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This paper presents I-nteract, a cyber-physical system that enables real-time interaction with real and virtual objects in a mixed augmented reality environment to design 3D models for additive manufacturing. The system has been developed…
Robot-assisted minimally invasive surgery has shown to improve patient outcomes, as well as reduce complications and recovery time for several clinical applications. While increasingly configurable robotic arms can maximize reach and avoid…
Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…
Artificial agents, particularly humanoid robots, interact with their environment, objects, and people using cameras, actuators, and physical presence. Their communication methods are often pre-programmed, limiting their actions and…
An augmented reality (AR) environment includes a set of digital elements with which the users interact while performing certain tasks. Recent AR head-mounted displays allow users to select how these elements are presented. However, few…
Hand gesture is a new and promising interface for locomotion in virtual environments. While several previous studies have proposed different hand gestures for virtual locomotion, little is known about their differences in terms of…
Visual impairments create barriers to learning physical activities, since conventional training methods rely on visual demonstrations or often inadequate verbal descriptions. This research explores 3D-printed human body models to enhance…
In this paper, we introduce a tilting interface that controls direction based applications in ubiquitous environments. A tilt interface is useful for situations that require remote and quick interactions or that are executed in public…
Real-time character animation in dynamic environments requires the generation of plausible upper-body movements regardless of the nature of the environment, including non-rigid obstacles such as vegetation. We propose a flexible model for…
Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…
Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…
While current general-purpose 3D human models (e.g., SMPL-X) efficiently represent accurate human shape and pose, they lacks the ability to physically interact with the environment due to the kinematic nature. As a result, kinematic-based…
With the widespread adoption of Extended Reality (XR) headsets, spatial computing technologies are gaining increasing attention. Spatial computing enables interaction with virtual elements through natural input methods such as eye tracking,…
Hands are dexterous and highly versatile manipulators that are central to how humans interact with objects and their environment. Consequently, modeling realistic hand-object interactions, including the subtle motion of individual fingers,…
We propose a haptic system that applies forces or skin deformation to the user's arm, rather than at the fingertips, for believable interaction with virtual objects as an alternative to complex thimble devices. Such a haptic system would be…
We introduce UMI-on-Legs, a new framework that combines real-world and simulation data for quadruped manipulation systems. We scale task-centric data collection in the real world using a hand-held gripper (UMI), providing a cheap way to…
Many people with upper-body motor impairments encounter challenges while performing Activities of Daily Living (ADLs) and Instrumental Activities of Daily Living (IADLs), such as toileting, grooming, and managing finances, which have…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
With the rise of natural user interfaces, immersive analytics applications often focus on novel forms of interaction modalities such as mid-air gestures, gaze or tangible interaction utilizing input devices such as depth-sensors, touch…
Mobile and wearable interfaces and interaction paradigms are highly constrained by the available screen real estate, and the computational and power resources. Although there exist many ways of displaying information to mobile users,…