(2019) Samsung research project

Tactile-based robotic grasping and manipulation

The project aims to develop control methods that automatically generate robot motion such that the end-effector performs a massage on human skin. The method relies on sensory feedback from tactile sensors for the following three main tasks: 1) smooth and safe landing of the end-effector on a point of initial contact on a nearby human skin, 2) applying the desired force on the skin immediately after (1), and 3) safely taking-off from the skin at a specified point and repeating the tasks (2) and (3).

Location: LASA, EPFL, Lausanne, Switzerland [Mar. 2019 – Dec. 2020]
Supervisors: Prof. Aude Billard
Funding: Funded by Samsung R&D, Korea
My role in this project: Team leader


Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage
M Khoramshahi, G Henriks, A Naef, S Mirrazavi, J Kim, A Billard
(2020) ICRA