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The multi-scale nature of architectured materials raises the need for advanced experimental methods suitable for the identification of their effective properties, especially when their size is finite and they undergo extreme deformations.…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
Stereo optical measurement techniques, such as digital image correlation (DIC), are widely used in 3D deformation measurement as non-contact, full-field measurement methods, in which stereo calibration is a crucial step. However, current…
Interrupted X-ray computed tomography (X-CT) has been the common way to observe the deformation of materials during an experiment. While this approach is effective for quasi-static experiments, it has never been possible to reconstruct a…
Free-form bones, that conform closely to the surface, can effectively capture non-rigid deformations, but lack a kinematic structure necessary for intuitive control. Thus, we propose a Scaffold-Skin Rigging System, termed "Skelebones", with…
In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…
Online continuous action recognition has emerged as a critical research area due to its practical implications in real-world applications, such as human-computer interaction, healthcare, and robotics. Among various modalities,…
While manipulating rigid objects is an extensively explored research topic, deformable linear object (DLO) manipulation seems significantly underdeveloped. A potential reason for this is the inherent difficulty in describing and observing…
In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…
We propose a hardware and software pipeline to fabricate flexible wearable sensors and use them to capture deformations without line of sight. Our first contribution is a low-cost fabrication pipeline to embed multiple aligned conductive…
The latest developments in 3D capturing, processing, and rendering provide means to unlock novel 3D application pathways. The main elements of an integrated platform, which target tele-immersion and future 3D applications, are described in…
In this work, we show that exploiting additional variables in a mixed finite element formulation of deformation leads to an efficient physics-based character skinning algorithm. Taking as input, a user-defined rig, we show how to…
Accurate 3D shape abstraction from a single 2D image is a long-standing problem in computer vision and graphics. By leveraging a set of primitives to represent the target shape, recent methods have achieved promising results. However, these…
This paper proposes a novel algorithm for the problem of structural image segmentation through an interactive model-based approach. Interaction is expressed in the model creation, which is done according to user traces drawn over a given…
Industrial assembly of deformable linear objects (DLOs) such as cables offers great potential for many industries. However, DLOs pose several challenges for robot-based automation due to the inherent complexity of deformation and,…
We present the first real-time system capable of tracking and reconstructing, individually, every visible object in a given scene, without any form of prior on the rigidness of the objects, texture existence, or object category. In contrast…
Decoupling approach presents a novel solution/alternative to the highly time-consuming fluid-thermal-structural simulation procedures when thermal effects and resultant displacements on machine tools are analyzed. Using high dimensional…
Tracking the full skeletal pose of the hands and fingers is a challenging problem that has a plethora of applications for user interaction. Existing techniques either require wearable hardware, add restrictions to user pose, or require…
Example-based mesh deformation methods are powerful tools for realistic shape editing. However, existing techniques typically combine all the example deformation modes, which can lead to overfitting, i.e. using a overly complicated model to…