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Human Activity Recognition (HAR) involves the automatic identification of user activities and has gained significant research interest due to its broad applicability. Most HAR systems rely on supervised learning, which necessitates large,…
Hand-specific localization has garnered significant interest within the computer vision community. Although there are numerous datasets with hand annotations from various angles and settings, domain transfer techniques frequently struggle…
Human Activity Recognition (HAR) is a key building block of many emerging applications such as intelligent mobility, sports analytics, ambient-assisted living and human-robot interaction. With robust HAR, systems will become more…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…
Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic…
Our team are developing a new online test that analyses hand movement features associated with ageing that can be completed remotely from the research centre. To obtain hand movement features, participants will be asked to perform a variety…
In contact-rich tasks, the hybrid, multi-modal nature of contact dynamics poses great challenges in model representation, planning, and control. Recent efforts have attempted to address these challenges via data-driven methods, learning…
We propose a new approach to Human Activity Evaluation (HAE) in long videos using graph-based multi-task modeling. Previous works in activity evaluation either directly compute a metric using a detected skeleton or use the scene information…
Safety critical systems are typically subjected to hazard analysis before commissioning to identify and analyse potentially hazardous system states that may arise during operation. Currently, hazard analysis is mainly based on human…
As the world ages, elderly care becomes a big concern of the society. To address the elderly's issues on dementia and fall risk, we have investigated smart cognitive and fall risk assessment with machine learning methodology based on the…
We introduce a framework for dynamic evaluation of the fingers movements: flexion, extension, abduction and adduction. This framework estimates angle measurements from joints computed by a hand pose estimation algorithm using a depth sensor…
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…
Following the recent advances in the field of robotic hand development, it can be inferred that the greatest challenge lies in restoring not just general functionality, but the delicate dexterity of the human hand. Results from studying its…
Skeleton-based Human Action Recognition (HAR) is a vital technology in robotics and human-robot interaction. However, most existing methods concentrate primarily on full-body movements and often overlook subtle hand motions that are…
Accurate kinematic models are essential for effective control of surgical robots. For tendon driven robots, which is common for minimally invasive surgery, intrinsic nonlinearities are important to consider. Traditional analytical methods…
In precision sports such as archery, athletes' performance depends on both biomechanical stability and psychological resilience. Traditional motion analysis systems are often expensive and intrusive, limiting their use in natural training…
While computational modeling may help to develop new treatment options for hand and wrist injuries, at present, few models exist. The time and expertise required to develop and use these models is considerable. Moreover, most do not allow…
Manual (hand-related) activity is a significant source of crash risk while driving. Accordingly, analysis of hand position and hand activity occupation is a useful component to understanding a driver's readiness to take control of a…
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…