Sungwoo Park

KineFuse: Kinematic-Aware Haptic Fusion for In-Hand Occluded-Object Pose Tracking

Chanyoung Ahn, Jaesung Lee, Sungwoo Park, Donghyun Hwang

Dexterous in-hand manipulation requires continuous 6D pose tracking, yet the manipulating fingers inevitably occlude the object from the camera. We study how to structure the sparse haptic signals already available on multi-fingered hands, including proprioception, proximal force…Read more