New Dexterity Research Team

Our research lies at the intersection of robotics and bionics. We are interested in equipping robots with dexterous manipulation capabilities and enabling humans to regain lost dexterity or augment their performance, modeling, designing and controlling new robotics and bionics hardware.

The New Dexterity research group is affiliated with the Department of Mechanical Engineering at the University of Auckland in New Zealand.

Latest Video

Affordances-Oriented, Bimanual Robotic Telemanipulation


Team Members

PhD Students
Ben Chang
Anany Dwivedi
Nathan Elangovan
Lucas Ferrari Gerez
Gao Geng
Gal Gorjup
Yongje Kwon
Mojtaba Shahmohamadi
ME Students
Research Theses
Taru Naug
Varatharajan Srinivasan

ME Students
Research Projects
Waris Hasan
Harshavardhini Thiruvengadam
Undergraduate Students
Bryan Busby
Charlie Chen
Amaasha de Alwis
Lydia Hingston
Charlie Hu
Keshav Krishna
Geetanjali Lamba
Tzer Xi Lim
Jimmy Lin
Jonathan Mace
Seo In Park
Alice Xiao

We always seek exceptional students to expand our team. If you are interested in pursuing a Master of Engineering or a PhD degree, you are encouraged to contact us. A strong background in Robotics or Bionics is required. Please check also the following promotional videos of the University of Auckland. The robot hand presented in the "never stop" commercial (right) is a New Dexterity - OpenBionics prosthetic hand.

NEWS

List of recent news & activities.


October, 2018 - The New Dexterity research group got 2 awards at the 2018 Final Year Project awards ceremony. The awards are as follows:

Team members: Yige Cao and Lucy Young
Award: Beckhoff Automation Limited, industry award
Project: "Augmented Reality based Humanlike Telemanipulation with a Dual Robot Arm Hand System"

Team members: Luke Cen and Varun Karkera
Award: Caliber Design, industry award
Project: "Autonomous Package Delivery with a New Class of Reconfigurable Drones"

Congratulations!


October, 2018 - The New Dexterity research group was a bronze sponsor and an exhibitor of the IEEE International Conference on Robotics and Intelligent Systems (IROS) 2018 (Madrid, Spain).

New Dexterity


April, 2018- The New Dexterity team is developing a new class of reconfigurable drones for package delivery.


April, 2018 - A paper on muscle selection for EMG based decoding of dexterous, in-hand manipulation motions has been accepted for publication in the proceedings of the 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).


October, 2017 - The New Dexterity research group got 3 awards at the 2017 Final Year Project awards ceremony. The awards are as follows:

Team members: Gaogeng Gao and Peter Gasparini
Award: Crown Equipment / RTC group, industry award
Project: "Modeling, Analysis and Development of an Anthropomorphic Robot Hand"

Team members: Andrew McLaren and Zachary Fitzgerald
Award: EDNZ, industry award
Project: "Development of an Adaptive Robot Hand for Aerial Grasping"

Team members: Bruno Johnston and Zak Flintoff - Mechatronics Staff award
Project: "Learning to Identify Objects with Blind Grasps using a Hyper-Adaptive Robot Hand"

Bravo guys!

New Dexterity


September, 2017 - The New Dexterity research group is a bronze sponsor and an exhibitor of the IEEE International Conference on Robotics and Intelligent Systems (IROS) 2017 (Vancouver, Canada).


September, 2017 - Minas attended the IEEE International Conference on Robotics and Intelligent Systems (IROS) 2017 (Vancouver, Canada) and gave 4 talks on adaptive grasping mechanisms.


June, 2017 - 2/2 of our papers were accepted for publication in the proceedings of the IEEE International Conference on Robotics and Intelligent Systems (IROS) 2017 (Vancouver, Canada).


March, 2017 - The New Dexterity team participates with some new robot hand designs in the Maker's Space exhibition at the digiPlaySpace of the Toronto International Film Festival.


