相关论文: Kinesthetic Learning -- Haptic User Interfaces for…
Despite the advancement in robotic grasping and dexterity through haptic information, affective social touch, such as handshaking or reassuring stroking, remains a major challenge in Human-Robot-Interaction. This position paper examines…
Motivated by the growing interest in enhancing intuitive physical Human-Machine Interaction (HRI/HVI), this study aims to propose a robust tactile hand gesture recognition system. We performed a comprehensive evaluation of different hand…
Preoperative gestures include tactile sampling of the mechanical properties of biological tissue for both histological and pathological considerations. Tactile properties used in conjunction with visual cues can provide useful feedback to…
Contemporary deep learning models have achieved impressive performance in image classification by primarily leveraging statistical regularities within large datasets, but they rarely incorporate structured insights drawn directly from…
Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncertain, evolving interactions with the…
Recent advancements in eye tracking technology are driving the adoption of gaze-assisted interaction as a rich and accessible human-computer interaction paradigm. Gaze-assisted interaction serves as a contextual, non-invasive, and explicit…
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…
This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device's design utilizes thin…
This study mainly explores the application of natural gesture recognition based on computer vision in human-computer interaction, aiming to improve the fluency and naturalness of human-computer interaction through gesture recognition…
A novel sensory substitution technique is presented. Kinesthetic and cutaneous force feedback are substituted by cutaneous feedback (CF) only, provided by two wearable devices able to apply forces to the index finger and the thumb, while…
Compared to rigid hands, underactuated compliant hands offer greater adaptability to object shapes, provide stable grasps, and are often more cost-effective. However, they introduce uncertainties in hand-object interactions due to their…
Synesthesia, conceived as a neuropsychological condition, may prove valuable in studying the interaction between humans and machines by analyzing the co-occurrence of sensory or cognitive responses triggered by a stimulus. In our approach,…
While tremendous advances in visual and auditory realism have been made for virtual and augmented reality (VR/AR), introducing a plausible sense of physicality into the virtual world remains challenging. Closing the gap between real-world…
Many robotic surgical systems have been developed with micro-sized forceps for tissue manipulation. However, these systems often lack force sensing at the tool side and the manipulation forces are roughly estimated and controlled relying on…
Existing robotic manipulation methods primarily rely on visual and proprioceptive observations, which may struggle to infer contact-related interaction states in partially observable real-world environments. Acoustic cues, by contrast,…
Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kinesthetic teaching or teleoperation prohibitively restrict…
Stable and robust robotic grasping is essential for current and future robot applications. In recent works, the use of large datasets and supervised learning has enhanced speed and precision in antipodal grasping. However, these methods…
We present a controller that allows an arm-like manipulator to navigate deformable cloth garments in simulation through the use of haptic information. The main challenge of such a controller is to avoid getting tangled in, tearing or…
Upper limb and hand functionality is critical to many activities of daily living and the amputation of one can lead to significant functionality loss for individuals. From this perspective, advanced prosthetic hands of the future are…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…