TWINS combines an isomorphic wearable arm device with body-surface tactile sensing to collect demonstrations and train imitation policies for contact-rich manipulation involving the arms and chest.
In: Robotics: Science and Systems (2023)
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TWINS: A Tactile Wearable Isomorphic Arm Networked System for Contact-Rich Manipulation Learning
TWINS combines an isomorphic wearable arm device with body-surface tactile sensing to collect demonstrations and train imitation policies for contact-rich manipulation involving the arms and chest.