Related papers: Synergy-Based Hand Pose Sensing: Optimal Glove Des…
3D reconstruction serves as the foundational layer for numerous robotic perception tasks, including 6D object pose estimation and grasp pose generation. Modern 3D reconstruction methods for objects can produce visually and geometrically…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
This work devises an optimized machine learning approach for human arm pose estimation from a single smartwatch. Our approach results in a distribution of possible wrist and elbow positions, which allows for a measure of uncertainty and the…
Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as…
Dynamic hand tracking and gesture recognition is a hard task since there are many joints on the fingers and each joint owns many degrees of freedom. Besides, object occlusion is also a thorny issue in finger tracking and posture…
For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…
This report describes our 1st place solution to ECCV 2022 challenge on Human Body, Hands, and Activities (HBHA) from Egocentric and Multi-view Cameras (hand pose estimation). In this challenge, we aim to estimate global 3D hand poses from…
3D hand-mesh reconstruction from RGB images facilitates many applications, including augmented reality (AR). However, this requires not only real-time speed and accurate hand pose and shape but also plausible mesh-image alignment. While…
The design of functional seating furniture is a complicated process which often requires extensive manual design effort and empirical evaluation. We propose a computational design framework for pose-driven automated generation of…
We present Ring-a-Pose, a single untethered ring that tracks continuous 3D hand poses. Located in the center of the hand, the ring emits an inaudible acoustic signal that each hand pose reflects differently. Ring-a-Pose imposes minimal…
3D hand pose estimation has received a lot of attention for its wide range of applications and has made great progress owing to the development of deep learning. Existing approaches mainly consider different input modalities and settings,…
This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the…
Every time a person encounters an object with a given degree of familiarity, he/she immediately knows how to grasp it. Adaptation of the movement of the hand according to the object geometry happens effortlessly because of the accumulated…
Humans excel at grasping objects and manipulating them. Capturing human grasps is important for understanding grasping behavior and reconstructing it realistically in Virtual Reality (VR). However, grasp capture - capturing the pose of a…
Precision grasps with multi-fingered hands are important for precise placement and in-hand manipulation tasks. Searching precision grasps on the object represented by point cloud, is challenging due to the complex object shape,…
In recent years, there has been a considerable amount of research in the Gesture Recognition domain, mainly owing to the technological advancements in Computer Vision. Various new applications have been conceptualised and developed in this…
Reconstructing two-hand interactions from a single image is a challenging problem due to ambiguities that stem from projective geometry and heavy occlusions. Existing methods are designed to estimate only a single pose, despite the fact…
Pose Graph Optimization involves the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric computer vision. In this paper, we consider the case in…
Surface electromyography (sEMG) is becoming exceeding useful in applications involving analysis of human motion such as in human-machine interface, assistive technology, healthcare and prosthetic development. The proposed work presents a…
3D pose estimation from sparse multi-views is a critical task for numerous applications, including action recognition, sports analysis, and human-robot interaction. Optimization-based methods typically follow a two-stage pipeline, first…