Related papers: Data-Driven Approach to Simulating Realistic Human…
The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…
Work-Related Musculoskeletal Disorders continue to be a major challenge in industrial environments, leading to reduced workforce participation, increased healthcare costs, and long-term disability. This study introduces a human-sensitive…
Many physical tasks such as pulling out a drawer or wiping a table can be modeled with geometric constraints. These geometric constraints are characterized by restrictions on kinematic trajectories and reaction wrenches (forces and moments)…
Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintain balance. Inspired by this behaviour, we propose a novel…
Active soft bodies can affect their shape through an internal actuation mechanism that induces a deformation. Similar to recent work, this paper utilizes a differentiable, quasi-static, and physics-based simulation layer to optimize for…
Human motion prediction is a fundamental part of many human-robot applications. Despite the recent progress in human motion prediction, most studies simplify the problem by predicting the human motion relative to a fixed joint and/or only…
This report reviews recent advancements in human motion prediction, reconstruction, and generation. Human motion prediction focuses on forecasting future poses and movements from historical data, addressing challenges like nonlinear…
Accurate and efficient simulation of modern robots remains challenging due to their high degrees of freedom and intricate mechanisms. Neural simulators have emerged as a promising alternative to traditional analytical simulators, capable of…
The analysis of human movements has been extensively studied due to its wide variety of practical applications, such as human-robot interaction, human learning applications, or clinical diagnosis. Nevertheless, the state-of-the-art still…
Understanding the well-being of cattle is crucial in various agricultural contexts. Cattle's body shape and joint articulation carry significant information about their welfare, yet acquiring comprehensive datasets for 3D body pose…
We present a novel method for estimation of 3D human poses from a multi-camera setup, employing distributed smart edge sensors coupled with a backend through a semantic feedback loop. 2D joint detection for each camera view is performed…
Physics simulation is ubiquitous in robotics. Whether in model-based approaches (e.g., trajectory optimization), or model-free algorithms (e.g., reinforcement learning), physics simulators are a central component of modern control pipelines…
Real-time synthesis of physically plausible human interactions remains a critical challenge for immersive VR/AR systems and humanoid robotics. While existing methods demonstrate progress in kinematic motion generation, they often fail to…
Manipulating an articulated object requires perceiving itskinematic hierarchy: its parts, how each can move, and howthose motions are coupled. Previous work has explored per-ception for kinematics, but none infers a complete…
Designing effective rehabilitation strategies for upper extremities, particularly hands and fingers, warrants the need for a computational model of human motor learning. The presence of large degrees of freedom (DoFs) available in these…
Multi-person motion prediction is a challenging problem due to the dependency of motion on both individual past movements and interactions with other people. Transformer-based methods have shown promising results on this task, but they miss…
Mobility impairment caused by limb loss is a significant challenge faced by millions of individuals worldwide. The development of advanced assistive technologies, such as prosthetic devices, has the potential to greatly improve the quality…
Recent advances in upper limb prostheses have led to significant improvements in the number of movements provided by the robotic limb. However, the method for controlling multiple degrees of freedom via user-generated signals remains…
Quantitatively evaluating and comparing the performance of robotic solutions that are designed to work under a variety of conditions is inherently challenging because they need to be evaluated under numerous precisely repeatable conditions…