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Prolonged mid-air interaction in virtual reality (VR) causes arm fatigue and discomfort, negatively affecting user experience. Incorporating ergonomic considerations into VR user interface (UI) design typically requires extensive…
Virtual character animation and movement synthesis have advanced rapidly during recent years, especially through a combination of extensive motion capture datasets and machine learning. A remaining challenge is interactively simulating…
Mid-air gestures in Extended Reality (XR) often cause fatigue and imprecision. Surface-based interactions offer improved accuracy and comfort, but current egocentric vision methods struggle due to hand tracking challenges and unreliable…
Natural gestures are crucial for mid-air interaction, but predicting and managing muscle fatigue is challenging. Existing torque-based models are limited in their ability to model above-shoulder interactions and to account for fatigue…
Augmented reality (AR) offers immersive interaction but remains inaccessible for users with motor impairments or limited dexterity due to reliance on precise input methods. This study proposes a gesture-based interaction system for AR…
High-end components that conduct complicated tasks automatically are a part of modern industrial systems. However, in order for these parts to function at the desired level, they need to be maintained by qualified experts. Solutions based…
Wearable devices, such as smartwatches and head-mounted displays, are increasingly used for prolonged tasks like remote learning and work, but sustained interaction often leads to user fatigue, reducing efficiency and engagement. This study…
Immersive Virtual Reality typically requires a head-mounted display (HMD) to visualize the environment and hand-held controllers to interact with the virtual objects. Recently, many applications display full-body avatars to represent the…
Medium-sized touch displays, sized 30 to 50 inches, are becoming more affordable and more widely available. Prolonged use of such displays can result in arm fatigue or skin irritation, especially when multiple long distance drags are…
Expressivity--the use of multiple modalities to convey internal state and intent of a robot--is critical for interaction. Yet, due to cost, safety, and other constraints, many robots lack high degrees of physical expressivity. This paper…
The integration of haptics within Augmented Reality may help to deliver an enriched experience, while facilitating the performance of specific actions (e.g. repositioning or resizin ) that are still dependent on the user's skills. This…
This research investigates whether the interaction methods of XR headsets can be improved by using haptic feedback. As a first and most common technique, indirect interactions are considered. Indirect interactions correspond to…
Imitation learning is a powerful paradigm for robot skill acquisition, yet conventional demonstration methods--such as kinesthetic teaching and teleoperation--are cumbersome, hardware-heavy, and disruptive to workflows. Recently, passive…
Accurate human pose estimation is essential for effective Human-Robot Interaction (HRI). By observing a user's arm movements, robots can respond appropriately, whether it's providing assistance or avoiding collisions. While visual…
Reduced shoulder mobility limits upper-limb function and the performance of activities of daily living across a wide range of conditions. Wearable exosuits have shown promise in assisting arm elevation, reducing muscle effort, and…
Extended Reality (XR) is increasingly used as a productivity tool and recent commercial XR devices have even been specifically designed as productivity tools, or, at least, are heavily advertised for such purposes, such as the Apple Vision…
Haptic feedback is an important component of creating an immersive mixed reality experience. Traditionally, haptic forces are rendered in response to the user's interactions with the virtual environment. In this work, we explore the idea of…
Hand gestures play a significant role in human interactions where non-verbal intentions, thoughts and commands are conveyed. In Human-Robot Interaction (HRI), hand gestures offer a similar and efficient medium for conveying clear and rapid…
Robot teleoperation via augmented reality (AR) offers a promising path toward more intuitive human-robot interaction (HRI). We present a head-mounted AR 'puppeteer' system in which users control a physical robot by interacting with its…
Hands are dexterous and highly versatile manipulators that are central to how humans interact with objects and their environment. Consequently, modeling realistic hand-object interactions, including the subtle motion of individual fingers,…