Yi Herng Ong
Papers
3
Total Citations
17
H-Index
3
About
Yi Herng Ong investigates the intersection of robotic manipulation and human dexterity, focusing on how robots can grasp objects more intelligently. His key research areas include near-contact grasping, geometric feature representation, and the analysis of underactuated and compliant robotic hands. Ong’s major contribution is the development of geometric feature representations that capture hand-object relationships before physical contact, offering stability under noise in joint and pose variation—a critical advancement for robust robotic grasping. His human-subjects study approach, which analyzes manipulation performance across different hand morphologies (underactuated vs. fully actuated), has provided foundational insights into how actuation and compliance affect dexterity. Notably, his work on near-contact grasping strategies reveals how humans adapt coordinated finger movements for awkward poses, informing more adaptive robotic algorithms. With over 17 citations across his most-cited papers, Ong’s research bridges biomechanics and robotics, offering practical frameworks for improving robotic hand design and control in constrained environments. His findings are particularly valuable for developing more capable prosthetic and industrial grippers.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3