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We present a proprioceptive teleoperation system that uses a reflexive grasping algorithm to enhance the speed and robustness of pick-and-place tasks. The system consists of two manipulators that use quasi-direct-drive actuation to provide…
With the growth of wearable devices, which are usually constrained in computational power and user interface, this pairing has to be autonomous. Considering devices that do not have prior information about each other, a secure communication…
Smart assistive technologies such as sensor-based footwear and walking aids offer promising opportunities for gait rehabilitation through real-time feedback and patient-centered monitoring. While biofeedback applications show great…
Advances in embedded devices and wireless sensor networks have resulted in new and inexpensive health care solutions. This paper describes the implementation and the evaluation of a wireless body sensor system that monitors human…
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is…
Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…
Continuous, ubiquitous monitoring through wearable sensors has the potential to collect useful information about users' context. Heart rate is an important physiologic measure used in a wide variety of applications, such as fitness tracking…
WiFi channel state information (CSI) has emerged as a plausible modality for sensing different human vital signs, i.e. respiration and body motion, as a function of modulated wireless signals that travel between WiFi devices. Although a…
In recent years, WSNs are garnering lot of interest from research community because of their unique characteristics and potential for enormous range of applications. Envision for new class of applications are being emerged such as human…
Stable and robust robotic grasping is essential for current and future robot applications. In recent works, the use of large datasets and supervised learning has enhanced speed and precision in antipodal grasping. However, these methods…
Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…
Hand gesture recognition attracts great attention for interaction since it is intuitive and natural to perform. In this paper, we explore a novel method for interaction by using bone-conducted sound generated by finger movements while…
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…
Humans can accurately determine whether the object in hand has slipped or not by visual and tactile perception. However, it is still a challenge for robots to detect in-hand object slip through visuo-tactile fusion. To address this issue, a…
Assistive devices for indivuals with upper-limb movement often lack controllability and intuitiveness, in particular for grasping function. In this work, we introduce a novel user interface for grasping movement control in which the user…
Electromyography (EMG) data has been extensively adopted as an intuitive interface for instructing human-robot collaboration. A major challenge of the real-time detection of human grasp intent is the identification of dynamic EMG from hand…
Wearable sensors enable health researchers to continuously collect data pertaining to the physiological state of individuals in real-world settings. However, such data can be subject to extensive missingness due to a complex combination of…
We describe the grasping and manipulation strategy that we employed at the autonomous track of the Robotic Grasping and Manipulation Competition at IROS 2016. A salient feature of our architecture is the tight coupling between visual (Asus…
Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…