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Whole-body 3D human mesh estimation aims to reconstruct the 3D human body, hands, and face simultaneously. Although several methods have been proposed, accurate prediction of 3D hands, which consist of 3D wrist and fingers, still remains…
Hand keypoints detection and pose estimation has numerous applications in computer vision, but it is still an unsolved problem in many aspects. An application of hand keypoints detection is in performing cognitive assessments of a subject…
This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the…
Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with…
The process of hand washing involves complex hand movements. There are six principal sequential steps for washing hands as per the World Health Organisation (WHO) guidelines. In this work, a detailed description of an aluminium rig…
This article aims to present a novel sensor-based continuous hand gesture recognition algorithm by long short-term memory (LSTM). Only the basic accelerators and/or gyroscopes are required by the algorithm. Given a sequence of input sensory…
Relocation of haptic feedback from the fingertips to the wrist has been considered as a way to enable haptic interaction with mixed reality virtual environments while leaving the fingers free for other tasks. We present a pair of wrist-worn…
Hand pose estimation from 3D depth images, has been explored widely using various kinds of techniques in the field of computer vision. Though, deep learning based method improve the performance greatly recently, however, this problem still…
The current state-of-the-art hand gesture recognition methodologies heavily rely in the use of machine learning. However there are scenarios that machine learning cannot be applied successfully, for example in situations where data is…
It is challenging to grasp numerous objects with varying sizes and shapes with a single robot hand. To address this, we propose a new robot hand called the 'F3 hand' inspired by the complex movements of human index finger and thumb. The F3…
Hands are the central means by which humans manipulate their world and being able to reliably extract hand state information from Internet videos of humans engaged in their hands has the potential to pave the way to systems that can learn…
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…
Dexterous in-hand manipulation is a unique and valuable human skill requiring sophisticated sensorimotor interaction with the environment while respecting stability constraints. Satisfying these constraints with generated motions is…
Tactile information plays a critical role in human dexterity. It reveals useful contact information that may not be inferred directly from vision. In fact, humans can even perform in-hand dexterous manipulation without using vision. Can we…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…
We study the problem of making 3D scene reconstructions interactive by asking the following question: can we predict the sounds of human hands physically interacting with a scene? First, we record a video of a human manipulating objects…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…
We tackle the problem of forecasting bimanual 3D hand motion & articulation from a single image in everyday settings. To address the lack of 3D hand annotations in diverse settings, we design an annotation pipeline consisting of a diffusion…
We present a method for controlling a simulated humanoid to grasp an object and move it to follow an object's trajectory. Due to the challenges in controlling a humanoid with dexterous hands, prior methods often use a disembodied hand and…