Related papers: Vision-based interface for grasping intention dete…
A promising effective human-robot interaction in assistive robotic systems is gaze-based control. However, current gaze-based assistive systems mainly help users with basic grasping actions, offering limited support. Moreover, the…
Individuals with tetraplegia and similar forms of paralysis suffer physically and emotionally due to a lack of autonomy. To help regain part of this autonomy, assistive robotic arms have been shown to increase living independence. However,…
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…
Egocentric vision holds great promises for increasing access to visual information and improving the quality of life for people with visual impairments, with object recognition being one of the daily challenges for this population. While we…
Picking up transparent objects is still a challenging task for robots. The visual properties of transparent objects such as reflection and refraction make the current grasping methods that rely on camera sensing fail to detect and localise…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
This paper outlines the development of a sensory feedback device providing a tangible interface for controlling digital environments, in this example a flight simulator, where the intention for the device is that it is relatively low cost,…
Analysis of grip force signals tailored to hand and finger movement evolution and changes in grip force control during task execution provide unprecedented functional insight into somatosensory cognition. Somatosensory cognition is the…
High-end components that conduct complicated tasks automatically are a part of modern industrial systems. However, in order for these parts to function at the desired level, they need to be maintained by qualified experts. Solutions based…
This paper presents a robotic in-hand manipulation technique that can be applied to pick an object too large to grasp in a prehensile manner, by taking advantage of its contact interactions with a curved, passive end-effector, and two flat…
This paper presents the development of a new passive assistive handwriting device, which aims to stabilize the motion of people living with movement disorders. Many people living with conditions such as cerebral palsy, stroke, muscular…
Achieving precise and generalizable grasping across diverse objects and environments is essential for intelligent and collaborative robotic systems. However, existing approaches often struggle with ambiguous affordance reasoning and limited…
The main purpose of the paper is development, implementation, and testing of a low-cost portable system to assist partially paralyzed patients in their hand rehabilitation after strokes or some injures. Rehabilitation includes time…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
Grasping an object is a matter of first moving a prehensile organ at some position in the world, and then managing the contact relationship between the prehensile organ and the object. Once the contact relationship has been established and…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
In this paper, we present a method to manipulate unknown objects in-hand using tactile sensing without relying on a known object model. In many cases, vision-only approaches may not be feasible; for example, due to occlusion in cluttered…
Understanding user intent during magnified reading is critical for accessible interface design. Yet magnification collapses visual context and forces continual viewport dragging, producing fragmented, noisy gaze and obscuring reading…
Recent advances have been made in learning of grasps for fully actuated hands. A typical approach learns the target locations of finger links on the object. When a new object must be grasped, new finger locations are generated, and a…
The established way of interfacing with most computer systems is a mouse and keyboard. Hand gestures are an intuitive and effective touchless way to interact with computer systems. However, hand gesture based systems have seen low adoption…