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Hands are dexterous and highly versatile manipulators that are central to how humans interact with objects and their environment. Consequently, modeling realistic hand-object interactions, including the subtle motion of individual fingers,…
Human motion detection is getting considerable attention in the field of Artificial Intelligence (AI) driven healthcare systems. Human motion can be used to provide remote healthcare solutions for vulnerable people by identifying particular…
Recognizing surfaces based on their vibration signatures is useful as it can enable tagging of different locations without requiring any additional hardware such as Near Field Communication (NFC) tags. However, previous vibration based…
Data gloves play a crucial role in study of human grasping, and could provide insights into grasp synergies. Grasp synergies lead to identification of underlying patterns to develop control strategies for hand exoskeletons. This paper…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
The human hand is our primary interface to the physical world, yet egocentric perception rarely knows when, where, or how forcefully it makes contact. Robust wearable tactile sensors are scarce, and no existing in-the-wild datasets align…
Human computer interaction facilitates intelligent communication between humans and computers, in which gesture recognition plays a prominent role. This paper proposes a machine learning system to identify dynamic gestures using tri-axial…
Manipulation of thin materials is critical for many everyday tasks and remains a significant challenge for robots. While existing research has made strides in tasks like material smoothing and folding, many studies struggle with common…
Dexterous manipulation, especially of small daily objects, continues to pose complex challenges in robotics. This paper introduces the DenseTact-Mini, an optical tactile sensor with a soft, rounded, smooth gel surface and compact design…
Grasping user-specified objects is crucial for robotic assistants; however, most current 6-DoF grasp detection methods are object-agnostic, making it challenging to grasp specific targets from a scene. To achieve that, we present GoalGrasp,…
Recent studies have focused on facilitating perception and outdoor navigation for people with blindness or some form of vision loss. However, a significant portion of these studies is centered around treatment and vision rehabilitation,…
Secure communication is essential in covert and safety-critical settings where verbal interactions may expose user intent or operational context. Wearable gesture-based communication enables low-effort, nonverbal interaction, but existing…
The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object…
This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide…
To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, such spatial awareness involves estimating the object's pose…
We present WiGest: a system that leverages changes in WiFi signal strength to sense in-air hand gestures around the user's mobile device. Compared to related work, WiGest is unique in using standard WiFi equipment, with no modi-fications,…
Service robots are expected to autonomously and efficiently work in human-centric environments. For this type of robots, object perception and manipulation are challenging tasks due to need for accurate and real-time response. This paper…
Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
Hand-over-face gestures can provide important implicit interactions during conversations, such as frustration or excitement. However, in situations where interlocutors are not visible, such as phone calls or textual communication, the…