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Human hand actions are quite complex, especially when they involve object manipulation, mainly due to the high dimensionality of the hand and the vast action space that entails. Imitating those actions with dexterous hand models involves…
Most current anthropomorphic robotic hands can realize part of the human hand functions, particularly for object grasping. However, due to the complexity of the human hand, few current designs target at daily object manipulations, even for…
Accuracy and speed are pivotal when typing. Mixed reality typing is typically performed by typing on a midair keyboard with your index fingers. This deprives users of both the tactile feedback available on physical devices and the ability…
This study proposes a novel robotic gripper with variable grasping configurations for grasping various objects. The fingers of the developed gripper incorporate multiple different surfaces. The gripper possesses the function of altering the…
Natural user interfaces are on the rise. Manufacturers for Augmented, Virtual, and Mixed Reality head mounted displays are increasingly integrating new sensors into their consumer grade products, allowing gesture recognition without…
Articulated hand pose estimation plays an important role in human-computer interaction. Despite the recent progress, the accuracy of existing methods is still not satisfactory, partially due to the difficulty of embedded high-dimensional…
Head-mounted device-based human-computer interaction often requires egocentric recognition of hand gestures and fingertips detection. In this paper, a unified approach of egocentric hand gesture recognition and fingertip detection is…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
This work proposes a fast heuristic algorithm for the coupled scheduling and trajectory planning of multiple Cartesian robotic arms harvesting fruits. Our method partitions the workspace, assigns fruit-picking sequences to arms, determines…
Hands are the main medium when people interact with the world. Generating proper 3D motion for hand-object interaction is vital for applications such as virtual reality and robotics. Although grasp tracking or object manipulation synthesis…
Human-to-Robot handovers are useful for many Human-Robot Interaction scenarios. It is important to recognize when a human intends to initiate handovers, so that the robot does not try to take objects from humans when a handover is not…
Autonomous grasping remains challenging as unlike humans, robots do not possess a sophisticated sensing nor delicate interaction capability with the real environment. Among other efforts that tried to close the gap between them,…
Handheld kinesthetic haptic interfaces can provide greater mobility and richer tactile information as compared to traditional grounded devices. In this paper, we introduce a new handheld haptic interface which takes input using…
In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration, focusing on frictional patch contacts between the robot's…
Designing of touchless user interface is gaining popularity in various contexts. Using such interfaces, users can interact with electronic devices even when the hands are dirty or non-conductive. Also, user with partial physical disability…
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
Contactless hand pose estimation requires sensors that provide precise spatial information and low computational complexity for real-time processing. Unlike vision-based systems, radar offers lighting independence and direct motion…
In this paper, we present a novel approach for Human Computer Interaction (HCI) where, we control cursor movement using a real-time camera. Current methods involve changing mouse parts such as adding more buttons or changing the position of…
Model-based approaches to 3D hand tracking have been shown to perform well in a wide range of scenarios. However, they require initialisation and cannot recover easily from tracking failures that occur due to fast hand motions. Data-driven…