Related papers: A Bimanual Gesture Interface for ROS-Based Mobile …
Reliable contact simulation plays a key role in the development of (semi-)autonomous robots, especially when dealing with contact-rich manipulation scenarios, an active robotics research topic. Besides simulation, components such as…
Accurate estimation of the relative pose between an object and a robot hand is critical for many manipulation tasks. However, most of the existing object-in-hand pose datasets use two-finger grippers and also assume that the object remains…
Human-Robot Interfaces (HRIs) represent a crucial component in telerobotic systems. Body-Machine Interfaces (BoMIs) based on body motion can feel more intuitive than standard HRIs for naive users as they leverage humans' natural control…
The rapid development of Large Language Models (LLMs) creates an exciting potential for flexible, general knowledge-driven Human-Robot Interaction (HRI) systems for assistive robots. Existing HRI systems demonstrate great progress in…
Real-world household tasks present significant challenges for mobile manipulation robots. An analysis of existing robotics benchmarks reveals that successful task performance hinges on three key whole-body control capabilities: bimanual…
In brain-machine interface (BMI) applications, a key challenge is the low information content and high noise level in neural signals, severely affecting stable robotic control. To address this challenge, we proposes a cooperative shared…
This paper introduces a novel mobile phone control architecture, Lightweight Multi-modal App Control (LiMAC), for efficient interactions and control across various Android apps. LiMAC takes as input a textual goal and a sequence of past…
Motivated by the growing interest in enhancing intuitive physical Human-Machine Interaction (HRI/HVI), this study aims to propose a robust tactile hand gesture recognition system. We performed a comprehensive evaluation of different hand…
Traditional control interfaces for robotic-assisted minimally invasive surgery impose a significant cognitive load on surgeons. To improve surgical efficiency, surgeon-robot collaboration capabilities, and reduce surgeon burden, we present…
Dexterous robotic hands require high-speed multimodal sensing across many degrees of freedom, yet existing readout architectures often impose trade-offs between sensor count, wiring complexity, and sampling bandwidth. This paper presents a…
Robotic manipulation requires both rich multimodal perception and effective learning frameworks to handle complex real-world tasks. See-through-skin (STS) sensors, which combine tactile and visual perception, offer promising sensing…
The collaborative robot market is flourishing as there is a trend towards simplification, modularity, and increased flexibility on the production line. But when humans and robots are collaborating in a shared environment, the safety of…
Hand gesture recognition (HGR) is a vital component in enhancing the human-computer interaction experience, particularly in multimedia applications, such as virtual reality, gaming, smart home automation systems, etc. Users can control and…
We present a robot-to-human object handover algorithm and implement it on a 7-DOF arm equipped with a 3-finger mechanical hand. The system performs a fully autonomous and robust object handover to a human receiver in real-time. Our…
Today's touch sensors come in many shapes and sizes. This has made it challenging to develop general-purpose touch processing methods since models are generally tied to one specific sensor design. We address this problem by performing…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
Interacting with an in-vehicle system through a central console is known to induce visual and biomechanical distractions, thereby delaying the danger recognition and response times of the driver and significantly increasing the risk of an…
Augmented reality (AR) offers immersive interaction but remains inaccessible for users with motor impairments or limited dexterity due to reliance on precise input methods. This study proposes a gesture-based interaction system for AR…
The ability to grasp and manipulate small objects in cluttered environments remains a significant challenge. This paper introduces a novel approach that utilizes a tactile sensor-equipped gripper with eight degrees of freedom to overcome…
Recognizing surgical gestures in real-time is a stepping stone towards automated activity recognition, skill assessment, intra-operative assistance, and eventually surgical automation. The current robotic surgical systems provide us with…