Related papers: Human Arm Pose Estimation with a Shoulder-worn For…
Surface electromyography (s-EMG) sensors are a promising way to control upper-limb prostheses. However a training session is necessary in order to set up the controller that will make s-EMG based movement possible. All data recorded during…
Accurate estimation of human hand configuration and the forces they exert is critical for effective teleoperation and skill transfer in robotic manipulation. A deeper understanding of human interactions with objects can further enhance…
A remote robot operator's affective state can significantly impact the resulting robot's motions leading to unexpected consequences, even when the user follows protocol and performs permitted tasks. The recognition of a user operator's…
Mobile devices' user interfaces are still quite similar to traditional interfaces offered by desktop computers, but those can be highly problematic when used in a mobile context. Human gesture recognition in mobile interaction appears as an…
This paper proposes a novel contact and wearable sensing system for estimating the upper body posture and joint angles (ankle, knee, and hip) of the human body using foot pressure distribution information obtained from a sensor attached to…
We outline the role of forward and inverse modelling approaches in the design of human--computer interaction systems. Causal, forward models tend to be easier to specify and simulate, but HCI requires solutions of the inverse problem. We…
For some years now, the use of social, anthropomorphic robots in various situations has been on the rise. These are robots developed to interact with humans and are equipped with corresponding extremities. They already support human users…
Sonomyography (SMG) is a novel human-machine interface that controls upper-limb prostheses by monitoring forearm muscle activity using ultrasonic imaging. SMG has been investigated for controlling upper-limb prostheses during the last two…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Real-time object pose estimation and tracking is challenging but essential for emerging augmented reality (AR) applications. In general, state-of-the-art methods address this problem using deep neural networks which indeed yield…
Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as…
Objective: Multimodal hand gesture recognition (HGR) systems can achieve higher recognition accuracy compared to unimodal HGR systems. However, acquiring multimodal gesture recognition data typically requires users to wear additional…
3D hand pose is an underexplored modality for action recognition. Poses are compact yet informative and can greatly benefit applications with limited compute budgets. However, poses alone offer an incomplete understanding of actions, as…
Manual material handling tasks have the potential to be highly unsafe from an ergonomic viewpoint. Safety inspections to monitor body postures can help mitigate ergonomic risks of material handling. However, the real effect of awkward…
Moving a human body or a large and bulky object can require the strength of whole arm manipulation (WAM). This type of manipulation places the load on the robot's arms and relies on global properties of the interaction to succeed---rather…
This work has been conducted in the context of pattern-recognition-based control for electromyographic prostheses. It presents a k-nearest neighbour (kNN) classification technique for gesture recognition, extended by a proportionality…
Recent Foundation Model-enabled robotics (FMRs) display greatly improved general-purpose skills, enabling more adaptable automation than conventional robotics. Their ability to handle diverse tasks thus creates new opportunities to replace…
We propose an unsupervised vision-based system to estimate the joint configurations of the robot arm from a sequence of RGB or RGB-D images without knowing the model a priori, and then adapt it to the task of category-independent…
Electromyography (EMG) signals have been successfully employed for driving prosthetic limbs of a single or double degree of freedom. This principle works by using the amplitude of the EMG signals to decide between one or two simpler…
Localizing a person from a moving monocular camera is critical for Human-Robot Interaction (HRI). To estimate the 3D human position from a 2D image, existing methods either depend on the geometric assumption of a fixed camera or use a…