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Animating an avatar that reflects a user's action in the VR world enables natural interactions with the virtual environment. It has the potential to allow remote users to communicate and collaborate in a way as if they met in person.…

Crowdsourced, or human computation based clustering algorithms usually rely on relative distance comparisons, as these are easier to elicit from human workers than absolute distance information. A relative distance comparison is a statement…

Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…

Visual cues are essential in computer-mediated communication. It is especially important when communication happens in a collaboration scenario that requires focusing several users' attention on aspecific object among other similar ones.…

Whole-body movements enhance the presence and enjoyment of Virtual Reality (VR) experiences. However, using large gestures is often uncomfortable and impossible in confined spaces (e.g., public transport). We introduce FingerMapper, mapping…

Comparative to conventional 2D interaction methods, virtual reality (VR) demonstrates an opportunity for unique interface and interaction design decisions. Currently, this poses a challenge when developing an accessible VR experience as…

Hand gesture is a new and promising interface for locomotion in virtual environments. While several previous studies have proposed different hand gestures for virtual locomotion, little is known about their differences in terms of…

Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…

This dissertation advances the state of the art for AR/VR tracking systems by increasing the tracking frequency by orders of magnitude and proposes an efficient algorithm for the problem of edge-aware optimization. AR/VR is a natural way of…

This paper presents a wearable electrotactile feedback system to enhance contact information for mid-air interactions with virtual objects. In particular, we propose the use of electrotactile feedback to render the interpenetration distance…

Augmented reality (AR) offers immersive interaction but remains inaccessible for users with motor impairments or limited dexterity due to reliance on precise input methods. This study proposes a gesture-based interaction system for AR…

Capturing the interactions between humans and their environment in 3D is important for many applications in robotics, graphics, and vision. Recent works to reconstruct the 3D human and object from a single RGB image do not have consistent…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

This paper presents a novel manipulation strategy that uses keypoint correspondences extracted from visuo-tactile sensor images to facilitate precise object manipulation. Our approach uses the visuo-tactile feedback to guide the robot's…

With developments in computer graphics, hardware technology, perception engineering, and human-computer interaction, virtual reality and virtual environments are becoming more integrated into our daily lives. Head-mounted displays, however,…

Today's Mixed Reality head-mounted displays track the user's head pose in world space as well as the user's hands for interaction in both Augmented Reality and Virtual Reality scenarios. While this is adequate to support user input, it…

Due to the challenges of processing temporal information, most trackers depend solely on visual discriminability and overlook the unique temporal coherence of video data. In this paper, we propose a lightweight and plug-and-play motion…

We present AVI-HT, an adaptive visual-IMU fusion approach for tracking 3D hand poses by jointly modeling the egocentric image with on-glove 6-DoF IMU signals. AVI-HT achieves significantly improved accuracy and availability, particularly in…

Most existing locomotion devices that represent the sensation of walking target a user who is actually performing a walking motion. Here, we attempted to represent the walking sensation, especially a kinesthetic sensation and advancing…

Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored using contact feedback and particle filters to localize…