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Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
We review the current technology underlying surface haptics that converts passive touch surfaces to active ones (machine haptics), our perception of tactile stimuli displayed through active touch surfaces (human haptics), their potential…
Robotic minimally invasive interventions typically require using more than two instruments. We thus developed a foot pedal interface which allows the user to control a robotic arm (simultaneously to working with the hands) with four degrees…
This paper considers the problem of designating navigation goal locations for interactive mobile robots. We propose a point-and-click interface, implemented with an Augmented Reality (AR) headset. The cameras on the AR headset are used to…
The sophisticated sense of touch of the human hand significantly contributes to our ability to safely, efficiently, and dexterously manipulate arbitrary objects in our environment. Robotic and prosthetic devices lack refined, tactile…
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…
Engaging with AI assistants to gather essential information in a timely manner is becoming increasingly common. Traditional activation methods, like wake words such as Hey Siri, Ok Google, and Hey Alexa, are constrained by technical…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
Social touch provides a rich non-verbal communication channel between humans and robots. Prior work has identified a set of touch gestures for human-robot interaction and described them with natural language labels (e.g., stroking,…
This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…
Gaze-based interaction techniques have created significant interest in the field of spatial interaction. Many of these methods require additional input modalities, such as hand gestures (e.g., gaze coupled with pinch). Those can be…
In human-robot interaction (HRI), detecting a human's gaze helps robots interpret user attention and intent. However, most gaze detection approaches rely on specialized eye-tracking hardware, limiting deployment in everyday settings.…
Wearable computing is one of the fastest growing technologies today. Smart watches are poised to take over at least of half the wearable devices market in the near future. Smart watch screen size, however, is a limiting factor for growth,…
Text selection is a common and essential activity during text interaction in all interactive systems. As Augmented Reality (AR) head-mounted displays (HMDs) become more widespread, they will need to provide effective interaction techniques…
Hand pointing and eye gaze have been extensively investigated in automotive applications for object selection and referencing. Despite significant advances, existing outside-the-vehicle referencing methods consider these modalities…
New and more natural human-robot interfaces are of crucial interest to the evolution of robotics. This paper addresses continuous and real-time hand gesture spotting, i.e., gesture segmentation plus gesture recognition. Gesture patterns are…
Mode-switching supports multilevel operations using a limited number of input methods. In Virtual Reality (VR) head-mounted displays (HMD), common approaches for mode-switching use buttons, controllers, and users' hands. However, they are…
Hand gestures recognition (HGR) is one of the main areas of research for the engineers, scientists and bioinformatics. HGR is the natural way of Human Machine interaction and today many researchers in the academia and industry are working…
Mid-air gestures in Extended Reality (XR) often cause fatigue and imprecision. Surface-based interactions offer improved accuracy and comfort, but current egocentric vision methods struggle due to hand tracking challenges and unreliable…
Eye movements have long been studied as a window into the attentional mechanisms of the human brain and made accessible as novelty style human-machine interfaces. However, not everything that we gaze upon, is something we want to interact…