Jae-Hyun Lee | Searcharxiv

arXiv2025

Underactuated Robotic Hand with Grasp State Estimation Using Tendon-Based Proprioception

Anthropomorphic underactuated hands are valued for their structural simplicity and inherent adaptability. However, the uncertainty arising from interdependent joint motions makes it challenging to capture various grasp states during hand-object interaction without increasing structural complexity through multiple embedded sensors. This motivates the need for an approach that can extract rich grasp-state information from a single sensing source while preserving the simplicity of underactuation. This study proposes an anthropomorphic underactuated hand that achieves comprehensive grasp state estimation, using only tendon-based proprioception provided by series elastic actuators (SEAs). Our approach is enabled by the design of a compact SEA with high accuracy and reliability that can be seamlessly integrated into sensorless fingers. By coupling accurate proprioceptive measurements with potential energy-based modeling, the system estimates multiple key grasp state variables, including contact timing, joint angles, relative object stiffness, and external disturbances. Finger-level experimental validations and extensive hand-level grasp functionality demonstrations confirmed the effectiveness of the proposed approach. These results highlight tendon-based proprioception as a compact and robust sensing modality for practical manipulation without reliance on vision or tactile feedback.

cs.RO↗

arXiv2017

Deep Learning Based NLOS Identification with Commodity WLAN Devices

Identifying line-of-sight (LOS) and non-LOS (NLOS) channel conditions can improve the performance of many wireless applications, such as signal strength-based localization algorithms. For this purpose, channel state information (CSI) obtained by commodity IEEE 802.11n devices can be used, because it contains information about channel impulse response (CIR). However, because of the limited sampling rate of the devices, a high-resolution CIR is not available, and it is difficult to detect the existence of an LOS path from a single CSI measurement, but it can be inferred from the variation pattern of CSI over time. To this end, we propose a recurrent neural network (RNN) model, which takes a series of CSI to identify the corresponding channel condition. We collect numerous measurement data under an indoor office environment, train the proposed RNN model, and compare the performance with those of existing schemes that use handcrafted features. The proposed method efficiently learns a non-linear relationship between input and output, and thus, yields high accuracy even for data obtained in a very short period.

cs.NI↗