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The advent of industrial robotics and autonomous systems endow human-robot collaboration in a massive scale. However, current industrial robots are restrained in co-working with human in close proximity due to inability of interpreting…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
Learning to solve precision-based manipulation tasks from visual feedback using Reinforcement Learning (RL) could drastically reduce the engineering efforts required by traditional robot systems. However, performing fine-grained motor…
We investigate whether behavior cloning is sufficient to produce active perception in a structured object-finding task. A low-cost robot arm equipped with a wrist-mounted egocentric RGB camera must reposition to center a partially visible…
We are interested in anticipating as early as possible the target location of a person's object manipulation action in a 3D workspace from egocentric vision. It is important in fields like human-robot collaboration, but has not yet received…
We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for minimally invasive surgery, which, unlike previous methods, takes into account both the position and orientation information from structures in the…
This paper presents a new method to describe spatio-temporal relations between objects and hands, to recognize both interactions and activities within video demonstrations of manual tasks. The approach exploits Scene Graphs to extract key…
We address the challenging task of anticipating human-object interaction in first person videos. Most existing methods ignore how the camera wearer interacts with the objects, or simply consider body motion as a separate modality. In…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
In this paper the concept of a machine learning based hands-on detection algorithm is proposed. The hand detection is implemented on the hardware side using a capacitive method. A sensor mat in the steering wheel detects a change in…
This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…
Effects of computer generated 2D and 3D views on the time and precision of bare-handed or tool-mediated eye-hand coordination were investigated in a pick-and-place-task with complete novices. All of them scored well above average in spatial…
The surgical usage of Mixed Reality (MR) has received growing attention in areas such as surgical navigation systems, skill assessment, and robot-assisted surgeries. For such applications, pose estimation for hand and surgical instruments…
We present a unified framework for understanding 3D hand and object interactions in raw image sequences from egocentric RGB cameras. Given a single RGB image, our model jointly estimates the 3D hand and object poses, models their…
We interact with the world with our hands and see it through our own (egocentric) perspective. A holistic 3Dunderstanding of such interactions from egocentric views is important for tasks in robotics, AR/VR, action recognition and motion…
Recent advances in computer vision have made it possible to automatically assess from videos the manipulation skills of humans in performing a task, which breeds many important applications in domains such as health rehabilitation and…
Human-swarm interaction has recently gained attention due to its plethora of new applications in disaster relief, surveillance, rescue, and exploration. However, if the task difficulty increases, the performance of the human operator…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…