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This paper presents a wearable assistive device with the shape of a pair of eyeglasses that allows visually impaired people to navigate safely and quickly in unfamiliar environment, as well as perceive the complicated environment to…
Human computer interaction facilitates intelligent communication between humans and computers, in which gesture recognition plays a prominent role. This paper proposes a machine learning system to identify dynamic gestures using tri-axial…
Event cameras, often referred to as dynamic vision sensors, are groundbreaking sensors capable of capturing changes in light intensity asynchronously, offering exceptional temporal resolution and energy efficiency. These attributes make…
Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and…
Natural user interfaces are on the rise. Manufacturers for Augmented, Virtual, and Mixed Reality head mounted displays are increasingly integrating new sensors into their consumer grade products, allowing gesture recognition without…
This paper presents a sensorized vision-enabled prosthetic hand aimed at replicating a natural hand's performance, functionality, appearance, and comfort. The design goal was to create an accessible substitution with a user-friendly…
Adhering to current HRI paradigms, all of the sensors, visualisation and legibility of actions and motions are borne by the robot or its working cell. This necessarily makes robots more complex or confines them into specialised, structured…
Online recognition of gestures is critical for intuitive human-robot interaction (HRI) and further push collaborative robotics into the market, making robots accessible to more people. The problem is that it is difficult to achieve accurate…
Event-based cameras, inspired by the biological retina, have evolved into cutting-edge sensors distinguished by their minimal power requirements, negligible latency, superior temporal resolution, and expansive dynamic range. At present,…
Wearable devices running Human Activity Recognition(HAR) on Inertial Measurement Units~(IMUs) waste energy by performing continuous classification for each window, even during long periods of unchanged activity. We address this with a…
Non-verbal communication plays a particularly important role in a wide range of scenarios in Human-Robot Interaction (HRI). Accordingly, this work addresses the problem of human gesture recognition. In particular, we focus on head and eye…
The use of tiny devices capable of low-latency gesture recognition is gaining momentum in everyday human-computer interaction and especially in medical monitoring fields. Embedded solutions such as fall detection, rehabilitation tracking,…
Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic…
Human activity recognition has grown in popularity with its increase of applications within daily lifestyles and medical environments. The goal of having efficient and reliable human activity recognition brings benefits such as accessible…
Dynamic hand gestures play a pivotal role in assistive human-robot interaction (HRI), facilitating intuitive, non-verbal communication, particularly for individuals with mobility constraints or those operating robots remotely. Current…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
Hand gestures are a form of non-verbal communication that is used in social interaction and it is therefore required for more natural human-robot interaction. Neuromorphic (brain-inspired) computing offers a low-power solution for Spiking…
Designing robotic assistance devices for manipulation tasks is challenging. This work is concerned with improving accuracy and usability of semi-autonomous robots, such as human operated manipulators or exoskeletons. The key insight is to…
This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often suffer from limited portability,…
Open Arms is a novel open-source platform of realistic human-like robotic hands and arms hardware with 28 Degree-of-Freedom (DoF), designed to extend the capabilities and accessibility of humanoid robotic grasping and manipulation. The Open…