Related papers: A novel gesture interaction control method for reh…
Emotion recognition and touch gesture decoding are crucial for advancing human-robot interaction (HRI), especially in social environments where emotional cues and tactile perception play important roles. However, many humanoid robots, such…
The collaborative robot market is flourishing as there is a trend towards simplification, modularity, and increased flexibility on the production line. But when humans and robots are collaborating in a shared environment, the safety of…
This paper presents a novel human-robot interaction (HRI) framework that enables intuitive gesture-driven control through a capacitance-based woven tactile skin. Unlike conventional interfaces that rely on panels or handheld devices, the…
Individuals who use myoelectric upper-limb prostheses often rely heavily on vision to complete their daily activities. They thus struggle in situations where vision is overloaded, such as multitasking, or unavailable, such as poor lighting…
As robots become increasingly prevalent in both homes and industrial settings, the demand for intuitive and efficient human-machine interaction continues to rise. Gesture recognition offers an intuitive control method that does not require…
This paper describes the development of a real-time Human-Robot Interaction (HRI) system for a service robot based on 3D human activity recognition and human-like decision mechanism. The Human-Robot Interactive (HRI) system, which allows…
Virtual Reality (VR) has been utilized for several applications and has shown great potential for rehabilitation, especially for home therapy. However, these systems solely rely on information from VR hand controllers, which do not fully…
Lower Limb Exoskeletons (LLEs) are wearable robots that provide mechanical power to the user. Human-exoskeleton (HE) connections must preserve the user's natural behavior during the interaction, avoiding undesired forces. Therefore,…
Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…
As robotics progresses toward general manipulation, dexterous hands are becoming increasingly critical. However, proprioception in dexterous hands remains a bottleneck due to limitations in volume and generality. In this work, we present…
Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use of crutches or other external means of stabilization. We…
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 lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic…
Monocular vertex-level human-scene contact prediction is a fundamental capability for interactive systems such as assistive monitoring, embodied AI, and rehabilitation analysis. In this work, we study this task jointly with single-image 3D…
Exoskeletons for rehabilitation can help enhance motor recovery in individuals suffering from neurological disorders. Precision in movement execution, especially in arm rehabilitation, is crucial to prevent maladaptive plasticity. However,…
3D posture estimation is important in analyzing and improving ergonomics in physical human-robot interaction and reducing the risk of musculoskeletal disorders. Vision-based posture estimation approaches are prone to sensor and model…
We present an advance in wearable technology: a mobile-optimized, real-time, ultra-low-power event camera system that enables natural hand gesture control for smart glasses, dramatically improving user experience. While hand gesture…
This paper introduces GEX, an innovative low-cost dexterous manipulation system that combines the GX11 tri-finger anthropomorphic hand (11 DoF) with the EX12 tri-finger exoskeleton glove (12 DoF), forming a closed-loop teleoperation…
Current Virtual Reality systems are designed for interaction under visual control. Using built-in cameras, headsets track the user's hands or hand-held controllers while they are inside the field of view. Current systems thus ignore the…