February 22, 2017 - Minas organized in collaboration with the University of Auckland General Library and Creative Commons NZ, a workshop with title "Creative Commons licenses and how to apply them".


January 16, 2017 - Minas joined the Department of Mechanical Engineering at the University of Auckland as a Lecturer (Auckland, New Zealand).

RESEARCH

Information regarding our research.


A New Family of Adaptive Hands

We work on the development of a new family of adaptive, intrinsically-compliant, under-actuated robot hands.

Robust Grasping

We propose methodologies for executing robust grasping in presence of object pose uncertainties or other environmental uncertainties and disturbances (including aerial grasping).

Dexterous, In-Hand Manipulation

We work on the development of hybrid schemes that combine numerical and learning methods for performing dexterous, in-hand manipulation with simple, adaptive robot hands. We also work on the automated extraction of dexterous, within-hand manipulation primitives to simplify the control of adaptive hands.

Single-Grasp, Model-Free Object Identification

We develop haptic object identification methodologies of minimal complexity (e.g., single-grasp, model-free).

Modelling the Post-Contact Behaviour of Adaptive Hands

We focus on modelling the post-contact behaviour of adaptive robot hands.

Soft, Adaptive Exogloves

We work on the analysis, modelling and development of soft, adaptive exogloves for rehabilitation and human augmentation.

Learning Schemes for EMG/EEG Based Interfaces

We formulate advanced learning schemes for the EMG/EEG based control of robotic and prosthetic devices.

Teleoperation and Telemanipulation

We formulate advanced teleoperation and telemanipulation schemes for robot arm hand systems.

Evaluating the Dexterity of Human and Robot Hands

We are interested in evaluating the dexterity of human and robot hands, deriving appropriate metrics for design optimization.

Reconfigurable Drones for Package Delivery

We are developing a new class of reconfigurable drones for package delivery.

DESIGNS

Here you can find our new designs. More information will be soon added to our Github page.

Thanos Soft Glove

THANOS

Thanos BP (Body Powered) and Thanos EMG (Electromyography controlled) are adaptive, tendon-driven, wearable, soft exo-gloves.

Dollarbird

Dollarbird

Dollarbird is an adaptive robot hand for aerial grasping inspired by the New Zealand Dollarbird

PUBLICATIONS

List of research papers.


Peer Reviewed Publications

2019

[#10 | PDF | ICRA #3] Geng Gao, Anany Dwivedi, Nathan Elangovan, Yige Cao, Lucy Young, and Minas Liarokapis, "The New Dexterity Adaptive, Humanlike Robot Hand," IEEE International Conference on Robotics and Automation (ICRA), 2019.

[#9 | PDF | ICRA #2] T. Bewley and M. Liarokapis, "On the Combination of Gamification and Crowd Computation in Industrial Automation and Robotics Applications," IEEE International Conference on Robotics and Automation (ICRA), 2019.

[#8 | PDF | RA-L \ ICRA #1] L. Gerez, J. Chen, and M. Liarokapis, "On the Development of Adaptive, Tendon-Driven, Wearable Exo-Gloves for Grasping Capabilities Enhancement," IEEE Robotics and Automation Letters (RA-L), 2019.

[#7 | PDF] M. Liarokapis and A. M. Dollar, "Combining Analytical Modeling and Learning to Simplify Dexterous Manipulation With Adaptive Robot Hands," IEEE Transactions on Automation Science and Engineering (T-ASE), 2019.

2018

[#6 | PDF | IROS #3] Z. Flintoff, B. Johnston, and M. Liarokapis, "Single-Grasp, Model-Free Object Classification using a Hyper-Adaptive Hand, Google Soli, and Tactile Sensors," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.

[#5 | PDF] Anany Dwivedi, Yongje Kwon, Andrew J. McDaid, and Minas Liarokapis, "EMG Based Decoding of Object Motion in Dexterous, In-Hand Manipulation Tasks," 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Enschede, Netherlands, 2018.

