Related papers: Continuous Wrist Control on the Hannes Prosthesis:…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…
Current prosthesis control methods are primarily model-independent - lacking formal guarantees of stability, relying largely on heuristic tuning parameters for good performance, and neglecting use of the natural dynamics of the system.…
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…
Prosthetic hands can help people with limb difference to return to their life routines. Commercial prostheses, however have several limitations in providing an acceptable dexterity. We approach these limitations by augmenting the prosthetic…
Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…
The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid features and actuating them with artificial muscles would…
Manual assembly workers face increasing complexity in their work. Human-centered assistance systems could help, but object recognition as an enabling technology hinders sophisticated human-centered design of these systems. At the same time,…
Extensive research has been conducted on assessing grasp stability, a crucial prerequisite for achieving optimal grasping strategies, including the minimum force grasping policy. However, existing works employ basic feature-level fusion…
This work tackles the problem of task-oriented dexterous hand pose synthesis, which involves generating a static hand pose capable of applying a task-specific set of wrenches to manipulate objects. Unlike previous approaches that focus…
We propose a haptic system that applies forces or skin deformation to the user's arm, rather than at the fingertips, for believable interaction with virtual objects as an alternative to complex thimble devices. Such a haptic system would be…
Despite advances in dexterous hand manipulation, robotic hand design is still largely decoupled from task-driven evaluation and control, limiting systematic optimization. Existing robotic hand co-design approaches are often limited in…
Speech recognition is one of the key topics in artificial intelligence, as it is one of the most common forms of communication in humans. Researchers have developed many speech-controlled prosthetic hands in the past decades, utilizing…
Despite recent advancements in AI for robotics, grasping remains a partially solved challenge, hindered by the lack of benchmarks and reproducibility constraints. This paper introduces a vision-based grasping framework that can easily be…
The goal of this project is to create an inexpensive, lightweight, wearable assistive device that can measure hand or finger movements accurately enough to identify a range of hand gestures. One eventual application is to provide assistive…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
We present ArtiGrasp, a novel method to synthesize bi-manual hand-object interactions that include grasping and articulation. This task is challenging due to the diversity of the global wrist motions and the precise finger control that are…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…
State-of-the-art robotic hand prosthetics generate finger and wrist movement through pattern recognition (PR) algorithms using features of forearm electromyogram (EMG) signals, but re- quires extensive training and is prone to poor…
Robots that assist humans will need to interact with articulated objects such as cabinets or microwaves. Early work on creating systems for doing so used proprioceptive sensing to estimate joint mechanisms during contact. However, nowadays,…