Related papers: Haptic-Based User Authentication for Tele-robotic …
Achieving successful robotic manipulation is an essential step towards robots being widely used in industry and home settings. Recently, many learning-based methods have been proposed to tackle this challenge, with imitation learning…
Effective data collection in contact-rich manipulation requires force feedback during teleoperation, as accurate perception of contact is crucial for stable control. However, such technology remains uncommon, largely because bilateral…
In the age of AI-driven generative technologies, traditional biometric recognition systems face unprecedented challenges, particularly from sophisticated deepfake and face reenactment techniques. In this study, we propose a Two-Stream…
Robots operating in unstructured environments face significant challenges when interacting with everyday objects like doors. They particularly struggle to generalize across diverse door types and conditions. Existing vision-based and…
In-hand dexterous telemanipulation requires not only precise remote motion control of the robot but also effective haptic feedback to the human operator to ensure stable and intuitive interactions between them. Most existing haptic devices…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…
Audio has become an increasingly crucial biometric modality due to its ability to provide an intuitive way for humans to interact with machines. It is currently being used for a range of applications, including person authentication to…
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…
Advanced service robots require superior tactile intelligence to guarantee human-contact safety and to provide essential supplements to visual and auditory information for human-robot interaction, especially when a robot is in physical…
Robots need to be able to adapt to unexpected changes in the environment such that they can autonomously succeed in their tasks. However, hand-designing feedback models for adaptation is tedious, if at all possible, making data-driven…
This work proposes a data driven learning model for the synthesis of keystroke biometric data. The proposed method is compared with two statistical approaches based on Universal and User-dependent models. These approaches are validated on…
Replicating human--level dexterity remains a fundamental robotics challenge, requiring integrated solutions from mechatronic design to the control of high degree--of--freedom (DoF) robotic hands. While imitation learning shows promise in…
When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…
Wearable sensor systems with transmitting capabilities are currently employed for the biometric screening of exercise activities and other performance data. Such technology is generally wireless and enables the noninvasive monitoring of…
Continuous authentication utilizes automatic recognition of certain user features for seamless and passive authentication without requiring user attention. Such features can be divided into categories of physiological biometrics and…
This paper contributes a preliminary report on the advantages and disadvantages of incorporating simultaneous human control and feedback signals in the training of a reinforcement learning robotic agent. While robotic human-machine…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…
This paper presents TapMeIn, an eyes-free, two-factor authentication method for smartwatches. It allows users to tap a memorable melody (tap-password) of their choice anywhere on the touchscreen to unlock their watch. A user is verified…
Recent research has shown the possibility of using smartphones' sensors and accessories to extract some behavioral attributes such as touch dynamics, keystroke dynamics and gait recognition. These attributes are known as behavioral…