SOURCE-LINKED INTELLIGENCE
Real-Time Force Regulation for Whole-Hand Dexterous Grasping
Robust dexterous grasping requires maintaining physical stability despite contacts interactively evolving across the entire hand. A precomputed force distribution can easily fail under object motion, modeling errors, or external disturbances. In this paper, we present a framework for real-time force regulation over dynamically changing whole-hand contacts. Our method geometrically estimates contacts across all hand links using a tracked object model and proprioception, without requiring tactile sensing at those contacts. It repeatedly recomputes the desired contact-force distribution subject t
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-24T16:31:51.000Z
First collected: 2026-09-25T06:12:46.948Z. This is not the publication date.