Author

Hao Su

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Preprint Oct 2026

EgoThumb: A Vision-Driven Supernumerary Robotic Thumb for Autonomous Grasp and Holding Assistance

Supernumerary robotic fingers augment human dexterity by enabling a single hand to perform complex"hold-and-manipulate"tasks that typically require bimanual coordination. However, existing devices are often hindered by bulky hardware that limits interaction to large objects and rely on explicit hand motion triggers tha...

Jian-Yu Hou, Jia-Wei Fu, Wei-Kang Wan et al. · 0 citations

Preprint Oct 2026

DexFLEX: Contact-Aware Foundation Controller for Command-Guided Dexterity

Dexterous robot hands can receive useful motion intent from teleoperation or learned policies, but successful execution also depends on contact decisions that these commands rarely specify. We introduce DexFLEX, a contact-aware foundation controller that turns upstream fingertip-motion drafts into contact-consistent jo...

Wei-Kang Wan, Ze-Yu Lai, Jian-Yu Hou et al. · 0 citations