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Synergy-Based Force Signal Compression for Human In-Hand Manipulation

ERIE lab, CWRU

Advisor: Prof. Zonghe Chua

In-hand manipulation plays a critical role in high-performance teleoperation and immersive, embodied virtual interactions. In this project, we embed three ATI force/torque sensors into an in-hand-sized object to capture multi-finger manipulation forces and investigate preliminary synergy-based force signal compression strategies.

System overview
The CAD design of the in-hand-sized object integrated with three ATI Nano-17 F/T sensors.