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Beyond providing accurate movements, achieving smooth motion trajectories is a long-standing goal of robotics control theory for arms aiming to replicate natural human movements. Drawing inspiration from biological agents, whose reaching…
Dexterous manipulation through imitation learning has gained significant attention in robotics research. The collection of high-quality expert data holds paramount importance when using imitation learning. The existing approaches for…
A head-mounted display (HMD) is a portable and interactive display device. With the development of 5G technology, it may become a general-purpose computing platform in the future. Human-computer interaction (HCI) technology for HMDs has…
We address the longstanding challenge of producing flexible, realistic humanoid character controllers that can perform diverse whole-body tasks involving object interactions. This challenge is central to a variety of fields, from graphics…
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,…
Humanoid whole-body control requires adapting to diverse tasks such as navigation, loco-manipulation, and tabletop manipulation, each demanding a different mode of control. For example, navigation relies on root velocity tracking, while…
Optical see-through head-mounted displays (OST HMDs) are a major output medium for Augmented Reality, which have seen significant growth in popularity and usage among the general public due to the growing release of consumer-oriented…
This work presents the design and implementation of a wireless home monitoring and automation system consisting of wireless sensor/actuator nodes, wireless camera, and a home server. The low-cost wireless sensor/actuator node features…
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally…
Background: People with severe speech and motor impairment (SSMI) often uses a technique called eye pointing to communicate with outside world. One of their parents, caretakers or teachers hold a printed board in front of them and by…
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically…
In this study, we propose a shared control method for teleoperated mobile robots using brain-machine interfaces (BMI). The control commands generated through BMI for robot operation face issues of low input frequency, discreteness, and…
Real-time face orientation recognition is a cutting-edge technology meant to track and analyze facial movements in virtual environments such as online interviews, remote meetings, and virtual classrooms. As the demand for virtual…
When a human performs a given specific task, it has been known that the central nervous system controls modularized muscle group, which is called muscle synergy. For human-robot interface design problem, therefore, the muscle synergy can be…
During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…
We consider the problem of tracking moving targets using mobile wireless sensors (of possibly different types). This is a joint estimation and control problem in which a tracking system must take into account both target and sensor…
Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…
This paper focuses on proposing a deep learning-based monkey swing counting algorithm. Nowadays, there are very few papers on monkey detection, and even fewer papers on monkey swing counting. This research focuses on this gap and attempts…
This paper introduces SmartBelt, a wearable microphone array on a belt that performs sound source localization and returns the direction of arrival with respect to the user waist. One of the haptic motors on the belt then vibrates in the…
The computer industry is developing at a fast pace. With this development almost all of the fields under computers have advanced in the past couple of decades. But the same technology is being used for human computer interaction that was…