Related papers: Deformation Capture via Soft and Stretchable Senso…
Shape control of deformable objects is a challenging and important robotic problem. This paper proposes a model-free controller using novel 3D global deformation features based on modal analysis. Unlike most existing controllers using…
We present a zero-shot deformation reconstruction framework for soft robots that operates without any visual supervision at inference time. In this work, zero-shot deformation reconstruction is defined as the ability to infer object-wide…
Soft robots have a myriad of potentials because of their intrinsically compliant bodies, enabling safe interactions with humans and adaptability to unpredictable environments. However, most of them have limited actuation speeds, require…
Grasp synthesis for 3D deformable objects remains a little-explored topic, most works aiming to minimize deformations. However, deformations are not necessarily harmful -- humans are, for example, able to exploit deformations to generate…
Soft robots enable safe, adaptive interaction with complex environments but remain difficult to sense and control due to their highly deformable structures. Architected soft materials such as helicoid lattices offer tunable stiffness and…
Wearable inertial motion capture (MoCap) provides a portable, occlusion-free, and privacy-preserving alternative to camera-based systems, but its accuracy depends on tightly attached sensors - an intrusive and uncomfortable requirement for…
Recent monocular human performance capture approaches have shown compelling dense tracking results of the full body from a single RGB camera. However, existing methods either do not estimate clothing at all or model cloth deformation with…
3D human motion capture from monocular RGB images respecting interactions of a subject with complex and possibly deformable environments is a very challenging, ill-posed and under-explored problem. Existing methods address it only weakly…
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…
Tactile sensing in soft robots remains particularly challenging because of the coupling between contact and deformation information which the sensor is subject to during actuation and interaction with the environment. This often results in…
Shape retrieval and alignment are a promising avenue towards turning 3D scans into lightweight CAD representations that can be used for content creation such as mobile or AR/VR gaming scenarios. Unfortunately, CAD model retrieval is limited…
Realtime shape estimation of continuum objects and manipulators is essential for developing accurate planning and control paradigms. The existing methods that create dense point clouds from camera images, and/or use distinguishable markers…
With the increasing demand for human-computer interaction (HCI), flexible wearable gloves have emerged as a promising solution in virtual reality, medical rehabilitation, and industrial automation. However, the current technology still has…
Imitation learning from human hand motion data presents a promising avenue for imbuing robots with human-like dexterity in real-world manipulation tasks. Despite this potential, substantial challenges persist, particularly with the…
Exploring and modeling heterogeneous elastic surfaces requires multiple interactions with the environment and a complex selection of physical material parameters. The most common approaches model deformable properties from sets of offline…
User interfaces provide an interactive window between physical and virtual environments. A new concept in the field of human-computer interaction is a soft user interface; a compliant surface that facilitates touch interaction through…
Human limb motion tracking and recognition plays an important role in medical rehabilitation training, lower limb assistance, prosthetics design for amputees, feedback control for assistive robots, etc. Lightweight wearable sensors,…
Non-contact radar-based human sensing is often interpreted using simplified motion assumptions. However, respiration induces non-rigid surface deformation of the human body that impacts electromagnetic wave scattering and can degrade the…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Wearable electronics are emerging as essential tools for health monitoring, haptic feedback, and human-computer interactions. While stable contact at the device-body interface is critical for these applications, it remains challenging due…