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Smartphones with large screens provide users with increased display and interaction space but pose challenges in reaching certain areas with the thumb when using the device with one hand. To address this, we introduce GazeSwipe, a…
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…
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…
Human-robot interaction through mixed reality (MR) technologies enables novel, intuitive interfaces to control robots in remote operations. Such interfaces facilitate operations in hazardous environments, where human presence is risky, yet…
Shared control improves Human-Robot Interaction by reducing the user's workload and increasing the robot's autonomy. It allows robots to perform tasks under the user's supervision. Current eye-tracking-driven approaches face several…
Grasping constitutes a critical challenge for visually impaired people. To address this problem, we developed a tactile bracelet that assists in grasping by guiding the user's hand to a target object using vibration commands. Here we…
Background: People with severe speech and motor impairment (SSMI) often uses a technique called eye pointing to communicate with outside world. One of their parents, caretakers or teachers hold a printed board in front of them and by…
Generalizable manipulation involving cross-type object interactions is a critical yet challenging capability in robotics. To reliably accomplish such tasks, robots must address two fundamental challenges: "where to manipulate" (contact…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…
The gaze of a person tends to reflect their interest. This work explores what happens when this statement is taken literally and applied to robots. Here we present a robot system that employs a moving robot head with a screen-based eye…
For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects…
We present the design, implementation, and evaluation of RF-Grasp, a robotic system that can grasp fully-occluded objects in unknown and unstructured environments. Unlike prior systems that are constrained by the line-of-sight perception of…
Assistive devices for indivuals with upper-limb movement often lack controllability and intuitiveness, in particular for grasping function. In this work, we introduce a novel user interface for grasping movement control in which the user…
Humans do not passively observe the visual world -- we actively look in order to act. Motivated by this principle, we introduce EyeRobot, a robotic system with gaze behavior that emerges from the need to complete real-world tasks. We…
This paper proposes a novel operation for controlling a mobile robot using a head-mounted device. Conventionally, robots are operated using computers or a joystick, which creates limitations in usability and flexibility because control…
Dexterous robotic hands have the capability to interact with a wide variety of household objects to perform tasks like grasping. However, learning robust real world grasping policies for arbitrary objects has proven challenging due to the…
A major challenge for the realization of intelligent robots is to supply them with cognitive abilities in order to allow ordinary users to program them easily and intuitively. One way of such programming is teaching work tasks by…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
The hand is one of the most complex and important parts of the human body. The dexterity provided by its multiple degrees of freedom enables us to perform many of the tasks of daily living which involve grasping and manipulating objects of…