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Author

Hao-Tian Guo

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Preprint Oct 2026

A fully articulated humanoid dexterous hand with human-level joint structure enabled by linkage-based actuation

Humanoid dexterous hands are a core component of embodied intelligence, enabling robots to translate high-level intent into rich and adaptive physical interaction. However, existing designs remain constrained by a persistent trade-off among anthropomorphic kinematic complexity, mechanical robustness, load capacity and...

Ji-Hao Li, Jian-Guo Wang, Hao-Tian Guo et al. · 0 citations
Preprint Oct 2026

MagCilia: A Compact Magnetociliary Tactile Sensor with 3D Force Sensing for Robotic Contact Perception and Grasping Feedback

Robotic grasping and surface exploration benefit from simultaneous measurement of normal and tangential forces and from surface information obtained through contact. Here, we present a compact magnetociliary tactile sensor (MagCilia) that combines a flexible magnetic-cilia structure with a Hall sensor for 3D force sens...

Yu Feng, Hao Wu, Hao-Tian Guo et al. · 1 citation

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