Related papers: Motion Analysis of Upper Limb and Hand in a Haptic…
The human somatosensory cortex is intimately linked to other central brain functions such as vision, audition, mechanoreception, and motor planning and control. These links are established through brain learning, and display a considerable…
Forecasting how human hands move in egocentric views is critical for applications like augmented reality and human-robot policy transfer. Recently, several hand trajectory prediction (HTP) methods have been developed to generate future…
In many bi-manual robotic tasks, like peg-in-a-hole assembly, the success of the task execution depends on the error in achieving the desired relative pose between the peg and the hole in a pre-insertion configuration. Random actuation…
This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one, called agile eye, produces the…
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…
Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The…
This study investigates the effect of haptic control strategies on a subject's mental engagement during a fine motor handwriting rehabilitation task. The considered control strategies include an error-reduction (ER) and an…
Dexterous manipulation has received considerable attention in recent research. Predominantly, existing studies have concentrated on reinforcement learning methods to address the substantial degrees of freedom in hand movements. Nonetheless,…
Limb viscoelasticity is a critical factor used to regulate the interaction with the environment. It plays a key role in modelling human sensorimotor control, and can be used to assess the condition of healthy and neurologically affected…
Grounding of kinesthetic feedback against a user's hand can increase the portability and wearability of a haptic device. However, the effects of different hand-grounding locations on haptic perception of a user are unknown. In this letter,…
Bimanual robotic manipulation is an emerging and critical topic in the robotics community. Previous works primarily rely on integrated control models that take the perceptions and states of both arms as inputs to directly predict their…
We propose a haptic system for virtual manipulation to provide feedback on the user's forearm instead of the fingertips. In addition to visual rendering of the manipulation with virtual fingertips, we employ a device to deliver normal or…
The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object…
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…
One of the first and foremost non-verbal interactions that humans perform is a handshake. It has an impact on first impressions as touch can convey complex emotions. This makes handshaking an important skill for the repertoire of a social…
Precisely grasping an object is a challenging task due to pose uncertainties. Conventional methods have used cameras and fixtures to reduce object uncertainty. They are effective but require intensive preparation, such as designing jigs…
A problem that plagues robotic grasping is the misalignment of the object and gripper due to difficulties in precise localization, actuation, etc. Under-actuated robotic hands with compliant mechanisms are used to adapt and compensate for…
We tackle the problem of forecasting bimanual 3D hand motion & articulation from a single image in everyday settings. To address the lack of 3D hand annotations in diverse settings, we design an annotation pipeline consisting of a diffusion…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
This article explores assistive devices for upper limb movement in people with disabilities through a systematic review based on the PRISMA methodology. The studied devices encompass technologies ranging from orthoses to advanced robotics,…