Uksang Yoo
Dexterous in-hand manipulation
Contact
Publications
Soft and Compliant Contact-Rich Hair Manipulation and Care
U Yoo, N Dennler, E Xing, M Matarić, S Nikolaidis, J Ichnowski, J Oh
2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2025 • 2025
SonicBoom: Contact Localization Using Array of Microphones
M Lee, U Yoo, J Oh, J Ichnowski, G Kantor, O Kroemer
IEEE Robotics and Automation Letters, 2025 • 2025
Soft robotic dynamic in-hand pen spinning
Y Yao, U Yoo, J Oh, CG Atkeson, J Ichnowski
2025 IEEE International Conference on Robotics and Automation (ICRA), 1-7, 2025 • 2025
Visuo-Acoustic Hand Pose and Contact Estimation
Y Mao, U Yoo, Y Yao, SN Syed, L Bondi, J Francis, J Oh, J Ichnowski
arXiv preprint arXiv:2508.00852, 2025 • 2025
KineSoft: Learning Proprioceptive Manipulation Policies with Soft Robot Hands
U Yoo, J Francis, J Oh, J Ichnowski
2025 Conference on Robot Learning (CoRL), 2025 • 2025
DYMO-Hair: Generalizable Volumetric Dynamics Modeling for Robot Hair Manipulation
C Zhao, U Yoo, AN Chaudhury, G Nam, J Francis, J Ichnowski, J Oh
arXiv preprint arXiv:2510.06199, 2025 • 2025
PneuGelSight: Soft robotic vision-based proprioception and tactile sensing
R Zhang, U Yoo, Y Li, A Argawal, W Yuan
The International Journal of Robotics Research, 02783649251378153, 2025 • 2025
Modeling Personalized Difficulty of Rehabilitation Exercises Using Causal Trees
N Dennler, Z Shi, U Yoo, S Nikolaidis, M Matarić
arXiv preprint arXiv:2505.04583, 2025 • 2025
Poe: Acoustic soft robotic proprioception for omnidirectional end-effectors
U Yoo, Z Lopez, J Ichnowski, J Oh
2024 IEEE International Conference on Robotics and Automation (ICRA), 14980 …, 2024 • 2024
Ropotter: Toward robotic pottery and deformable object manipulation with structural priors
U Yoo, A Hung, J Francis, J Oh, J Ichnowski
2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids …, 2024 • 2024
Moe-hair: Toward soft and compliant contact-rich hair manipulation and care
U Yoo, N Dennler, M Mataric, S Nikolaidis, J Oh, J Ichnowski
Companion of the 2024 ACM/IEEE International Conference on Human-Robot …, 2024 • 2024
Pylips: an open-source python package to expand participation in embodied interaction
NS Dennler, E Torrence, U Yoo, S Nikolaidis, M Mataric
Adjunct Proceedings of the 37th Annual ACM Symposium on User Interface …, 2024 • 2024
Inclusion in Assistive Haircare Robotics: Practical and Ethical Considerations in Hair Manipulation
U Yoo, N Dennler, S Patil, J Oh, J Ichnowski
4th Diversity, Equity, & Inclusion in HRI Workshop, 2024 • 2024
Programmable elastomer robot system and methods
F Alambeigi, U Yoo
US Patent App. 18/559,610, 2024 • 2024
Toward zero-shot sim-to-real transfer learning for pneumatic soft robot 3d proprioceptive sensing
U Yoo, H Zhao, A Altamirano, W Yuan, C Feng
arXiv preprint arXiv:2303.04307, 2023 • 2023
Influence of antagonistic tensions on distributed friction forces of multisegment tendon-driven continuum manipulators with irregular geometry
Y Liu, U Yoo, S Ha, SF Atashzar, F Alambeigi
IEEE/ASME Transactions on Mechatronics 27 (5), 2418-2428, 2022 • 2022
In-Hand Pose Estimation with Optical Tactile Sensor for Robotic Electronics Assembly
U Yoo, W Yuan
Tech. Rep, 2022 • 2022
Four-dimensional tactile sensing system, device, and method
F ALAMBEIGI, U Yoo, N Ikoma, O Can Kara
WO Patent App. WO2023081342A1, 2022 • 2022
Analytical design of a pneumatic elastomer robot with deterministically adjusted stiffness
U Yoo, Y Liu, AD Deshpande, F Alamabeigi
IEEE robotics and automation letters 6 (4), 7773-7780, 2021 • 2021
Coolers Including Movable Thermoelectric Coolers and Related Methods
A Menta, U Yoo
US Patent App. US20210278109A1, 2021 • 2021
Toward analytical modeling and evaluation of curvature-dependent distributed friction force in tendon-driven continuum manipulators
Y Liu, SH Ahn, U Yoo, AR Cohen, F Alambeigi
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020 • 2020
Vision-Based Proprioception and Tactile Sensing for Soft Pneumatic Robots
R Zhang, U Yoo, Y Li, A Argawal, W Yuan
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SoftBiT: Soft Bimanual Teleoperation with Proprioceptive Visual Augmentation
T Inui, U Yoo, J Ichnowski, J Oh
HRI 2025 Workshop VAM-HRI, 0 •