Related papers: Motion Analysis of Upper Limb and Hand in a Haptic…
Unconscious behaviors are one of the indicators of the human perception process from a psychological perspective. As a result of perception responses, hand gestures show behavioral responses from given stimuli. Mouse usages in…
Accurate 3D hand pose estimation plays an important role in Human Machine Interaction (HMI). In the reality of HMI, joints in fingers stretching out, especially corresponding fingertips, are much more important than other joints. We propose…
An accurate estimate of limb position is necessary for movement. Where we localize our unseen hand after a reach depends on felt hand position, or proprioception, but often only predicted sensory consequences based on efference copies of…
Individuals who use myoelectric upper-limb prostheses often rely heavily on vision to complete their daily activities. They thus struggle in situations where vision is overloaded, such as multitasking, or unavailable, such as poor lighting…
Current Virtual Reality systems are designed for interaction under visual control. Using built-in cameras, headsets track the user's hands or hand-held controllers while they are inside the field of view. Current systems thus ignore the…
The accuracy with which the human proprioceptive system estimates hand speed is not well understood. To investigate this, we designed an experiment using hobby-grade mechatronics parts and integrated it as a laboratory exercise in a large…
During co-manipulation involving humans and robots, it is necessary to base robot controllers on human behaviors to achieve comfortable and coordinated movement between the human-robot dyad. In this paper, we describe an experiment between…
In-hand manipulation is a crucial ability for reorienting and repositioning objects within grasps. The main challenges in this are not only the complexity of the computational models, but also the risks of grasp instability caused by active…
When executing whole-body motions, humans are able to use a large variety of support poses which not only utilize the feet, but also hands, knees and elbows to enhance stability. While there are many works analyzing the transitions involved…
Adding tactile sensors to a robotic system is becoming a common practice to achieve more complex manipulation skills than those robotics systems that only use external cameras to manipulate objects. The key of tactile sensors is that they…
In this paper we focus on the following problem in multi-fingered robotic grasping: assuming that an external wrench is being applied to a grasped object, will the contact forces between the hand and the object, as well as the hand joints,…
Recent advances have been made in learning of grasps for fully actuated hands. A typical approach learns the target locations of finger links on the object. When a new object must be grasped, new finger locations are generated, and a…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Without finger function, people with C5-7 spinal cord injury (SCI) regularly utilize wrist extension to passively close the fingers and thumb together for grasping. Wearable assistive grasping devices often focus on this familiar…
In-hand manipulation of tools using dexterous hands in real-world is an underexplored problem in the literature. In addition to more complex geometry and larger size of the tools compared to more commonly used objects like cubes or…
In this paper, we address the problem of estimating the positions of human joints, i.e., articulated pose estimation. Recent state-of-the-art solutions model two key issues, joint detection and spatial configuration refinement, together…
Estimating hand-object manipulations is essential for interpreting and imitating human actions. Previous work has made significant progress towards reconstruction of hand poses and object shapes in isolation. Yet, reconstructing hands and…
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undesirable motion or latency. This is due to optimizing to match…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Anchor point placement is a crucial yet often overlooked aspect of exosuit design since it determines how forces interact with the human body. This work analyzes the impact of different anchor point positions on gait kinematics, muscular…