[#4 | PDF] Lucas Gerez and Minas Liarokapis, "A Compact Ratchet Clutch Mechanism for Fine Tendon Termination and Adjustment," IEEE International Conference on Advanced Intelligent Mechatronics, Auckland, New Zealand, 2018.

[#3 | PDF] Yongje Kwon, Anany Dwivedi, Andrew J. McDaid, and Minas Liarokapis, "On Muscle Selection for EMG Based Decoding of Dexterous, In-Hand Manipulation Motions," 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Honolulu, HI, USA, 2018.

2017

[#2 | PDF | IROS #2] M. V. Liarokapis and A. M. Dollar, "Deriving Dexterous, In-Hand Manipulation Primitives for Adaptive Robot Hands," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.

[#1| PDF | IROS #1] M. V. Liarokapis and A. M. Dollar, "Learning the Post-Contact Reconfiguration of the Hand Object System for Adaptive Grasping Mechanisms," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.

INITIATIVES

Participation in research initiatives.


OpenBionics

OpenBionics is an open-source initiative that focuses on the development of affordable, light-weight, modular robot hands and prosthetic devices, that can be easily reproduced using rapid prototyping techniques and off-the-shelf materials. Dr Minas Liarokapis is the founder of the OpenBionics initiative.

The OpenBionics prosthetic hand design won the 2015 Robotdalen International Innovation award and the 2nd Prize (out of 900 projects) of the 2015 Hackaday Prize. More information can be found at OpenBionics website: www.openbionics.org

OpenRobotHardware

OpenRobotHardware is intended to serve as a resource for efforts focusing on open and open-source mechanical and electrical hardware, with a particular focus on projects that may be useful in robotics applications, robotics research and education.

Prof. Aaron Dollar (Yale University) is the Founder / Coordinator of OpenRobotHardware, while Dr Minas Liarokapis is a Co-Founder / Technical Coordinator. More details can be found at the following URL: www.openrobothardware.org

HandCorpus

The HandCorpus is a new repository where everyone can freely share and search for different kinds of experimental data about human and robotic hands. The repository is currently supported by 7 European Research Council/European Commission funded projects, and has a growing community that consists of 22 international research groups from 18 universities and 4 research institutes, across the world.

HandCorpus was created in collaboration with Matteo Bianchi and is available at: www.handcorpus.org

VIDEOS

Research videos in chronological order.


ALUMNI

ME Students
Research Projects
Shivang Pathak, 2017
Brahmaji Alla Rudhra, 2017
Pratik Sankh, 2017
***Junan Chen, 2018
Alexandre Eichene, 2018
Ashkan Eslamighane, 2018
Sai Sasanka Jupalli, 2018
Chi-Hung Yang, 2018

ME Students
Research Theses
Helen Evans, 2019
Undergraduate Students
Part IV Research Project
Regan Cornelius, 2017
* Zachary Fitzgerald, 2017
*|** Zak Flintoff, 2017
Eythan Prendergast, 2017
*|** Yige Cao, 2018
* Luke Cen, 2018
Laurence de Burgh, 2018
* Varun Karkera, 2018
Evan Maunder ,2018
Karl Pereira ,2018
Mark Pochivalov, 2018
Brandon Samountry, 2018
Jonathan Willis, 2018
*|** Lucy Young, 2018
Undergraduate Students
Part IV + Research Assistants
* Peter Gasparini, 2017
*|** Geng Gao, 2017
*|** Bruno Johnston, 2017
Jared Lean, 2017
Nisal Manamperi, 2017
* Andrew McLaren, 2017

Undergraduate Students
Summer Research Scholarships & Internships
Mohd Babar, 2018
David Shi, 2018
** Tom Bewley, 2018
Petar Gorgiovski, 2019
Likhitha Satrasala, 2019
Students with * got a Final Year Project award.
Students with ** had their research published in a conference paper.
Students with *** had their research published in a journal paper.

CONTACT

Interested in our research? Contact us!



+64 9-923-6688
m.liarokapis@auckland.ac.nz