Related papers: MIHRaGe: A Mixed-Reality Interface for Human-Robot…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
Gaze stabilization is fundamental for humanoid robots. By stabilizing vision, it enhances perception of the environment and keeps points of interest in the field of view. In this contribution, a multimodal gaze stabilization combining…
Collaborative robots (cobots) are widely used in industrial applications, yet extensive research is still needed to enhance human-robot collaborations and operator experience. A potential approach to improve the collaboration experience…
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…
As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time…
Gaze and face tracking algorithms have traditionally battled a compromise between computational complexity and accuracy; the most accurate neural net algorithms cannot be implemented in real time, but less complex real-time algorithms…
Robotic minimally invasive interventions typically require using more than two instruments. We thus developed a foot pedal interface which allows the user to control a robotic arm (simultaneously to working with the hands) with four degrees…
Although eye-tracking technology is being integrated into more VR and MR headsets, the true potential of eye tracking in enhancing user interactions within XR settings remains relatively untapped. Presently, one of the most prevalent gaze…
Replicating the remarkable athleticism seen in animals has long been a challenge in robotics control. Although Reinforcement Learning (RL) has demonstrated significant progress in dynamic legged locomotion control, the substantial…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
Advances in eye-tracking control for assistive robotic arms provide intuitive interaction opportunities for people with physical disabilities. Shared control has gained interest in recent years by improving user satisfaction through partial…
With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in…
Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…
We address the challenge of unsupervised mistake detection in egocentric video of skilled human activities through the analysis of gaze signals. While traditional methods rely on manually labeled mistakes, our approach does not require…
Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…
In this paper we introduce a novel approach that enables users to interact with a mobile robot in a natural manner. The proposed interaction system does not require any specific infrastructure or device, but relies on commonly utilized…
Eye movements have long been studied as a window into the attentional mechanisms of the human brain and made accessible as novelty style human-machine interfaces. However, not everything that we gaze upon, is something we want to interact…
Recent advancements have made robot navigation more intuitive by transitioning from traditional 2D displays to spatially aware Mixed Reality (MR) systems. However, current MR interfaces often rely on manual "air tap" gestures for goal…
As eye-tracking becomes increasingly common in modern mobile devices, the potential for hands-free, gaze-based interaction grows, but current gesture sets are largely expert-designed and often misaligned with how users naturally move their…
Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…