Related papers: A modular architecture for IMU-based data gloves
Despite widespread adoption of smartwatches worldwide, open-benchmarks for wrist-based gesture recognition remain surprisingly limited. In this work, we introduce the first open-access multi-modal benchmark, OpenWatch, for wrist-based…
A realistic human kinematic model that satisfies anatomical constraints is essential for human-robot interaction, biomechanics and robot-assisted rehabilitation. Modeling realistic joint constraints, however, is challenging as human arm…
A robotic hand design suitable for dexterity should be examined using functional tests. To achieve this, we designed a mechanical glove, which is a rigid wearable glove that enables us to develop the corresponding isomorphic robotic hand…
In recent years, the amount of information collected about human beings has increased dramatically. This development has been partially driven by individuals posting and storing data about themselves and friends using online social networks…
Due to the scarcity of labeled sensor data in HAR, prior research has turned to video data to synthesize Inertial Measurement Units (IMU) data, capitalizing on its rich activity annotations. However, generating IMU data from videos presents…
Many applications involve humans in the loop, where continuous and accurate human motion monitoring provides valuable information for safe and intuitive human-machine interaction. Portable devices such as inertial measurement units (IMUs)…
Accurately digitizing physical objects is central to many applications, including virtual/augmented reality, industrial design, and e-commerce. Prior research has demonstrated efficient and faithful reconstruction of objects' geometric…
We present Open Badges, an open-source framework an toolkit for measuring and shaping face-to-face social interactions using either custom hardware devices or smart phones, and real-time web-based visualizations. Open Badges is a modular…
Mobile manipulation constitutes a fundamental task for robotic assistants and garners significant attention within the robotics community. A critical challenge inherent in mobile manipulation is the effective observation of the target while…
An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an interaction design for demonstrating cloth folding to robots. Users choose pick…
In this paper we address mobile manipulation planning problems in the presence of sensing and environmental uncertainty. In particular, we consider mobile sensing manipulators operating in environments with unknown geometry and uncertain…
Mid-air gestures in Extended Reality (XR) often cause fatigue and imprecision. Surface-based interactions offer improved accuracy and comfort, but current egocentric vision methods struggle due to hand tracking challenges and unreliable…
This paper proposes a wearable-controlled mobile manipulator system for intelligent smart home assistance, integrating MEMS capacitive microphones, IMU sensors, vibration motors, and pressure feedback to enhance human-robot interaction. The…
This concept paper draws from our previous research on individual grip force data collected from biosensors placed on specific anatomical locations in the dominant and non dominant hands of operators performing a robot assisted precision…
Inertial measurement units (IMUs), which provide high-frequency linear acceleration and angular velocity measurements, serve as fundamental sensing modalities in robotic systems. Recent advances in deep neural networks have led to…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
Human movement analysis is a key area of research in robotics, biomechanics, and data science. It encompasses tracking, posture estimation, and movement synthesis. While numerous methodologies have evolved over time, a systematic and…
This paper presents a novel approach to real-time safety monitoring in human-robot collaborative manufacturing environments through a wrist-mounted Inertial Measurement Unit (IMU) system integrated with a Predictive Safety Model (PSM). The…
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…
Decades of research in control theory have shown that simple controllers, when provided with timely feedback, can control complex systems. Pushing is an example of a complex mechanical system that is difficult to model accurately due to…