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Uksang Yoo

@uksang.bsky.social

PhD Student at CMU RI uksangyoo.github.io

Uksang Yoo @uksang.bsky.social · 17/03/2025

🙏 This work highlights the advantages of soft robots in assistive care. Thanks to all collaborators: @ndennler.bsky.social Eliot Xing Maja Matarić Stefanos Nikolaidis @jeff-ichnowski.bsky.social Jean Oh @HRI_Conference 🧵7/7

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Uksang Yoo @uksang.bsky.social · 17/03/2025

🚀 We've already extended MOE to various dexterity projects including dynamic pen spinning (arxiv.org/abs/2411.12734) and learning in-hand manipulation from demonstration (arxiv.org/abs/2503.01078). 🧵6/7

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Uksang Yoo @uksang.bsky.social · 17/03/2025

👥 Our study with 12 participants significantly preferred MOE with force estimation-based feedback across all tasks! Feedback included: "It felt really similar to human fingers" and felt "like a head massage.”🧵5/7

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Uksang Yoo @uksang.bsky.social · 17/03/2025

🔍 The force estimation module combines visual deformation data 👁️ with tendon tensions 📈to precisely track applied forces, reducing sensing errors by up to 60% compared to tension-only approaches. 🧵4/7

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Uksang Yoo @uksang.bsky.social · 17/03/2025

Not surprisingly, MOE passively applies 74% less force than rigid grippers while grasping comparable amounts of hair. This implies MOE is capable of more comfortable care without sacrificing effectiveness.🧵3/8

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Uksang Yoo @uksang.bsky.social · 17/03/2025

💡 Rigid robots feel "rough" on hair and struggle with safety when hair obscures the scalp. 🐙🤖 We introduce MOE: a tendon-driven soft robot hand. Our system's inherent compliance provides both comfort and safer interaction. 🧵2/7

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Uksang Yoo @uksang.bsky.social · 17/03/2025

🎉Excited to share that our paper was a finalist for best paper at #HRI2025! We introduce MOE-Hair, a soft robot system for hair care 💇🏻💆🏼 that uses mechanical compliance and visual force sensing for safe, comfortable interaction. Check our work: moehair.github.io @cmurobotics.bsky.social 🧵1/7

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Reposted by Uksang Yoo

Nathan Dennler @ndennler.bsky.social · 10/01/2025

I am happy to be on a team lead by Uksang (@uksang.bsky.social) on a workshop for acoustic sensing and representations in robotics, which will be hosted at #ICRA2025! Stay tuned for more announcements and please reach out to me if you have any questions. I hope to see you in Atlanta!

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Uksang Yoo @uksang.bsky.social · 08/12/2024

Thanks! It's a dexterous soft hand that we're calling MOE. It has silicone rubber fingers with 4 tendons each that are pulled with motors to make them bend. We're preparing to open source it soon!

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Reposted by Uksang Yoo

ycyao.bsky.social @ycyao.bsky.social · 21/11/2024

Can soft robots rapidly spin pens like humans?🤔 We’ve shown that soft robot hands can master the dynamic tasks of pen spinning—no hours of GPU training or complex sim-to-real needed! Check out soft-spin.github.io. 🤖✍️ @cmurobotics.bsky.social . 1/5🧵.

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