent Grasping
SDU Soft Robotics, SDU Biorobotics, The Maersk Mc-Kinney Moller Institute, University of Southern Denmark (SDU)（SDU柔性机器人实验室、SDU生物机器人实验室、马士基麦金尼莫勒研究所、南丹麦大学）
