paper

_pages/about.md

@@ -7,8 +7,8 @@ redirect_from:
   - /about.html
 ---
 
-[Illustration]{/
-images/profile.png}{: .align-right width="300px"}
+[Illustration](/
+images/profile.png){: .align-right width="300px"}
 
 I am a Ph.D. candidate as part of the Center for Learning Systems (CLS). My research is done at the Max Planck Institute for Intelligent Systems (MPI) and ETH Zurich.
 

_publications/2024-04-30-Sensorized-Soft-Skin-for-Dexterous-Robotic-Hands.md

@@ -1,13 +1,15 @@
 ---
 title: "Sensorized Soft Skin for Dexterous Robotic Hands"
 collection: publications
-permalink: /publication/2024-04-30-sensorized-soft-skin-for-dexterous-robotic-hands
+permalink: /publication/2024-sensorized-soft-skin-for-dexterous-robotic-hands
 excerpt: 'Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating a wide range of objects. While the control of humanoid hands evolved greatly, hardware platforms still lack capabilities, particularly in tactile sensing and providing soft contact surfaces. In this work, we present a method that equips the skeleton of a tendon-driven humanoid hand with a soft and sensorized tactile skin. Multi-material 3D printing allows us to iteratively approach a cast skin design which preserves the robot's dexterity in terms of range of motion and speed. We demonstrate that a soft skin enables firmer grasps and piezoresistive sensor integration enhances the hand's tactile sensing capabilities.'
 date: 2024-04-30
 venue: 'Arxiv'
 # slidesurl: 'http://academicpages.github.io/files/slides1.pdf'
-paperurl: http://egliJana.github.io/files/2024-04-30-sensorized-soft-skin-for-dexterous-robotic-hands.pdf #'https://arxiv.org/abs/2404.19448'
+paperurl: 'https://arxiv.org/abs/2404.19448'
 citation: 'Jana Egli and Benedek Forrai and Thomas Buchner and Jiangtao Su and Xiaodong Chen and Robert K. Katzschmann'
 ---
 
-The contents above will be part of a list of publications, if the user clicks the link for the publication than the contents of section will be rendered as a full page, allowing you to provide more information about the paper for the reader. When publications are displayed as a single page, the contents of the above "citation" field will automatically be included below this section in a smaller font.
+Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating a wide range of objects. While the control of humanoid hands evolved greatly, hardware platforms still lack capabilities, particularly in tactile sensing and providing soft contact surfaces. In this work, we present a method that equips the skeleton of a tendon-driven humanoid hand with a soft and sensorized tactile skin. Multi-material 3D printing allows us to iteratively approach a cast skin design which preserves the robot's dexterity in terms of range of motion and speed. We demonstrate that a soft skin enables firmer grasps and piezoresistive sensor integration enhances the hand's tactile sensing capabilities.
+
+[Download the paper here](https://arxiv.org/abs/2404.19448)