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With the development of the modern society, mind control applied to both the recovery of disabled individuals and auxiliary control of normal people has obtained great attention in numerous researches. In our research, we attempt to…
The varied landscape of robotic hand designs makes it difficult to set a standard for how to measure hand size and to communicate the size of objects it can grasp. Defining consistent workspace measurements would greatly assist scientific…
The use of robotics, computer vision, and their applications is becoming increasingly widespread in various fields, including medicine. Many face detection algorithms have found applications in neurosurgery, ophthalmology, and plastic…
Proprioception, a key sensory modality in haptic perception, plays a vital role in perceiving the 3D structure of objects by providing feedback on the position and movement of body parts. The restoration of proprioceptive sensation is…
The process of hand washing, according to the WHO, is divided into stages with clearly defined two handed dynamic gestures. In this paper, videos of hand washing experts are segmented and analyzed with the goal of extracting their…
The accurate visual tracking of a moving object is a human fundamental skill that allows to reduce the relative slip and instability of the object's image on the retina, thus granting a stable, high-quality vision. In order to optimize…
This paper presents a real-time pipeline for dynamic arm gesture recognition based on OpenPose keypoint estimation, keypoint normalization, and a recurrent neural network classifier. The 1 x 1 normalization scheme and two feature…
Recovering world space 4D motion of two interacting hands from egocentric video is a fundamental capability for supervising robot policy learning, where wrist trajectories track the end-effector and finger articulations specify the grasp…
This paper presents the development of vision-based robotic arm manipulator control by applying Proportional Derivative-Pseudoinverse Jacobian (PD-PIJ) kinematics and Denavit Hartenberg forward kinematics. The task of sorting objects based…
Gesture recognition is a very essential technology for many wearable devices. While previous algorithms are mostly based on statistical methods including the hidden Markov model, we develop two dynamic hand gesture recognition techniques…
Tendon-based underactuated hands are intended to be simple, compliant and affordable. Often, they are 3D printed and do not include tactile sensors. Hence, performing in-hand object recognition with direct touch sensing is not feasible.…
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…
This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired…
Designing 3D User Interfaces (UI) requires adequate evaluation tools to ensure good usability and user experience. While many evaluation tools are already available and widely used, existing approaches generally cannot provide continuous…
Hands are a fundamental tool humans use to interact with the environment and objects. Through hand motions, we can obtain information about the shape and materials of the surfaces we touch, modify our surroundings by interacting with…
The variety of robotic hand designs and actuation schemes makes it difficult to measure a hand's graspable volume. For end-users, this lack of standardized measurements makes it challenging to determine a priori if a robot hand is the right…
Model-based approaches to 3D hand tracking have been shown to perform well in a wide range of scenarios. However, they require initialisation and cannot recover easily from tracking failures that occur due to fast hand motions. Data-driven…
Computing the relative motion of objects is an important navigation task that we routinely perform by relying on inherently unreliable biological cells in the retina. The non-linear and adaptive response of memristive devices make them…
Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under…
Grasping is an incredible ability of animals using their arms and limbs in their daily life. The human hand is an especially astonishing multi-fingered tool for precise grasping, which helped humans to develop the modern world. The…