相关论文: Efficient Hand Articulations Tracking using Adapti…

The study of hand-object interaction requires generating viable grasp poses for high-dimensional multi-finger models, often relying on analytic grasp synthesis which tends to produce brittle and unnatural results. This paper presents…

This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired…

Hand pose estimation from 3D depth images, has been explored widely using various kinds of techniques in the field of computer vision. Though, deep learning based method improve the performance greatly recently, however, this problem still…

We present an attention based visual analysis framework to compute grasp-relevant information in order to guide grasp planning using a multi-fingered robotic hand. Our approach uses a computational visual attention model to locate regions…

Eye movements play a vital role in perceiving the world. Eye gaze can give a direct indication of the users point of attention, which can be useful in improving human-computer interaction. Gaze estimation in a non-intrusive manner can make…

Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…

Recognition of human manipulation actions in real-time is essential for safe and effective human-robot interaction and collaboration. The challenge lies in developing a model that is both lightweight enough for real-time execution and…

3D hand tracking from a monocular video is a very challenging problem due to hand interactions, occlusions, left-right hand ambiguity, and fast motion. Most existing methods rely on RGB inputs, which have severe limitations under low-light…

Hand segmentation and fingertip detection play an indispensable role in hand gesture-based human-machine interaction systems. In this study, we propose a method to discriminate hand components and to locate fingertips in RGB-D images. The…

Accurately identifying hands in images is a key sub-task for human activity understanding with wearable first-person point-of-view cameras. Traditional hand segmentation approaches rely on a large corpus of manually labeled data to generate…

Reconstructing high-fidelity hand models with intricate textures plays a crucial role in enhancing human-object interaction and advancing real-world applications. Despite the state-of-the-art methods excelling in texture generation and…

Grasping and manipulating a wide variety of objects is a fundamental skill that would determine the success and wide spread adaptation of robots in homes. Several end-effector designs for robust manipulation have been proposed but they…

Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…

Egocentric vision is an emerging field of computer vision that is characterized by the acquisition of images and video from the first person perspective. In this paper we address the challenge of egocentric human action recognition by…

Recent advances in augmented reality (AR) have enabled interactive systems that assist users in physical assembly tasks. In this paper, we present an AR-assisted assembly workflow that leverages object recognition and hand tracking to (1)…

Human dexterity relies on rapid, sub-second motor adjustments, yet capturing these high-frequency dynamics remains an enduring challenge in biomechanics and robotics. Existing motion capture paradigms are compromised by a trade-off between…

In this survey, we present a systematic review of 3D hand pose estimation from the perspective of efficient annotation and learning. 3D hand pose estimation has been an important research area owing to its potential to enable various…

Capacitive sensing is a prominent technology that is cost-effective and low power consuming with fast recognition speed compared to existing sensing systems. On account of these advantages, Capacitive sensing has been widely studied and…