Related papers: Vision-based interface for grasping intention dete…
Wearable and Assistive robotics for human grasp support are broadly either tele-operated robotic arms or act through orthotic control of a paralyzed user's hand. Such devices require correct orientation for successful and efficient…
Designing robotic assistance devices for manipulation tasks is challenging. This work is concerned with improving accuracy and usability of semi-autonomous robots, such as human operated manipulators or exoskeletons. The key insight is to…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
This paper introduces a novel AI vision-enabled pediatric prosthetic hand designed to assist children aged 10-12 with upper limb disabilities. The prosthesis features an anthropomorphic appearance, multi-articulating functionality, and a…
Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…
Natural user interfaces are on the rise. Manufacturers for Augmented, Virtual, and Mixed Reality head mounted displays are increasingly integrating new sensors into their consumer grade products, allowing gesture recognition without…
Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile sensors. The robotic hand has no prior knowledge of the object/grasp properties, such as object weight,…
Assistive and Wearable Robotics have the potential to support humans with different types of motor impairments to become independent and fulfil their activities of daily living successfully. The success of these robot systems, however,…
Users of assistive devices vary in their extent of motor impairment, and hence their physical interaction with control interfaces can differ. There is the potential for improved utility if control interface actuation is mapped to assistive…
The ability to predict the object the user intends to grasp offers essential contextual information and may help to leverage the effects of point-to-point latency in interactive environments. This paper explores the feasibility and accuracy…
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…
Grasping assistance is essential for restoring autonomy in individuals with motor impairments, particularly in unstructured environments where object categories and user intentions are diverse and unpredictable. We present OVGrasp, a…
Handheld kinesthetic haptic interfaces can provide greater mobility and richer tactile information as compared to traditional grounded devices. In this paper, we introduce a new handheld haptic interface which takes input using…
Many people with motor disabilities are unable to complete activities of daily living (ADLs) without assistance. This paper describes a complete robotic system developed to provide mobile grasping assistance for ADLs. The system is…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
Intention prediction has become a relevant field of research in Human-Machine and Human-Robot Interaction. Indeed, any artificial system (co)-operating with and along humans, designed to assist and coordinate its actions with a human…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Visual feedback plays a crucial role in the process of amputation patients completing grasping in the field of prosthesis control. However, for blind and visually impaired (BVI) amputees, the loss of both visual and grasping abilities makes…
In this paper, design and development of a sensor integrated adaptive gripper is presented. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. The finger closing sequence in…