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A widely used test for the diagnosis of Parkinson's disease (PD) and Essential tremor (ET) is hand-drawn shapes,where the analysis is observationally performed by the examining neurologist. This method is subjective and is prone to bias…

One of the most important object properties that humans and robots perceive through touch is hardness. This paper investigates information-theoretic active sampling strategies for sample-efficient hardness classification with vision-based…

This paper proposes a novel method for human hands tracking using data from an event camera. The event camera detects changes in brightness, measuring motion, with low latency, no motion blur, low power consumption and high dynamic range.…

Looking at a person's hands one often can tell what the person is going to do next, how his/her hands are moving and where they will be, because an actor's intentions shape his/her movement kinematics during action execution. Similarly,…

We present an on-device real-time hand gesture recognition (HGR) system, which detects a set of predefined static gestures from a single RGB camera. The system consists of two parts: a hand skeleton tracker and a gesture classifier. We use…

Manual assembly workers face increasing complexity in their work. Human-centered assistance systems could help, but object recognition as an enabling technology hinders sophisticated human-centered design of these systems. At the same time,…

We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…

We present a real-time on-device hand tracking pipeline that predicts hand skeleton from single RGB camera for AR/VR applications. The pipeline consists of two models: 1) a palm detector, 2) a hand landmark model. It's implemented via…

Spin plays a considerable role in table tennis, making a shot's trajectory harder to read and predict. However, the spin is challenging to measure because of the ball's high velocity and the magnitude of the spin values. Existing methods…

Robot manipulation is a common task in fields like industrial manufacturing. Detecting when objects slip from a robot's grasp is crucial for safe and reliable operation. Event cameras, which register pixel-level brightness changes at high…

IMUs are gaining significant importance in the field of hand gesture analysis, trajectory detection and kinematic functional study. An Inertial Measurement Unit (IMU) consists of tri-axial accelerometers and gyroscopes which can together be…

In Virtual, augmented, and mixed reality, the use of hand gestures is increasingly becoming popular to reduce the difference between the virtual and real world. The precise location of the fingertip is essential/crucial for a seamless…

Force estimation in human-object interactions is crucial for various fields like ergonomics, physical therapy, and sports science. Traditional methods depend on specialized equipment such as force plates and sensors, which makes accurate…

In this work, we explore massive pre-training on synthetic word images for enhancing the performance on four benchmark downstream handwriting analysis tasks. To this end, we build a large synthetic dataset of word images rendered in several…

Hand action recognition is essential. Communication, human-robot interactions, and gesture control are dependent on it. Skeleton-based action recognition traditionally includes hands, which belong to the classes which remain challenging to…

This study introduces i-GRIP, an innovative movement goal estimator designed to facilitate the control of assistive devices for grasping tasks in individuals with upperlimb impairments. The algorithm operates within a collaborative control…

We develop a system for modeling hand-object interactions in 3D from RGB images that show a hand which is holding a novel object from a known category. We design a Convolutional Neural Network (CNN) for Hand-held Object Pose and Shape…

Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…

Hand segmentation and fingertip detection play an indispensable role in hand gesture-based human-machine interaction systems. In this study, we propose a method to discriminate hand components and to locate fingertips in RGB-D images. The…

3D hand pose estimation from RGB images suffers from the difficulty of obtaining the depth information. Therefore, a great deal of attention has been spent on estimating 3D hand pose from 2D hand joints. In this paper, we leverage the…