相关论文: Robust and customized methods for real-time hand g…

The uncertainty and variability of underwater environment propose the request to control underwater robots in real time and dynamically, especially in the scenarios where human and robots need to work collaboratively in the field. However,…

Gesture tracking technology provides users with a hands free interactive experience without the need to hold or touch devices. However, current gesture tracking research has primarily focused on tracking accuracy while neglecting issues of…

We present a novel method for real-time pose and shape reconstruction of two strongly interacting hands. Our approach is the first two-hand tracking solution that combines an extensive list of favorable properties, namely it is marker-less,…

We present an approach that uses a multi-camera system to train fine-grained detectors for keypoints that are prone to occlusion, such as the joints of a hand. We call this procedure multiview bootstrapping: first, an initial keypoint…

Gestures form an important medium of communication between humans and machines. An overwhelming majority of existing gesture recognition methods are tailored to a scenario where humans and machines are located very close to each other. This…

Egocentric action recognition is essential for healthcare and assistive technology that relies on egocentric cameras because it allows for the automatic and continuous monitoring of activities of daily living (ADLs) without requiring any…

Human Pose Estimation (HPE) involves detecting and localizing keypoints on the human body from visual data. In 3D HPE, occlusions, where parts of the body are not visible in the image, pose a significant challenge for accurate pose…

Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…

Hand guidance emerged from the safety requirements for collaborative robots, namely possessing joint-torque sensors. Since then it has proven to be a powerful tool for easy trajectory programming, allowing lay-users to reprogram robots…

We introduce a multi-stage framework that uses mean curvature on a hand surface and focuses on learning interaction between hand and object by analyzing hand grasp type for hand action recognition in egocentric videos. The proposed method…

Tactile predictive models can be useful across several robotic manipulation tasks, e.g. robotic pushing, robotic grasping, slip avoidance, and in-hand manipulation. However, available tactile prediction models are mostly studied for…

Gestures play a pivotal role in human communication, often serving as a preferred or complementary medium to verbal expression due to their superior spatial reference capabilities. A finger-pointing gesture conveys vital information…

Manual assembly workers face increasing complexity in their work. Human-centered assistance systems could help, but object recognition as an enabling technology hinders sophisticated human-centered design of these systems. At the same time,…

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…

We present a novel appearance-based approach for pose estimation of a human hand using the point clouds provided by the low-cost Microsoft Kinect sensor. Both the free-hand case, in which the hand is isolated from the surrounding…

Hands are a fundamental tool humans use to interact with the environment and objects. Through hand motions, we can obtain information about the shape and materials of the surfaces we touch, modify our surroundings by interacting with…

As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial…

Human pose estimation aims at locating the specific joints of humans from the images or videos. While existing deep learning-based methods have achieved high positioning accuracy, they often struggle with generalization in occlusion…

Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…

Grasping is a fundamental skill for interacting with and manipulating objects in the environment. However, this ability can be challenging for individuals with hand impairments. Soft hand exoskeletons designed to assist grasping can enhance…