相关论文: Sensorless Hand Guidance using Microsoft Hololens
The success of reinforcement learning for real world robotics has been, in many cases limited to instrumented laboratory scenarios, often requiring arduous human effort and oversight to enable continuous learning. In this work, we discuss…
The sense of touch is an essential ability for skillfully performing a variety of tasks, providing the capacity to search and manipulate objects without relying on visual information. In this paper, we introduce a multi-finger robot system…
The integration of robotics and augmented reality (AR) presents transformative opportunities for advancing human-robot interaction (HRI) by improving usability, intuitiveness, and accessibility. This work introduces a controller-free,…
We present an exploratory case study describing the design and realisation of a ''pure mixed reality'' application in a museum setting, where we investigate the potential of using Microsoft's HoloLens for object-centred museum mediation.…
Dexterous manipulation through imitation learning has gained significant attention in robotics research. The collection of high-quality expert data holds paramount importance when using imitation learning. The existing approaches for…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…
Tendon-based underactuated hands are intended to be simple, compliant and affordable. Often, they are 3D printed and do not include tactile sensors. Hence, performing in-hand object recognition with direct touch sensing is not feasible.…
The augmented-reality head-mounted display (e.g., Microsoft HoloLens) is one of the most innovative technologies in multimedia and human-computer interaction in recent years. Despite the emerging research of its applications on engineering,…
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…
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…
Augmented Reality (AR) based on Head-Mounted Displays (HMDs) has gained significant traction over the recent years. Nevertheless, it remains unclear what AR HMD-based applications have been developed over the years and what their system…
Teaching a multi-fingered dexterous robot to grasp objects in the real world has been a challenging problem due to its high dimensional state and action space. We propose a robot-learning system that can take a small number of human…
In this paper, we present a method to manipulate unknown objects in-hand using tactile sensing without relying on a known object model. In many cases, vision-only approaches may not be feasible; for example, due to occlusion in cluttered…
The adoption of Augmented Reality (AR) is increasing to enhance Human-System Interaction (HSI) by creating immersive experiences that improve efficiency and safety in various industries. In industrial maintenance, traditional practices…
Having a precise and robust transformation between the robot coordinate system and the AR-device coordinate system is paramount during human-robot interaction (HRI) based on augmented reality using Head mounted displays (HMD), both for…
The development of advanced surgical systems embedding the Master-Slave control strategy introduced the possibility of remote interaction between the surgeon and the patient, also known as teleoperation. The present paper aims to integrate…
This research seeks to explore how Augmented Reality (AR) can support learning psychomotor tasks that involve complex manipulation and reasoning processes. The AR prototype was created using Unity and used on HoloLens 2 headsets. Here, we…
Mixed reality headsets, such as the Microsoft HoloLens 2, are powerful sensing devices with integrated compute capabilities, which makes it an ideal platform for computer vision research. In this technical report, we present HoloLens 2…
Haptic rendering enables people to touch, perceive, and manipulate virtual objects in a virtual environment. Using six cascaded identical hollow disk electromagnets and a small permanent magnet attached to an operator's finger, this paper…
We present an approach for visualizing mobile robots through an Augmented Reality headset when there is no line-of-sight visibility between the robot and the human. Three elements are visualized in Augmented Reality: 1) Robot's 3D model to…