Related papers: Human Robot Interface for Assistive Grasping
Multimodal tactile sensing could potentially enable robots to improve their performance at manipulation tasks by rapidly discriminating between task-relevant objects. Data-driven approaches to this tactile perception problem show promise,…
Achieving human-level dexterity in contact-rich, tool-mediated manipulation remains a significant challenge due to visual occlusion and the underdetermined nature of haptic sensing. This paper introduces a parameterized Equilibrium Manifold…
We propose a novel pipeline for unknown object grasping in shared robotic autonomy scenarios. State-of-the-art methods for fully autonomous scenarios are typically learning-based approaches optimised for a specific end-effector, that…
A successful grasp requires careful balancing of the contact forces. Deducing whether a particular grasp will be successful from indirect measurements, such as vision, is therefore quite challenging, and direct sensing of contacts through…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Wearable and Assistive robotics for human grasp support are broadly either tele-operated robotic arms or act through orthotic control of a paralyzed user's hand. Such devices require correct orientation for successful and efficient…
Vision-based human-to-robot handover is an important and challenging task in human-robot interaction. Recent work has attempted to train robot policies by interacting with dynamic virtual humans in simulated environments, where the policies…
Recent technological advances have made head-mounted displays (HMDs) smaller and untethered, fostering the vision of ubiquitous interaction with information in a digitally augmented physical world. For interacting with such devices, three…
Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…
In this paper, we propose a novel representation for grasping using contacts between multi-finger robotic hands and objects to be manipulated. This representation significantly reduces the prediction dimensions and accelerates the learning…
Autonomous robots have the potential to serve as versatile caregivers that improve quality of life for millions of people worldwide. Yet, conducting research in this area presents numerous challenges, including the risks of physical…
In this paper, we present a putEMG dataset intended for evaluation of hand gesture recognition methods based on sEMG signal. The dataset was acquired for 44 able-bodied subjects and include 8 gestures (3 full hand gestures, 4 pinches, and…
Rehabilitation training for patients with motor disabilities usually requires specialized devices in rehabilitation centers. Home-based multi-purpose training would significantly increase treatment accessibility and reduce medical costs.…
This paper proposes an interactive system for mobile devices controlled by hand gestures aimed at helping people with visual impairments. This system allows the user to interact with the device by making simple static and dynamic hand…
Meal preparation is an important instrumental activity of daily living~(IADL). While existing research has explored robotic assistance in meal preparation tasks such as cutting and cooking, the crucial task of peeling has received less…
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…
Handovers frequently occur in our social environments, making it imperative for a collaborative robotic system to master the skill of handover. In this work, we aim to investigate the relationship between the grip force variation for a…
Touch is a fundamental aspect of emotion-rich communication, playing a vital role in human interaction and offering significant potential in human-robot interaction. Previous research has demonstrated that a sparse representation of human…
In human-robot interaction (HRI), the beginning of an interaction is often complex. Whether the robot should communicate with the human is dependent on several situational factors (e.g., the current human's activity, urgency of the…
This paper investigates integrating large language models (LLMs) with advanced hardware, focusing on developing a general-purpose device designed for enhanced interaction with LLMs. Initially, we analyze the current landscape, where virtual…