Related papers: Vision-based interface for grasping intention dete…
In our daily life, we often encounter objects that are fragile and can be damaged by excessive grasping force, such as fruits. For these objects, it is paramount to grasp gently -- not using the maximum amount of force possible, but rather…
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…
The goal of this project is to create an inexpensive, lightweight, wearable assistive device that can measure hand or finger movements accurately enough to identify a range of hand gestures. One eventual application is to provide assistive…
Collaborative manipulation is inherently multimodal, with haptic communication playing a central role. When performed by humans, it involves back-and-forth force exchanges between the participants through which they resolve possible…
Recent advances in upper limb prostheses have led to significant improvements in the number of movements provided by the robotic limb. However, the method for controlling multiple degrees of freedom via user-generated signals remains…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
Anticipating human intention by observing one's actions has many applications. For instance, picking up a cellphone, then a charger (actions) implies that one wants to charge the cellphone (intention). By anticipating the intention, an…
Taller and sleeker smartphone devices are becoming the new norm. More screen space and very responsive touchscreens have made for enjoyable experiences available to us at all times. However, after years of interacting with smaller, portable…
Gaze-based interaction techniques have created significant interest in the field of spatial interaction. Many of these methods require additional input modalities, such as hand gestures (e.g., gaze coupled with pinch). Those can be…
The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
The control of multi-fingered dexterous prosthetics hand remains challenging due to the lack of an intuitive and efficient Grasp-type Switching Interface (GSI). We propose a new GSI (i-GSI) t hat integrates the manifold power of…
In the old age, few people need special care if they are suffering from specific diseases as they can get stroke while they are in normal life routine. Also patients of any age, who are not able to walk, need to be taken care of personally…
Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment…
We consider the task of object grasping with a prosthetic hand capable of multiple grasp types. In this setting, communicating the intended grasp type often requires a high user cognitive load which can be reduced adopting shared autonomy…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
We propose, implement and evaluate a natural human-machine control interface for a variable stiffness transradial hand prosthesis that achieves tele-impedance control through surface electromyography (sEMG) signals. This interface, together…
People with visual impairments face numerous challenges when interacting with their environment. Our objective is to develop a device that facilitates communication between individuals with visual impairments and their surroundings. The…
We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…