Human AugmentatioN via Dexterity

Thrust 1: Hands

• • High-Throughput Fabrication of Electrostatically Actuated Multifunctional Artificial Muscle Fibers
  • High-Density Multi-Modal Tactile Sensing for HAND System Integration
  • Textile Electro-Mechanical Systems for Device Fabrication (TEMS) 
  • Robotic Hand Skin and Tissue for Durability and Friction Control: Tests, Models, and Materials

Thrust 2: Intelligent Dexterity

• • Grasp-Affordance Taxonomy and Levels of Dexterity Benchmarks
  • Defining Dexterous Skills
  • DexNex Drake Sim
  • DexNex Diffusion Policies
  • Self-Supervised Learning of Soft Robot Hand Models and Control
  • Soft Hand Dexterity Learning

Thrust 3: Human Interface

• • Essential Haptic Cues for Dexterous Tasks
  • Miniaturized CVT-Enabled Haptic Glove for High-Fidelity Dexterous Manipulation
  • Mapping Dexterous Action to Interface Elements 

System Integration and Testbeds

• • Bones, Joints, and Tendons