Related papers: A Multi-Layer Sim-to-Real Framework for Gaze-Drive…
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…
Remote VR teleoperation with supernumerary robotic limbs enables distant users to operate in another's local space. While a shared first-person view aids hand-eye coordination, locking the guest's camera to the host's head can degrade…
This work presents a description of the EXOSMOOTH project, oriented to the benchmarking of lower limb exoskeletons performance. In the field of assisted walking by powered lower limb exoskeletons, the EXOSMOOTH project proposes an…
In this paper, we present a survey of deep learning-based methods for the regression of gaze direction vector from head and eye images. We describe in detail numerous published methods with a focus on the input data, architecture of the…
Learning robotic grasps from visual observations is a promising yet challenging task. Recent research shows its great potential by preparing and learning from large-scale synthetic datasets. For the popular, 6 degree-of-freedom (6-DOF)…
Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…
Human fall is one of the very critical health issues, especially for elders and disabled people living alone. The number of elder populations is increasing steadily worldwide. Therefore, human fall detection is becoming an effective…
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use of crutches or other external means of stabilization. We…
The use of wearable robots has been widely adopted in rehabilitation training for patients with hand motor impairments. However, the uniqueness of patients' muscle loss is often overlooked. Leveraging reinforcement learning and a…
Gaze object detection and gaze following are fundamental tasks for interpreting human gaze behavior or intent. However, most previous methods usually solve these two tasks separately, and their prediction of gaze objects and gaze following…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
This paper proposes an interactive system for mobile devices controlled by hand gestures aimed at helping people with visual impairments. This system allows the user to interact with the device by making simple static and dynamic hand…
Gaze and face tracking algorithms have traditionally battled a compromise between computational complexity and accuracy; the most accurate neural net algorithms cannot be implemented in real time, but less complex real-time algorithms…
In this paper, we introduce HEADS-UP, the first egocentric dataset collected from head-mounted cameras, designed specifically for trajectory prediction in blind assistance systems. With the growing population of blind and visually impaired…
Imitation learning by behavioral cloning is a prevalent method that has achieved some success in vision-based autonomous driving. The basic idea behind behavioral cloning is to have the neural network learn from observing a human expert's…
Low back pain is one of the most common musculoskeletal disorder. To reduce its incidences, some back exoskeletons have been designed and already commercialized. However, there is a gap between the phases of device and testing on subjects.…
In this paper, we present an integrated human-in-the-loop simulation paradigm for the design and evaluation of a lower extremity exoskeleton that is elastically strapped onto human lower limbs. The exoskeleton has 3 rotational DOFs on each…
Just like in humans vision plays a fundamental role in guiding adaptive locomotion, when designing the control strategy for a walking assistive technology, Computer Vision may bring substantial improvements when performing an…
Neural disorders refer to any condition affecting the nervous system and that influence how individuals perceive and interact with the world. Traditional neural diagnoses rely on cumbersome, time-consuming, or subjective methods, such as…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…