publications

2026

1. 

   

   Transferring Contact, Not Just Motion: Compliant Grasping Across Dexterous Hands

   Soofiyan Atar, Yao-Ting Huang, and Michael Yip

   arXiv preprint arXiv:2606.15516, 2026

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   Dexterous grasping depends on contact regulation, not motion alone. Stable manipulation requires fingers to maintain appropriate object loading as contacts slip, deform, or become visually occluded. Existing cross-embodiment dexterous policies unify motion through retargeted hand poses or latent actions, but force feedback remains tied to each hand’s sensing and actuation, limiting transfer. This work introduces a cross-embodiment force-position interface for contact-aware manipulation across heterogeneous dexterous hands. Motion intent is represented in a shared hand-pose latent, while each hand’s effort signal is calibrated through system identification into physical joint torque in N.m. These torques are mapped to fingertip forces and compact per-finger load descriptors, giving the policy comparable observations of where the hand should move and how the object is loaded. Using this interface, a flow-matching visuomotor policy is trained on vision, proprioception, and calibrated contact, with structured visual masking that encourages reliance on force under grasp-relevant occlusion. The same calibrated signal drives a hybrid force-position controller for demonstration collection and execution, keeping force targets consistent across training and deployment. Experiments across structurally different hands show that calibrated contact feedback enables transferable compliant grasping, with learned primitives reusable in long-horizon manipulation pipelines.

2025

1. 

   In-Hand Manipulation of Articulated Tools with Dexterous Robot Hands with Sim-to-Real Transfer

   Soofiyan Atar, Daniel Huang, Florian Richter, and Michael Yip

   arXiv preprint arXiv:2509.23075, 2025

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   Reinforcement learning (RL) and sim-to-real transfer have advanced robotic manipulation of rigid objects. Yet, policies remain brittle when applied to articulated mechanisms due to contact-rich dynamics and under-modeled joint phenomena such as friction, stiction, backlash, and clearances. We address this challenge through dexterous in-hand manipulation of articulated tools using a robotic hand with reduced articulation and kinematic redundancy relative to the human hand. Our controller augments a simulation-trained base policy with a sensor-driven refinement learned from hardware demonstrations, conditioning on proprioception and target articulation states while fusing whole-hand tactile and force feedback with the policy’s internal action intent via cross-attention-based integration. This design enables online adaptation to instance-specific articulation properties, stabilizes contact interactions, regulates internal forces, and coordinates coupled-link motion under perturbations. We validate our approach across a diversity of real-world examples, including scissors, pliers, minimally invasive surgical tools, and staplers. We achieve robust transfer from simulation to hardware, improved disturbance resilience, and generalization to previously unseen articulated tools, thereby reducing reliance on precise physical modeling in contact-rich settings.

2. 

   The N2D Haptic Glove: A Multi-Finger Glove for 2D Directional Force Feedback for Contact Rich Manipulation

   Yao-Ting Huang, Jake Honma, Omar Hernandez, Logan Li, Kaitlin Calimbahin, Bryce Hackel, and Michael C. Yip

   arXiv preprint arXiv:2606.14083, 2025

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   Humans rely on directional fingertip cues, particularly normal forces, to probe and regulate contact during manipulation, yet most wearable gloves render only vibration or single-axis force, leaving direction ambiguous. Without directional cues, users must infer contact force from vision alone, which leads to over-pressing, inconsistent control, and reduced precision in robotic teleoperation. We present the N2D Haptic Glove, a multi-finger wearable device that renders planar vector forces at each fingertip using a compact, transparency-focused mechanical design with on-hand actuation that preserves natural motion. Through benchtop validations and teleoperation user studies involving haptically teleoperating a humanoid robot, we demonstrate that multi-directional fingertip feedback significantly improves user ability to regulate contact, reduce overshoot, and improve consistency in interactions compared to visual-only or 1D haptic feedback. These findings establish the N2D Haptic Glove and directional finger-based haptics device as an important modality for contact-rich teleoperation, immersive simulation, and robot learning from demonstrations.