Author

Sangbae Kim

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Preprint Sep 2026

Real-Time Force Regulation for Whole-Hand Dexterous Grasping

Robust dexterous grasping requires maintaining physical stability despite contacts interactively evolving across the entire hand. A precomputed force distribution can easily fail under object motion, modeling errors, or external disturbances. In this paper, we present a framework for real-time force regulation over dyn...

Sang Min Kim, Alexander Alexiev, Tzu-Yuan Lin et al. · 0 citations

Preprint Sep 2026

See to Reach, Feel to Grasp: Learning A Blind Grasp Reflex for Anthropomorphic Robotic Hands

In this work we study if a robotic hand using proprioception alone can grasp diverse objects with no visual observation. We present a modular dexterous grasping architecture that separates global arm motion from local contact control. An independently controlled arm guides the hand toward the object, while a reinforcem...

Alexander Alexiev, Tzu-Yuan Lin, Sang Min Kim et al. · 0 citations

Preprint Sep 2026

Steerable and Reactive Grasping Through Modular Design with a Three-Point Interface

Dexterous grasping requires deciding where to grasp, reaching the target, and maintaining stable contact. We connect these stages through a compact three-point interface that separates global geometric reasoning from local contact control. Given object geometry and optional language commands, our framework samples cont...

Andre Nguyen, Yonghyeon Lee, Sangbae Kim · 0 citations