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Imitation learning is a promising approach to help robots acquire dexterous manipulation capabilities without the need for a carefully-designed reward or a significant computational effort. However, existing imitation learning approaches…
We present in-hand manipulation skills on a dexterous, compliant, anthropomorphic hand. Even though these skills were derived in a simplistic manner, they exhibit surprising robustness to variations in shape, size, weight, and placement of…
Movement synchrony reflects the coordination of body movements between interacting dyads. The estimation of movement synchrony has been automated by powerful deep learning models such as transformer networks. However, instead of designing a…
Robots applied in therapeutic scenarios, for instance in the therapy of individuals with Autism Spectrum Disorder, are sometimes used for imitation learning activities in which a person needs to repeat motions by the robot. To simplify the…
In this preliminary study we address the question of the influence of handedness on the localization of targets perceived through a visuo-auditory substitution device. Participants hold the device in one hand in order to explore the…
This paper proposes a vision-based framework for a 7-degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous…
In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…
In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and necessarily introduce simplifying assumptions. As a result,…
Looking at a person's hands one often can tell what the person is going to do next, how his/her hands are moving and where they will be, because an actor's intentions shape his/her movement kinematics during action execution. Similarly,…
In this paper we study the problem of improving human hand pose sensing device performance by exploiting the knowledge on how humans most frequently use their hands in grasping tasks. In a companion paper we studied the problem of…
When humans grasp objects in the real world, we often move our arms to hold the object in a different pose where we can use it. In contrast, typical lab settings only study the stability of the grasp immediately after lifting, without any…
Accurately estimating 3D hand pose is crucial for understanding how humans interact with the world. Despite remarkable progress, existing methods often struggle to generate plausible hand poses when the hand is heavily occluded or blurred.…
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.…
We present a technique for dynamically projecting 3D content onto human hands with short perceived motion-to-photon latency. Computing the pose and shape of human hands accurately and quickly is a challenging task due to their articulated…
Advances in wearable robotics challenge the traditional definition of human motor systems, as wearable robots redefine body structure, movement capability, and perception of their own bodies. We measured gait performance and perceived body…
We automate soft robotic hand design iteration by co-optimizing design and control policy for dexterous manipulation skills in simulation. Our design iteration pipeline combines genetic algorithms and policy transfer to learn control…
Humanoid robots are engineered to navigate terrains akin to those encountered by humans, which necessitates human-like locomotion and perceptual abilities. Currently, the most reliable controllers for humanoid motion rely exclusively on…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
Modelling the trajectorial motion of humans along the ground is a foundational task in the quantitative analysis of sports like association football. Most existing models of football player motion have not been validated yet with respect to…
Purpose: This research aims to facilitate the use of state-of-the-art computer vision algorithms for the automated training of surgeons and the analysis of surgical footage. By estimating 2D hand poses, we model the movement of the…