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Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…
Accurate 3D tracking of hand and fingers movements poses significant challenges in computer vision. The potential applications span across multiple domains, including human-computer interaction, virtual reality, industry, and medicine.…
Existing human Motion Capture (MoCap) methods mostly focus on the visual similarity while neglecting the physical plausibility. As a result, downstream tasks such as driving virtual human in 3D scene or humanoid robots in real world suffer…
Robots able to run, fly, and grasp have a high potential to solve a wide scope of tasks and navigate in complex environments. Several mechatronic designs of such robots with adaptive morphologies are emerging. However, the task of landing…
Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. To mitigate this, we present a novel approach that leverages learned simulation priors to inform…
Accurate human motion prediction (HMP) is critical for seamless human-robot collaboration, particularly in handover tasks that require real-time adaptability. Despite the high accuracy of state-of-the-art models, their computational…
The CyberGrasp is a well known dataglove-exoskeleton device combination that allows to render haptic feedback to the human fingers. Its design, however, restricts its usability for teleoperation through a limited control bandwidth and…
Markerless tracking of hands and fingers is a promising enabler for human-computer interaction. However, adoption has been limited because of tracking inaccuracies, incomplete coverage of motions, low framerate, complex camera setups, and…
For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…
Tactile sensing is essential to the human perception system, so as to robot. In this paper, we develop a novel optical-based tactile sensor "FingerVision" with effective signal processing algorithms. This sensor is composed of soft skin…
Electrocardiogram (EMG) signals play a significant role in decoding muscle contraction information for robotic hand prosthesis controllers. Widely applied decoders require large amount of EMG signals sensors, resulting in complicated…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods.…
Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these…
Hand-eye calibration is a critical task in robotics, as it directly affects the efficacy of critical operations such as manipulation and grasping. Traditional methods for achieving this objective necessitate the careful design of joint…
Recent advancements in virtual reality and robotic teleoperation have greatly increased the variety of haptic information that must be conveyed to users. While existing haptic devices typically provide unimodal feedback to enhance…
Accurate tool tracking is essential for the success of computer-assisted intervention. Previous efforts often modeled tool trajectories rigidly, overlooking the dynamic nature of surgical procedures, especially tracking scenarios like…
We present an open-source library for seamless robot control through motion capture using smartphones and smartwatches. Our library features three modes: Watch Only Mode, enabling control with a single smartwatch; Upper Arm Mode, offering…
Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dynamic model-based control strategies tailored for…
The flexible under-actuated musculoskeletal hand is superior in its adaptability and impact resistance. On the other hand, since the relationship between sensors and actuators cannot be uniquely determined, almost all its controls are based…