Related papers: Augmented Assembly: Object Recognition and Hand Tr…
It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…
We investigate how vibrotactile wrist feedback can enhance spatial guidance for handheld tool movement in optical see-through augmented reality (AR). While AR overlays are widely used to support surgical tasks, visual occlusion, lighting…
Manipulation and insertion of small and tight-toleranced objects in robotic assembly remain a critical challenge for vision-based robotics systems due to the required precision and cluttered environment. Conventional global or wrist-mounted…
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…
Articulated objects are fundamental for robotics, simulation of physics, and interactive virtual environments. However, reconstructing them from visual input remains challenging, as it requires jointly inferring both part geometry and…
Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…
To bridge the physical and virtual worlds for rapidly developed VR/AR applications, the ability to realistically drive 3D full-body avatars is of great significance. Although real-time body tracking with only the head-mounted displays…
Augmented reality (AR) offers promising opportunities to support movement-based activities, such as personal training or physical therapy, with real-time, spatially-situated visual cues. While many approaches leverage AR to guide motion,…
When collaborating relative to a shared 3D virtual object in mixed reality (MR), users may experience communication issues arising from differences in perspective. These issues include occlusion (e.g., one user not being able to see what…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…
Augmented Reality (AR) offers powerful visualization capabilities for industrial robot training, yet current interfaces remain predominantly static, failing to account for learners' diverse cognitive profiles. In this paper, we present an…
Augmented Reality (AR) applications often require robust real-time tracking of objects in the user's environment to correctly overlay virtual content. Recent advances in computer vision have produced highly accurate deep learning-based…
A human-in-the-loop system is proposed to enable collaborative manipulation tasks for person with physical disabilities. Studies show that the cognitive burden of subject reduces with increased autonomy of assistive system. Our framework…
This work introduces a novel Augmented Reality (AR) approach to visualize material data alongside real objects in order to facilitate detailed material analyses based on spatial non-destructive testing (NDT) data as generated in X-ray…
It is desirable to enable robots capable of automatic assembly. Structural understanding of object parts plays a crucial role in this task yet remains relatively unexplored. In this paper, we focus on the setting of furniture assembly from…
Real-time human activity recognition plays an essential role in real-world human-centered robotics applications, such as assisted living and human-robot collaboration. Although previous methods based on skeletal data to encode human poses…
Extended Reality (XR) systems for physical skill training have largely emphasized simulation rather than real-time in-situ instruction. We present WeldAR, an Augmented Reality (AR) system with five learning modules that overlays real-time…
Automatic assembly has broad applications in industries. Traditional assembly tasks utilize predefined trajectories or tuned force control parameters, which make the automatic assembly time-consuming, difficult to generalize, and not robust…
Human-robot collaboration frequently requires extensive communication, e.g., using natural language and gestures. Augmented reality (AR) has provided an alternative way of bridging the communication gap between robots and people. However,…