Related papers: FSGlove: An Inertial-Based Hand Tracking System wi…
Hand Gesture Recognition (HGR) based on inertial data has grown considerably in recent years, with the state-of-the-art approaches utilizing a single handheld sensor and a vocabulary comprised of simple gestures. In this work we explore the…
Dexterous hand teleoperation plays a pivotal role in enabling robots to achieve human-level manipulation dexterity. However, current teleoperation systems often rely on expensive equipment and lack multi-modal sensory feedback, restricting…
With the increasing demand for human-computer interaction (HCI), flexible wearable gloves have emerged as a promising solution in virtual reality, medical rehabilitation, and industrial automation. However, the current technology still has…
In this work, we present a reconfigurable data glove design to capture different modes of human hand-object interactions, which are critical in training embodied artificial intelligence (AI) agents for fine manipulation tasks. To achieve…
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a…
Tendon-driven underactuated hands excel in adaptive grasping but often suffer from kinematic unpredictability and highly non-linear force transmission. This ambiguity limits their ability to perform precise free-motion shaping and deliver…
Imitation learning from human hand motion data presents a promising avenue for imbuing robots with human-like dexterity in real-world manipulation tasks. Despite this potential, substantial challenges persist, particularly with the…
Real-time hand articulations tracking is important for many applications such as interacting with virtual / augmented reality devices or tablets. However, most of existing algorithms highly rely on expensive and high power-consuming GPUs to…
Human dexterity relies on rapid, sub-second motor adjustments, yet capturing these high-frequency dynamics remains an enduring challenge in biomechanics and robotics. Existing motion capture paradigms are compromised by a trade-off between…
High-quality teleoperated demonstrations are a primary bottleneck for imitation learning (IL) in dexterous manipulation. However, haptic feedback provides operators with real-time contact information, enabling real-time finger posture…
Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…
Recently, haptic gloves have been extensively explored for various practical applications, such as manipulation learning. Previous glove devices have different force-driven systems, such as shape memory alloys, servo motors and pneumatic…
This paper contributes a new high-quality dataset for hand gesture recognition in hand hygiene systems, named "MFH". Generally, current datasets are not focused on: (i) fine-grained actions; and (ii) data mismatch between different…
In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…
Functional grasping is essential for humans to perform specific tasks, such as grasping scissors by the finger holes to cut materials or by the blade to safely hand them over. Enabling dexterous robot hands with functional grasping…
The transfer of manipulation skills from human demonstration to robotic execution is often hindered by a "domain gap" in sensing and morphology. This paper introduces MagiClaw, a versatile two-finger end-effector designed to bridge this…
This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…
Continuum robots are promising candidates for interactive tasks in medical and industrial applications due to their unique shape, compliance, and miniaturization capability. Accurate and real-time shape sensing is essential for such tasks…
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…
Astrobee's existing one-degree-of-freedom (DOF) underactuated compliant claw gripper enables perching on the International Space Station (ISS), but provides limited capability for continuous dexterous manipulation. More complex microgravity…