π This work highlights the advantages of soft robots in assistive care. Thanks to all collaborators: @ndennler.bsky.social Eliot Xing Maja MatariΔ Stefanos Nikolaidis @jeff-ichnowski.bsky.social Jean Oh @HRI_Conference π§΅7/7
Uksang Yoo
Can soft robots rapidly spin pens like humans?π€ Weβve shown that soft robot hands can master the dynamic tasks of pen spinningβno hours of GPU training or complex sim-to-real needed! Check out soft-spin.github.io. π€βοΈ @cmurobotics.bsky.social .
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π The force estimation module combines visual deformation data ποΈ with tendon tensions πto precisely track applied forces, reducing sensing errors by up to 60% compared to tension-only approaches. π§΅4/7
Not surprisingly, MOE passively applies 74% less force than rigid grippers while grasping comparable amounts of hair. This implies MOE is capable of more comfortable care without sacrificing effectiveness.π§΅3/8
π₯ Our study with 12 participants significantly preferred MOE with force estimation-based feedback across all tasks! Feedback included: "It felt really similar to human fingers" and felt "like a head massage.βπ§΅5/7
π‘ Rigid robots feel "rough" on hair and struggle with safety when hair obscures the scalp. ππ€ We introduce MOE: a tendon-driven soft robot hand. Our system's inherent compliance provides both comfort and safer interaction. π§΅2/7
πExcited to share that our paper was a finalist for best paper at #HRI2025! We introduce MOE-Hair, a soft robot system for hair care ππ»ππΌ that uses mechanical compliance and visual force sensing for safe, comfortable interaction. Check our work: moehair.github.io @cmurobotics.bsky.social π§΅1/7
I am happy to be on a team lead by Uksang (@uksang.bsky.social) on a workshop for acoustic sensing and representations in robotics, which will be hosted at #ICRA2025! Stay tuned for more announcements and please reach out to me if you have any questions. I hope to see you in Atlanta!
