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This paper introduces a unique force control and adaptation algorithm for a lightweight and low-complexity five-fingered robotic hand, namely an Integrated-Finger Robotic Hand (IFRH). The force control and adaptation algorithm is intuitive…
How to design an optimal wearable device for human movement recognition is vital to reliable and accurate human-machine collaboration. Previous works mainly fabricate wearable devices heuristically. Instead, this paper raises an academic…
Human operators are still frequently exposed to hazardous environments such as disaster zones and industrial facilities, where intuitive and reliable teleoperation of mobile robots and Unmanned Aerial Vehicles (UAVs) is essential. In this…
Robotic grasping aims to detect graspable points and their corresponding gripper configurations in a particular scene, and is fundamental for robot manipulation. Existing research works have demonstrated the potential of using a transformer…
Monocular 3D motion capture (mocap) is beneficial to many applications. The use of a single camera, however, often fails to handle occlusions of different body parts and hence it is limited to capture relatively simple movements. We present…
In this article, we propose a framework for contactless human-computer interaction (HCI) using novel tracking techniques based on deep learning-based super-resolution and tracking algorithms. Our system offers unprecedented high-resolution…
Human and environment sensing are two important topics in Computer Vision and Graphics. Human motion is often captured by inertial sensors, while the environment is mostly reconstructed using cameras. We integrate the two techniques…
Recent advancements in millimeter-wave (mmWave) radar have demonstrated its potential for human action recognition and pose estimation, offering privacy-preserving advantages over conventional cameras while maintaining occlusion robustness,…
Real-time marker-less hand tracking is of increasing importance in human-computer interaction. Robust and accurate tracking of arbitrary hand motion is a challenging problem due to the many degrees of freedom, frequent self-occlusions, fast…
Most current anthropomorphic robotic hands can realize part of the human hand functions, particularly for object grasping. However, due to the complexity of the human hand, few current designs target at daily object manipulations, even for…
Robotic grasping is a primitive skill for complex tasks and is fundamental to intelligence. For general 6-Dof grasping, most previous methods directly extract scene-level semantic or geometric information, while few of them consider the…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
The human hand plays a vital role in daily life and industrial applications, yet replicating its multifunctional capabilities-including motion, sensing, and coordinated manipulation with robotic systems remains a formidable challenge.…
Robotic grasp detection for novel objects is a challenging task, but for the last few years, deep learning based approaches have achieved remarkable performance improvements, up to 96.1% accuracy, with RGB-D data. In this paper, we propose…
The current state-of-the-art hand gesture recognition methodologies heavily rely in the use of machine learning. However there are scenarios that machine learning cannot be applied successfully, for example in situations where data is…
Deep learning-based Hand Gesture Recognition (HGR) via surface Electromyogram (sEMG) signals has recently shown significant potential for development of advanced myoelectric-controlled prosthesis. Existing deep learning approaches,…
Most research on deformable linear object (DLO) manipulation assumes rigid grasping. However, beyond rigid grasping and re-grasping, in-hand following is also an essential skill that humans use to dexterously manipulate DLOs, which requires…
Humanoid robots deployed in real-world scenarios often need to carry unknown payloads, which introduce significant mismatch and degrade the effectiveness of simulation-to-reality reinforcement learning methods. To address this challenge, we…
Human movement analysis is a key area of research in robotics, biomechanics, and data science. It encompasses tracking, posture estimation, and movement synthesis. While numerous methodologies have evolved over time, a systematic and…