相关论文: Reflective-AR Display: An Interaction Methodology …
The field of Augmented Reality (AR) based Human Robot Interaction (HRI) has progressed significantly since its inception more than two decades ago. With more advanced devices, particularly head-mounted displays (HMD), freely available…
Imitation learning is a powerful paradigm for robot skill acquisition, yet conventional demonstration methods--such as kinesthetic teaching and teleoperation--are cumbersome, hardware-heavy, and disruptive to workflows. Recently, passive…
Surgical robots offer the exciting potential for remote telesurgery, but advances are needed to make this technology efficient and accurate to ensure patient safety. Achieving these goals is hindered by the deleterious effects of latency…
Augmented Reality (AR) solutions are providing tools that could improve applications in the medical and industrial fields. Augmentation can provide additional information in training, visualization, and work scenarios, to increase…
Today there is a high variety of haptic devices capable of providing tactile feedback. Although most of existing designs are aimed at realistic simulation of the surface properties, their capabilities are limited in attempts of displaying…
Optical see-though head-mounted displays (OST HMDs) are one of the key technologies for merging virtual objects and physical scenes to provide an immersive mixed reality (MR) environment to its user. A fundamental limitation of HMDs is,…
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,…
Interventional C-arm imaging is crucial to percutaneous orthopedic procedures as it enables the surgeon to monitor the progress of surgery on the anatomy level. Minimally invasive interventions require repeated acquisition of X-ray images…
A control-theoretic framework for autonomous avatar-guided rehabilitation in virtual reality, based on interpretable, adaptive motor guidance through optimal control, is presented. The framework faces critical challenges in motor…
Screen-based Augmented Reality (AR) systems can be built as a window into the real world as often done in mobile AR applications or using the Magic Mirror metaphor, where users can see themselves with augmented graphics on a large display.…
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.…
Surgical navigation provides real-time guidance by estimating the pose of patient anatomy and surgical instruments to visualize relevant intraoperative information. In conventional systems, instruments are typically tracked using fiducial…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
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)…
Augmented reality (AR) devices with head mounted displays (HMDs) facilitate the direct superimposition of 3D preoperative imaging data onto the patient during surgery. To use an HMD-AR device as a stand-alone surgical navigation system, the…
Extended reality (XR), encompassing Virtual Reality (VR), Augmented Reality (AR), and Mixed Reality (MR), is emerging as a transformative platform for medical education. Traditional methods such as textbooks, physical models, and cadaveric…
This paper contributes to a taxonomy of augmented reality and robotics based on a survey of 460 research papers. Augmented and mixed reality (AR/MR) have emerged as a new way to enhance human-robot interaction (HRI) and robotic interfaces…
Alignment between real and virtual objects is a challenging task required for the deployment of Mixed Reality (MR) into manufacturing, medical, and construction applications. To face this challenge, a series of methods have been proposed.…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
Augmented Reality (AR) systems describe the class of systems that use computers to overlay virtual information on the real world. AR environments allow the development of promising tools in several application domains. In medical training…