相关论文: The Use of Implicit Human Motor Behaviour in the O…
Functional upper-limb prosthetic training can improve users performance in controlling prostheses and has been incorporated into occupational therapy for individuals in need. In recent years, virtual reality (VR) and augmented reality (AR)…
Recent advancements in prosthetic technology have increasingly focused on enhancing dexterity and autonomy through intelligent control systems. Vision-based approaches offer promising results for enabling prosthetic hands to interact more…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…
Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
In this paper we present a fully autonomous and intrinsically motivated robot usable for HRI experiments. We argue that an intrinsically motivated approach based on the Predictive Information formalism, like the one presented here, could…
Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…
MEMS Inertial Measurement Units (IMUs) as ubiquitous proprioceptive motion measurement devices are available on various everyday gadgets and robotic platforms. Nevertheless, the direct inference of geometrical transformations or odometry…
Powered prosthetic legs must anticipate the user's intent when switching between different locomotion modes (e.g., level walking, stair ascent/descent, ramp ascent/descent). Numerous data-driven classification techniques have demonstrated…
Adjusting to amputation can often time be difficult for the body. Post-surgery, amputees have to wait for up to several months before receiving a properly fitted prosthesis. In recent years, there has been a trend toward quantitative…
The ability of human beings to precisely recog- nize others intents is a significant mental activity in reasoning about actions, such as, what other people are doing and what they will do next. Recent research has revealed that human…
The provision of robotic assistance during motor training has proven to be effective in enhancing motor learning in some healthy trainee groups as well as patients. Personalizing such robotic assistance can help further improve motor…
Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a…
Recent advancements in robot tool use have unlocked their usage for novel tasks, yet the predominant focus is on rigid-body tools, while the investigation of soft-body tools and their dynamic interaction with rigid bodies remains…
Prosthetic arms and hands that can be controlled by the user's electromyography (EMG) signals are emerging. Eventually, these advanced prosthetic devices will be expected to touch and be touched by other people. As realistic as they may…
Embodied foundation models are increasingly performant in real-world domains such as robotics or autonomous driving. These models are often deployed in interactive or assistive settings, where it is important that these assistive models…
In this paper, we tackle the problem of Egocentric Human-Object Interaction (EHOI) detection in an industrial setting. To overcome the lack of public datasets in this context, we propose a pipeline and a tool for generating synthetic images…
Human teams are able to easily perform collaborative manipulation tasks. However, for a robot and human to simultaneously manipulate an extended object is a difficult task using existing methods from the literature. Our approach in this…
Humans are very effective at interpreting subtle properties of the partner's movement and use this skill to promote smooth interactions. Therefore, robotic platforms that support human partners in daily activities should acquire similar…