相关论文: EMG-Controlled Non-Anthropomorphic Hand Teleoperat…
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other…
$\textit{Objective.}$ In this article, we present data and methods for decoding hand gestures using surface electromyogram (EMG) signals. EMG-based upper limb interfaces are valuable for amputee rehabilitation, artificial supernumerary limb…
Traditional industrial robot programming is often complex and time-consuming, typically requiring weeks or even months of effort from expert programmers. Although Programming by Demonstration (PbD) offers a more accessible alternative,…
The aim of this work was to identify six basic movements of the hand using two systems. Being an interdisciplinary topic, there has been conducted studying in the anatomy of forearm muscles, biosignals, the method of electromyography (EMG)…
Despite recent advancement in virtual reality technology, teleoperating a high DoF robot to complete dexterous tasks in cluttered scenes remains difficult. In this work, we propose a system that allows the user to teleoperate a Fetch robot…
Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of such applications require teleoperation. The operator receives visual feedback from…
In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…
Teleoperating precise bimanual manipulations in cluttered environments is challenging for operators, who often struggle with limited spatial perception and difficulty estimating distances between target objects, the robot's body, obstacles,…
Despite decades of research and development, myoelectric prosthetic hands lack functionality and are often rejected by users. This lack in functionality can be partially attributed to the widely accepted anthropomorphic design ideology in…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…
In human-robot collaboration, shared autonomy enhances human performance through precise, intuitive support. Effective robotic assistance requires accurately inferring human intentions and understanding task structures to determine optimal…
Enabling robots to provide effective assistance yet still accommodating the operator's commands for telemanipulation of an object is very challenging because robot's assistive action is not always intuitive for human operators and human…
Objective: We present magnetomyograms (MMG) of TMS-evoked movement in a human hand, together with a simultaneous surface electromyograph (EMG) and electroencephalograph (EEG) data. Approach: We combined TMS with non-contact magnetic…
Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices. However, this is non-intuitive and makes achieving desired…
Vision-based teleoperation offers the possibility to endow robots with human-level intelligence to physically interact with the environment, while only requiring low-cost camera sensors. However, current vision-based teleoperation systems…
This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…
Providing an accurate and efficient assessment of operative difficulty is important for designing robot-assisted teleoperation interfaces that are easy and natural for human operators to use. In this paper, we aim to develop a data-driven…
Dexterous teleoperation plays a crucial role in robotic manipulation for real-world data collection and remote robot control. Previous dexterous teleoperation mostly relies on hand retargeting to closely mimic human hand postures. However,…
In this paper, we present a semi-autonomous teleoperation framework for a pick-and-place task using an RGB-D sensor. In particular, we assume that the target object is located in a cluttered environment where both prehensile grasping and…
Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…