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Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
Communicating the robot state is vital to creating an efficient and trustworthy collaboration between humans and collaborative robots (cobots). Standard approaches for Robot-to-human communication face difficulties in industry settings,…
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,…
Researchers have been developing Hand Gesture Recognition (HGR) systems to enhance natural, efficient, and authentic human-computer interaction, especially benefiting those who rely solely on hand gestures for communication. Despite…
Virtual Reality (VR) is increasingly used for training and demonstration purposes including a variety of applications ranging from robot learning to rehabilitation. However, the choice of input device and its visualization might influence…
Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery. Applying such a simple tool in a diverse repertoire of…
In real life, grasping is one of the fundamental and effective forms of interaction when manipulating objects. This holds true in the physical and virtual world; however, unlike the physical world, virtual reality (VR) is grasped in a…
Close human-robot interaction (HRI), especially in industrial scenarios, has been vastly investigated for the advantages of combining human and robot skills. For an effective HRI, the validity of currently available human-machine…
Predicting user intentions in virtual reality (VR) is crucial for creating immersive experiences, particularly in tasks involving complex grasping motions where accurate haptic feedback is essential. In this work, we leverage time-series…
Gestures are a key component of non-verbal communication in traffic, often helping pedestrian-to-driver interactions when formal traffic rules may be insufficient. This problem becomes more apparent when autonomous vehicles (AVs) struggle…
Defining methods for the automatic understanding of gestures is of paramount importance in many application contexts and in Virtual Reality applications for creating more natural and easy-to-use human-computer interaction methods. In this…
The sensation of self-motion is essential in many virtual reality applications, from entertainment to training, such as flying and driving simulators. If the common approach used in amusement parks is to actuate the seats with cumbersome…
This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device's design utilizes thin…
IMU-based gesture interfaces are being increasingly adopted as efficient, accessible, and intuitive alternatives to traditional input methods, such as touchscreens and voice. However, current gesture recognition algorithms are tailored to…
Assessing the performance of human movements during teleoperation and virtual reality is a challenging problem, particularly in 3D space due to complex spatial settings. Despite the presence of a multitude of metrics, a compelling…
Hand-based interaction, such as using a handheld controller or making hand gestures, has been widely adopted as the primary method for interacting with both virtual reality (VR) and augmented reality (AR) head-mounted displays (HMDs). In…
Grasp User Interfaces (grasp UIs) enable dual-tasking in XR by allowing interaction with digital content while holding physical objects. However, current grasp UI design practices face a fundamental challenge: existing approaches either…
Nowadays, cars offer many possibilities to explore the world around you by providing location-based information displayed on a 2D-Map. However, this information is often only available to front-seat passengers while being restricted to…
We present TouchWalker, a real-time system for controlling full-body avatar locomotion using finger-walking gestures on a touchscreen. The system comprises two main components: TouchWalker-MotionNet, a neural motion generator that…
Efficient text entry remains a primary bottleneck preventing Virtual Reality (VR) from evolving into a viable productivity platform. To address this, we conducted an empirical comparison of six physical input systems across three…