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Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asymmetric friction limits that…
Occlusion-aware decision-making is essential in autonomous driving due to the high uncertainty of various occlusions. Recent occlusion-aware decision-making methods encounter issues such as high computational complexity, scenario…
Workload often triggers anxiety for office workers. While a variety of stress intervention and management techniques have been explored, there exist only a few of portable tangible interfaces for anxiety reduction. Contributing to the body…
Computer input is more complex than a sequence of single mouse clicks and keyboard presses. We introduce a novel method to identify and represent the user interactions and build a system which predicts - in real-time - the action a user is…
As In-Vehicle Infotainment Systems (IVIS) grow in complexity, selecting external points of interest (POIs) using traditional touchscreens significantly increases driver cognitive load. Recent evidence indicates that this visual-motor…
With the widespread use of biometric systems, the demographic bias problem raises more attention. Although many studies addressed bias issues in biometric verification, there are no works that analyze the bias in presentation attack…
The last few decades have witnessed an emerging trend of wearable soft sensors; however, there are important signal-processing challenges for soft sensors that still limit their practical deployment. They are error-prone when displaced,…
We present a controlled, quantitative study with 12 participants comparing interaction with a haptically enhanced mixing board against interaction with a mouse in an abstract task that is motivated by several practical parameter space…
Musculoskeletal disorders (MSDs) are a leading cause of injury and productivity loss in the manufacturing industry, incurring substantial economic costs. Ergonomic assessments can mitigate these risks by identifying workplace adjustments…
How can we train an assistive human-machine interface (e.g., an electromyography-based limb prosthesis) to translate a user's raw command signals into the actions of a robot or computer when there is no prior mapping, we cannot ask the user…
Can we teach machines to assess the expertise of humans solving visual tasks automatically based on eye tracking features? This paper proposes AutoSIGHT, Automatic System for Immediate Grading of Human experTise, that classifies expert and…
Face presentation attack detection (PAD) plays an important role in defending face recognition systems against presentation attacks. The success of PAD largely relies on supervised learning that requires a huge number of labeled data, which…
We aim at an augmentation of communication abilities of amyotrophic lateral sclerosis (ALS) patients by creating a brain-computer interface (BCI) which can control a computer or other device by using only brain activity. As a method, we use…
Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous…
Representation learning approaches for robotic manipulation have boomed in recent years. Due to the scarcity of in-domain robot data, prevailing methodologies tend to leverage large-scale human video datasets to extract generalizable…
In Physical Human--Robot Interaction (pHRI) grippers, humans and robots may contribute simultaneously to actions, so it is necessary to determine how to combine their commands. Control may be swapped from one to the other within certain…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
Many people suffer from the loss of a limb. Learning to get by without an arm or hand can be very challenging, and existing prostheses do not yet fulfil the needs of individuals with amputations. One promising solution is to provide greater…
Eye movements have long been studied as a window into the attentional mechanisms of the human brain and made accessible as novelty style human-machine interfaces. However, not everything that we gaze upon, is something we want to interact…
Object selection in Mixed Reality (MR) becomes particularly challenging in dense or occluded environments, where traditional mid-air ray-casting often leads to ambiguity and reduced precision. We present two complementary techniques: (1) a…