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Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…
Wearable robotics for lower-limb assistance have become a pivotal area of research, aiming to enhance mobility for individuals with physical impairments or augment the performance of able-bodied users. Accurate and adaptive control systems…
Improving object manipulation skills through hand-object interaction exercises is crucial for rehabilitation. Despite limited healthcare resources, physical therapists propose remote exercise routines followed up by remote monitoring.…
Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…
This paper introduces a novel interaction method for virtual and augmented reality called look-and-twist, which is directly analogous to point-and-click operations using a mouse and desktop. It is based on head rotation alone and is…
Legged robots are becoming increasingly powerful and popular in recent years for their potential to bring the mobility of autonomous agents to the next level. This work presents a deep reinforcement learning approach that learns a robust…
Controlling Wheeled-legged robots is challenging especially on slippery surfaces due to their dependence on continuous ground contact. Unlike quadrupeds or bipeds, which can leverage multiple fixed contact points for recovery,…
Cybersickness remains a significant challenge in virtual reality (VR), limiting its usability across various applications. Existing mitigation strategies focus on optimising VR hardware and/or software and enhancing self-motion perception…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
It is difficult to conduct training and evaluate workers' postural performance by using the actual job site environment due to safety concerns. Virtual reality (VR) provides an alternative to create immersive working environments without…
Virtual reality (VR) is increasingly being used as a research platform for investigating human responses to environmental variables. While VR provides tremendous advantages in terms of variable isolation and manipulation, and ease of…
Wireless Virtual Reality (VR) users are able to enjoy immersive experience from anywhere at anytime. However, providing full spherical VR video with high quality under limited VR interaction latency is challenging. If the viewpoint of the…
With the recent explosive growth of interest and investment in virtual reality (VR) and the so-called "metaverse," public attention has rightly shifted toward the unique security and privacy threats that these platforms may pose. While it…
Researchers have used machine learning approaches to identify motion sickness in VR experience. These approaches demand an accurately-labeled, real-world, and diverse dataset for high accuracy and generalizability. As a starting point to…
Virtual reality allows to create situations which can be experimented under the control of the user, without risks, in a very flexible way. This allows to develop skills and to have confidence to work in real conditions with real equipment.…
Augmented, virtual and mixed reality technologies offer new ways of interacting with digital media. However, such technologies are not well explored for people with different ranges of abilities beyond a few specific navigation and gaming…
This paper presents a state-of-the-art optimal controller for quadruped locomotion. The robot dynamics is represented using a single rigid body (SRB) model. A linear time-varying model predictive controller (LTV MPC) is proposed by using…
Large vision-language models (LVLMs) often fail to align with human preferences, leading to issues like generating misleading content without proper visual context (also known as hallucination). A promising solution to this problem is using…
Recent advances in legged locomotion learning are still dominated by the utilization of geometric representations of the environment, limiting the robot's capability to respond to higher-level semantics such as human instructions. To…
Objective: Immersive virtual reality (VR) enhances ecologically validity and facilitates intuitive and ergonomic hand interactions for performing neuropsychological assessments. However, its comparability to traditional computerized methods…