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Designing for situational awareness could lead to better solutions for disabled people, likewise, exploring the needs of disabled people could lead to innovations that can address situational impairments. This in turn can create…
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…
Human-Computer Interaction(HCI) is a field that studies interactions between human users and computer systems. With the development of HCI, individuals or groups of people can use various digital technologies to achieve the optimal user…
Tactile gesture recognition systems play a crucial role in Human-Robot Interaction (HRI) by enabling intuitive communication between humans and robots. The literature mainly addresses this problem by applying machine learning techniques to…
Motivated by the growing interest in enhancing intuitive physical Human-Machine Interaction (HRI/HVI), this study aims to propose a robust tactile hand gesture recognition system. We performed a comprehensive evaluation of different hand…
Assistive robotic grasping plays an important role in enabling safe and adaptive manipulation of diverse objects. However, existing systems often rely on electronic sensing and multi-stage processing pipelines, increasing system complexity…
As digital worlds become ubiquitous via video games, simulations, virtual and augmented reality, people with disabilities who cannot access those worlds are becoming increasingly disenfranchised. More often than not the design of these…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
The hand plays a pivotal role in human ability to grasp and manipulate objects and controllable grasp synthesis is the key for successfully performing downstream tasks. Existing methods that use human intention or task-level language as…
Humans are highly skilled in communicating their intent for when and where a handover would occur. However, even the state-of-the-art robotic implementations for handovers typically lack of such communication skills. This study investigates…
Learning how humans manipulate objects requires machines to acquire knowledge from two perspectives: one for understanding object affordances and the other for learning human's interactions based on the affordances. Even though these two…
We propose augmenting immersive telepresence by adding a virtual body, representing the user's own arm motions, as realized through a head-mounted display and a 360-degree camera. Previous research has shown the effectiveness of having a…
Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
This paper presents I-nteract, a cyber-physical system that enables real-time interaction with real and virtual objects in a mixed augmented reality environment to design 3D models for additive manufacturing. The system has been developed…
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…
Virtual assistants (VAs) have become ubiquitous in daily life, integrated into smartphones and smart devices, sparking interest in AI companions that enhance user experiences and foster emotional connections. However, existing companions…
People who are blind or have low vision (BLV) encounter numerous challenges in their daily lives and work. To support them, various haptic assistive tools have been developed. Despite these advancements, the effective utilization of these…
Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong…
During the last years, the emerging field of Augmented and Virtual Reality (AR-VR) has seen tremendous growth. An interface that has also become very popular for the AR systems is the tangible interface or passive-haptic interface.…