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In the past decade, there has been significant advancement in designing wearable neural interfaces for controlling neurorobotic systems, particularly bionic limbs. These interfaces function by decoding signals captured non-invasively from…
An exoskeleton is a wearable electromechanical structure that is intended to resemble and allow movements in a manner similar to the human skeletal system. They can be used by both disabled and able people alike to increase physical…
Multi-camera 3D object detection for autonomous driving is a challenging problem that has garnered notable attention from both academia and industry. An obstacle encountered in vision-based techniques involves the precise extraction of…
Metabolic energy consumption of a powered lower-limb exoskeleton user mainly comes from the upper body effort since the lower body is considered to be passive. However, the upper body effort of the users is largely ignored in the literature…
Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These…
Virtual Reality (VR) is increasingly used for training and demonstration purposes including a variety of applications ranging from robot learning to rehabilitation. However, the choice of input device and its visualization might influence…
Along with the recent development of deep neural networks, appearance-based gaze estimation has succeeded considerably when training and testing within the same domain. Compared to the within-domain task, the variance of different domains…
Grasping assistance is essential for restoring autonomy in individuals with motor impairments, particularly in unstructured environments where object categories and user intentions are diverse and unpredictable. We present OVGrasp, a…
Recent research proposed gaze-assisted gestures to enhance interaction within virtual reality (VR), providing opportunities for people with motor impairments to experience VR. Compared to people with other motor impairments, those with…
Human and humanoid posture control models usually rely on single or multiple degrees of freedom inverted pendulum representation of upright stance associated with a feedback controller. In models typically focused on the action between…
For an autonomous vehicle to plan a path in its environment, it must be able to accurately forecast the trajectory of all dynamic objects in its proximity. While many traditional methods encode observations in the scene to solve this…
This paper presents a VR-based guide dog training system designed to assist novice trainers in understanding guide dog behavior and issuing appropriate training commands. Guide dogs play a vital role in supporting independent mobility for…
This paper presents an insole FSR (Force Sensing Resistor) to dynamically detect weight variations in an exoskeleton system. The proposed methodology is intended for tasks of lifting and lowering heavy weights with an industrial exoskeleton…
Despite the widespread adoption of Virtual Reality (VR) technology, cybersickness remains a barrier for some users. This research investigates head movement patterns as a novel physiological marker for cybersickness detection. Unlike…
Unconstrained remote gaze tracking using off-the-shelf cameras is a challenging problem. Recently, promising algorithms for appearance-based gaze estimation using convolutional neural networks (CNN) have been proposed. Improving their…
Recent Vision-and-Language Navigation (VLN) advancements are promising, but their idealized assumptions about robot movement and control fail to reflect physically embodied deployment challenges. To bridge this gap, we introduce VLN-PE, a…
Visual impairments present significant challenges to individuals worldwide, impacting daily activities and quality of life. Visual neuroprosthetics offer a promising solution, leveraging advancements in technology to provide a simplified…
While users could embody virtual avatars that mirror their physical movements in Virtual Reality, these avatars' motions can be redirected to enable novel interactions. Excessive redirection, however, could break the user's sense of…
Recent 3D-based manipulation methods either directly predict the grasp pose using 3D neural networks, or solve the grasp pose using similar objects retrieved from shape databases. However, the former faces generalizability challenges when…
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we…