{
  "abstract": "A method for controlling a robotic device to perform a task may include determining a force measurement corresponding to a section of sensors coupled with a digit of a plurality of digits of a robotic device. The force measurement may include a magnitude of a force and a position of a centroid of the force in the section that are determined based on contact with an object corresponding to a time. The method may further include determining a digit position of the digit corresponding to the time, and moving the digit, based on a prediction, to stabilize the object to perform a task. A machine learning model can generate the prediction based on the force measurement and the digit position. Other aspects are also described and claimed.",
  "assignees": [
    "TACTA SYSTEMS INC"
  ],
  "authors": [
    "GOLDA DARIUSZ",
    "HEGDE DARSHAN",
    "LU QINGKAI",
    "SU HARRY ZHE"
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  "source_date": "2026-04-02",
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  "title": "Controlling robotic devices to perform tasks",
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