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Virtual reality (VR) glove technology is increasingly important for professional training, industrial applications, and teleoperation in hazardous environments, since it enables more natural and immersive interactions than controllers.…
Background: Lower limb exoskeletons can enhance quality of life, but widespread adoption is limited by the lack of frameworks to assess their biomechanical and human-robot interaction effects, which are essential for developing adaptive and…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
The sport-related concussion (SRC) battery relies heavily upon subjective symptom reporting in order to determine the diagnosis of a concussion. Unfortunately, athletes with SRC may return-to-play (RTP) too soon if they are untruthful of…
A novel sensory substitution technique is presented. Kinesthetic and cutaneous force feedback are substituted by cutaneous feedback (CF) only, provided by two wearable devices able to apply forces to the index finger and the thumb, while…
Great progress has been made in estimating 3D human pose and shape from images and video by training neural networks to directly regress the parameters of parametric human models like SMPL. However, existing body models have simplified…
Cyber-Physical Systems (CPS) consist of inter-wined computational (cyber) and physical components interacting through sensors and/or actuators. Computational elements are networked at every scale and can communicate with each other and with…
Stereo image super-resolution (SSR) aims to enhance high-resolution details by leveraging information from stereo image pairs. However, existing stereo super-resolution (SSR) upsampling methods (e.g., pixel shuffle) often overlook…
This paper focuses on the challenging task of learning 3D object surface reconstructions from RGB images. Existingmethods achieve varying degrees of success by using different surface representations. However, they all have their own…
Detecting object skeletons in natural images presents challenging, due to varied object scales, the complexity of backgrounds and various noises. The skeleton is a highly compressing shape representation, which can bring some essential…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
Alignment between real and virtual objects is a challenging task required for the deployment of Mixed Reality (MR) into manufacturing, medical, and construction applications. To face this challenge, a series of methods have been proposed.…
This work represents the initial development of a haptic display system for increased presence in virtual experiences. The developed system creates a two-way connection between a virtual space, mediated through a virtual reality headset,…
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…
Today there is a high variety of haptic devices capable of providing tactile feedback. Although most of existing designs are aimed at realistic simulation of the surface properties, their capabilities are limited in attempts of displaying…
Point cloud-based motion capture leverages rich spatial geometry and privacy-preserving sensing, but learning robust representations from noisy, unstructured point clouds remains challenging. Existing approaches face a struggle trade-off…
Contrastive learning has gained significant attention in skeleton-based action recognition for its ability to learn robust representations from unlabeled data. However, existing methods rely on a single skeleton convention, which limits…
Autonomous robots require change-robust spatial-semantic reasoning: using spatial and semantic knowledge to decide where to go, how to get there, and where the robot is despite environmental change. Existing approaches typically attach…
The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive directional cues within wearable teleoperation interfaces…
Stable traversal over geometrically complex terrain increasingly requires exteroceptive perception, yet prior perceptive humanoid locomotion methods often remain tied to explicit geometric abstractions, either by mediating control through…