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Teleoperation is a key approach for collecting high-quality, physically consistent demonstrations for robotic manipulation. However, teleoperation for dexterous manipulation remains constrained by: (i) inaccurate hand-robot motion mapping,…
STRAS (Single access Transluminal Robotic Assistant for Surgeons) is a new robotic system for application to intraluminal surgical procedures. Preclinical testing of STRAS has recently permitted to demonstrate major advantages of the system…
Dexterous manipulation through imitation learning has gained significant attention in robotics research. The collection of high-quality expert data holds paramount importance when using imitation learning. The existing approaches for…
Expression recognition holds great promise for applications such as content recommendation and mental healthcare by accurately detecting users' emotional states. Traditional methods often rely on cameras or wearable sensors, which raise…
The aim of this work was to identify six basic movements of the hand using two systems. Being an interdisciplinary topic, there has been conducted studying in the anatomy of forearm muscles, biosignals, the method of electromyography (EMG)…
Electromyography (EMG) is a measure of muscular electrical activity and is used in many clinical/biomedical disciplines and modern human computer interaction. Myo-electric prosthetics analyze and classify the electrical signals recorded…
Surface electromyography is a valid tool to gather muscular contraction signals from intact and amputated subjects. Electromyographic signals can be used to control prosthetic devices in a noninvasive way distinguishing the movements…
Diagnostic activities, such as ultrasound scans and palpation, are relatively low-cost. They play a crucial role in the early detection of health problems and in assessing their progression. However, they are also error-prone activities,…
Haptic perception is highly important for immersive teleoperation of robots, especially for accomplishing manipulation tasks. We propose a low-cost haptic sensing and rendering system, which is capable of detecting and displaying surface…
Acoustic sensing manifests great potential in various applications that encompass health monitoring, gesture interface and imaging by leveraging the speakers and microphones on smart devices. However, in ongoing research and development in…
Silent and whispered speech offer promise for always-available voice interaction with AI, yet existing methods struggle to balance vocabulary size, wearability, silence, and noise robustness. We present NasoVoce, a nose-bridge-mounted…
Monitoring the stress level in patients with neurodegenerative diseases can help manage symptoms, improve patient's quality of life, and provide insight into disease progression. In the literature, ECG, actigraphy, speech, voice, and facial…
Healthcare professionals work in complex, high-stakes environments where effective communication is critical for care delivery, team coordination, and individual well-being. However, communication activity in everyday clinical settings…
Reliable real-time 3D shape sensing is essential for robust control and interpretation of deformable systems during motion. Existing vision-based approaches require line-of-sight and complex instrumentation, limiting operation in occluded…
Objective: Commercial and research-grade wearable devices have become increasingly popular over the past decade. Information extracted from devices using accelerometers is frequently summarized as ``number of steps" (commercial devices) or…
Hand tracking is an important aspect of human-computer interaction and has a wide range of applications in extended reality devices. However, current hand motion capture methods suffer from various limitations. For instance, visual-based…
Teleoperation can transfer human perception and cognition to a slave robot to cope with some complex tasks, in which the agility and flexibility of the interface play an important role in mapping human intention to the robot. In this paper,…
Upper limb based neuromuscular interfaces aim to provide a seamless way for humans to interact with technology. Among noninvasive interfaces, surface electromyogram (EMG) signals hold significant promise. However, their sensitivity to…
Self-touch gestures (e.g., nuanced facial touches and subtle finger scratches) provide rich insights into human behaviors, from hygiene practices to health monitoring. However, existing approaches fall short in detecting such micro gestures…
Self-recording eating behaviors is a step towards a healthy lifestyle recommended by many health professionals. However, the current practice of manually recording eating activities using paper records or smartphone apps is often…