Related papers: Capturing complex hand movements and object intera…

Hand gesture is one of the most important means of touchless communication between human and machines. There is a great interest for commanding electronic equipment in surgery rooms by hand gesture for reducing the time of surgery and the…

Imitation learning for robot dexterous manipulation, especially with a real robot setup, typically requires a large number of demonstrations. In this paper, we present a data-efficient learning from demonstration framework which exploits…

Real-time hand articulations tracking is important for many applications such as interacting with virtual / augmented reality devices or tablets. However, most of existing algorithms highly rely on expensive and high power-consuming GPUs to…

Dexterous multi-fingered hands can provide robots with the ability to flexibly perform a wide range of manipulation skills. However, many of the more complex behaviors are also notoriously difficult to control: Performing in-hand object…

Tactile sensing is crucial for robotic hands to achieve human-level dexterous manipulation, especially in scenarios with visual occlusion. However, its application is often hindered by the difficulty of collecting large-scale real-world…

Most commercially available haptic gloves compromise the accuracy of hand-posture measurements in favor of a simpler design with fewer sensors. While inaccurate posture data is often sufficient for the task at hand in biomedical settings…

Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…

Dexterous multi-fingered hands can accomplish fine manipulation behaviors that are infeasible with simple robotic grippers. However, sophisticated multi-fingered hands are often expensive and fragile. Low-cost soft hands offer an appealing…

Dexterous manipulation, especially of small daily objects, continues to pose complex challenges in robotics. This paper introduces the DenseTact-Mini, an optical tactile sensor with a soft, rounded, smooth gel surface and compact design…

Online recognition of gestures is critical for intuitive human-robot interaction (HRI) and further push collaborative robotics into the market, making robots accessible to more people. The problem is that it is difficult to achieve accurate…

People learn motor activities best when they are conscious of their errors and make a concerted effort to correct them. While haptic interfaces can facilitate motor training, existing interfaces are often bulky and do not always ensure…

Dexterous in-hand manipulation for a multi-fingered anthropomorphic hand is extremely difficult because of the high-dimensional state and action spaces, rich contact patterns between the fingers and objects. Even though deep reinforcement…

Long-term object detection requires the integration of frame-based results over several seconds. For non-deformable objects, long-term detection is often addressed using object detection followed by video tracking. Unfortunately, tracking…

In wearable smart systems, continuous monitoring and accurate classification of different sleep-related conditions are critical for enhancing sleep quality and preventing sleep-related chronic conditions. However, the requirements for…

Learning fine-grained movements is a challenging topic in robotics, particularly in the context of robotic hands. One specific instance of this challenge is the acquisition of fingerspelling sign language in robots. In this paper, we…

Recognizing human activities in a sequence is a challenging area of research in ubiquitous computing. Most approaches use a fixed size sliding window over consecutive samples to extract features---either handcrafted or learned…

Functional grasp is essential for enabling dexterous multi-finger robot hands to manipulate objects effectively. However, most prior work either focuses on power grasping, which simply involves holding an object still, or relies on costly…

Hand gestures recognition (HGR) is one of the main areas of research for the engineers, scientists and bioinformatics. HGR is the natural way of Human Machine interaction and today many researchers in the academia and industry are working…

Intelligent wearable technology plays an increasingly important role in human-computer interaction, motion, and health monitoring. To ensure comfort and practicality of use, one common form for motion monitoring is to utilize soft wearable…

Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…