Related papers: A novel gesture interaction control method for reh…
Reconstructing hand-held objects from monocular RGB images is an appealing yet challenging task. In this task, contacts between hands and objects provide important cues for recovering the 3D geometry of the hand-held objects. Though recent…
Human-Robot Interfaces (HRIs) represent a crucial component in telerobotic systems. Body-Machine Interfaces (BoMIs) based on body motion can feel more intuitive than standard HRIs for naive users as they leverage humans' natural control…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
In recent years, the demand for social robots has grown, requiring them to adapt their behaviors based on users' states. Accurately assessing user experience (UX) in human-robot interaction (HRI) is crucial for achieving this adaptability.…
Neuromuscular electrical stimulation (NMES) has been effectively applied in many rehabilitation treatments of individuals with spinal cord injury (SCI). In this context, we introduce a novel, robust, and intelligent control-based…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
Brain computer interface (BCI) provides promising applications in neuroprosthesis and neurorehabilitation by controlling computers and robotic devices based on the patient's intentions. Here, we have developed a novel BCI platform that…
In-hand object manipulation is a fundamental yet challenging capability for dexterous robots. Despite significant progress in dexterous manipulation, existing approaches rely heavily on vision or tactile sensing to track object states,…
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…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…
Due to the universal non-verbal natural communication approach that allows for effective communication between humans, gesture recognition technology has been steadily developing over the previous few decades. Many different strategies have…
We introduce a framework for dynamic evaluation of the fingers movements: flexion, extension, abduction and adduction. This framework estimates angle measurements from joints computed by a hand pose estimation algorithm using a depth sensor…
Human-robot physical interaction contains crucial information for optimizing user experience, enhancing robot performance, and objectively assessing user adaptation. This study introduces a new method to evaluate human-robot co-adaptation…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
The rising interest of generalist robots seek to create robots with versatility to handle multiple tasks in a variety of environments, and human will interact with such robots through immersive interfaces. In the context of human-robot…
Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same way, it must reason about the location of the human arm in…
Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear…
Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in…
This paper presents design and control innovations of wearable robots that tackle two barriers to widespread adoption of powered exoskeletons, namely restriction of human movement and versatile control of wearable co-robot systems. First,…
Designing of touchless user interface is gaining popularity in various contexts. Using such interfaces, users can interact with electronic devices even when the hands are dirty or non-conductive. Also, user with partial physical disability…