“Handoid: Inter-morphologic Robotic Hand Avatar for Multi Presence” by Shimobayashi, Sasaki, Hirose, Yoshida and Inami
Conference:
Experience Type(s):
Title:
- Handoid: Inter-morphologic Robotic Hand Avatar for Multi Presence
Organizer(s)/Presenter(s):
Interest Areas(s):
- Gaming & Entertainment
- New Technologies
- Research / Education
Description:
Robotic hands have been developed by many researchers to emulate human hand dexterity to enhance object manipulation. However, the mainstream of the robotic hand has been designed as part of the user’s body, and research scopes have been limited to improving functions to achieve human hands. In this paper, we propose Handoid, a novel robotic hand avatar that switches its morphology between acting as a part of a humanoid robot and an independent hand-shaped robot avatar physically separated from themain body. The prototype consists of a human-like robotic hand, an avatar robot acting as a user’s alter ego, a detachable mechanism for seamless attachment/detachment, and control software incorporating machine learning for generating walking motions. In the demonstration, users can experience the intuitive control of the telexistence robot, and the semi-autonomous walking of the robotic hand. This opens up novel possibilities for robotic hands.
References:
[1] Atsushi Izumihara, Tomoya Sasaki, Masahiro Ogino, Reona Takamura, and Masahiko Inami. 2019. Transfantome: transformation into bodies of various scale and structure in multiple spaces. In SIGGRAPH ’19: ACM SIGGRAPH 2019 Emerging Technologies. ACM, New York, NY, USA.
[2] C Piazza, G Grioli, M G Catalano, and A Bicchi. 2019. A Century of Robotic Hands. Annu. Rev. Control Robot. Auton. Syst. 2, 1 (May 2019), 1–32.
[3] Tomoya Sasaki, Hideki Shimobayashi, Marwan Hamze, and Masahiko Inami. 2025. Locomotion Generation of Hand-Shaped Robotic Avatar. In Proceedings of the Augmented Humans International Conference 2025(AHs ’25). ACM.
[4] Susumu Tachi, Yasuyuki Inoue, and Fumihiro Kato. 2020. TELESAR VI: Telexistence Surrogate Anthropomorphic Robot VI. Int. J. HR 17, 05 (Oct. 2020), 2050019.
[5] Shigeo Yoshida, Tomoya Sasaki, Zendai Kashino, and Masahiko Inami. 2023. TOMURA: A Mountable Hand-shaped Interface for Versatile Interactions. In Proceedings of the Augmented Humans International Conference 2023(AHs ’23). ACM, 243–254.
