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A robot needs contextual awareness, effective speech production and complementing non-verbal gestures for successful communication in society. In this paper, we present our end-to-end system that tries to enhance the effectiveness of…

Co-speech gestures convey a wide variety of meanings and play an important role in face-to-face human interactions. These gestures significantly influence the addressee's engagement, recall, comprehension, and attitudes toward the speaker.…

In recent years, there has been a considerable amount of research in the Gesture Recognition domain, mainly owing to the technological advancements in Computer Vision. Various new applications have been conceptualised and developed in this…

Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…

Gestures are inherent to human interaction and often complement speech in face-to-face communication, forming a multimodal communication system. An important task in gesture analysis is detecting a gesture's beginning and end. Research on…

Human-Robot Interaction (HRI) has become increasingly important as robots are being integrated into various aspects of daily life. One key aspect of HRI is gesture recognition, which allows robots to interpret and respond to human gestures…

In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…

Static and dynamic hand movements are basic way for human-machine interactions. To recognize and classify these movements, first these movements are captured by the cameras mounted on the augmented reality (AR) or virtual reality (VR)…

The raise of collaborative robotics has led to wide range of sensor technologies to detect human-machine interactions: at short distances, proximity sensors detect nontactile gestures virtually occlusion-free, while at medium distances,…

Purpose - Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. This is a tedious and time-consuming task that requires some technical expertise, and hence new approaches…

An adaptive guidance system that supports equipment operators requires a comprehensive model, which involves a variety of user behaviors that considers different skill and knowledge levels, as well as rapid-changing task situations. In the…

During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…

This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…

Dynamic hand tracking and gesture recognition is a hard task since there are many joints on the fingers and each joint owns many degrees of freedom. Besides, object occlusion is also a thorny issue in finger tracking and posture…

Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…

Direct and natural interaction is essential for intuitive human-robot collaboration, eliminating the need for additional devices such as joysticks, tablets, or wearable sensors. In this paper, we present a lightweight deep learning-based…

This paper proposes a novel approach to recognizing dynamic hand gestures facilitating seamless interaction between humans and robots. Here, each robot manipulator task is assigned a specific gesture. There may be several such tasks, hence,…

Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…

When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…

In face-to-face interaction, we use multiple modalities, including speech and gestures, to communicate information and resolve references to objects. However, how representational co-speech gestures refer to objects remains understudied…