Related papers: Human Arm Pose Estimation with a Shoulder-worn For…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
Electromyography (EMG) is a measure of muscular electrical activity and is used in many clinical/biomedical disciplines and modern human computer interaction. Myo-electric prosthetics analyze and classify the electrical signals recorded…
Hand tracking is an important aspect of human-computer interaction and has a wide range of applications in extended reality devices. However, current hand motion capture methods suffer from various limitations. For instance, visual-based…
Gesture-based interfaces are often used to achieve a more natural and intuitive teleoperation of robots. Yet, sometimes, gesture control requires postures or movements that cause significant fatigue to the user. In a previous user study, we…
In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…
Objective: Variation of forearm orientation is one of the crucial factors that drastically degrades the forearm orientation invariant hand gesture recognition performance or the degree of freedom and limits the successful commercialization…
Human-robot physical interaction (pHRI) is a rapidly evolving research field with significant implications for physical therapy, search and rescue, and telemedicine. However, a major challenge lies in accurately understanding human…
Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…
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…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
The anthropomorphism of grasping process significantly benefits the experience and grasping efficiency of prosthetic hand wearers. Currently, prosthetic hands controlled by signals such as brain-computer interfaces (BCI) and…
Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored using contact feedback and particle filters to localize…
The ability to track a user's arm pose could be valuable in a wide range of applications, including fitness, rehabilitation, augmented reality input, life logging, and context-aware assistants. Unfortunately, this capability is not readily…
Surface electromyography (sEMG) is a popular bio-signal used for controlling prostheses and finger gesture recognition mechanisms. Myoelectric prostheses are costly, and most commercially available sEMG acquisition systems are not suitable…
For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estimating disturbances allows a soft robot to perform desirable…
Individuals with upper limb mobility impairments often require assistive technologies to perform activities of daily living. While gaze-tracking has emerged as a promising method for robotic assistance, existing solutions lack sufficient…
Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
Upper limb and hand functionality is critical to many activities of daily living and the amputation of one can lead to significant functionality loss for individuals. From this perspective, advanced prosthetic hands of the future are…
Surface electromyography is a valid tool to gather muscular contraction signals from intact and amputated subjects. Electromyographic signals can be used to control prosthetic devices in a noninvasive way distinguishing the movements…