Related papers: Eye-Tracking-Driven Control in Daily Task Assistan…
The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
User experience research often uses surveys and interviews, which may miss subconscious user interactions. This study explores eye-tracking and biometric feedback as tools to assess user engagement and cognitive load in digital interfaces.…
Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the manufacturing process of companies, improved surgical…
Training a robotic arm to accomplish real-world tasks has been attracting increasing attention in both academia and industry. This work discusses the role of computer vision algorithms in this field. We focus on low-cost arms on which no…
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…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
The rapid development of Large Language Models (LLMs) creates an exciting potential for flexible, general knowledge-driven Human-Robot Interaction (HRI) systems for assistive robots. Existing HRI systems demonstrate great progress in…
Research indicates that humans can mistakenly assume that robots and humans have the same field of view, possessing an inaccurate mental model of robots. This misperception may lead to failures during human-robot collaboration tasks where…
Robots often face manipulation tasks in environments where vision is inadequate due to clutter, occlusions, or poor lighting--for example, reaching a shutoff valve at the back of a sink cabinet or locating a light switch above a crowded…
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…
The visible orientation of human eyes creates some transparency about people's spatial attention and other mental states. This leads to a dual role of the eyes as a means of sensing and communication. Accordingly, artificial eye models are…
Surgical navigation provides real-time guidance by estimating the pose of patient anatomy and surgical instruments to visualize relevant intraoperative information. In conventional systems, instruments are typically tracked using fiducial…
We present an algorithmic and visual grouping of participants and eye-tracking metrics derived from recorded eye-tracking data. Our method utilizes two well-established visualization concepts. First, parallel coordinates are used to provide…
Current orthopedic robotic systems largely focus on navigation, aiding surgeons in positioning a guiding tube but still requiring manual drilling and screw placement. The automation of this task not only demands high precision and safety…
Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…
Finding the eye and parsing out the parts (e.g. pupil and iris) is a key prerequisite for image-based eye tracking, which has become an indispensable module in today's head-mounted VR/AR devices. However, a typical route for training a…
The current apprenticeship model for surgical training requires a high level of supervision, which does not scale well to meet the growing need for more surgeons. Many endoscopic procedures are directly taught in the operating room (OR)…
Accurate detection and tracking of objects is vital for effective video understanding. In previous work, the two tasks have been combined in a way that tracking is based heavily on detection, but the detection benefits marginally from the…
Virtual reality (VR) is not a new technology but has been in development for decades, driven by advances in computer technology. Currently, VR technology is increasingly being used in applications to enable immersive, yet controlled…