相关论文: Task Dynamics of Prior Training Influence Visual F…
Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
Teleoperation is a key approach for collecting high-quality, physically consistent demonstrations for robotic manipulation. However, teleoperation for dexterous manipulation remains constrained by: (i) inaccurate hand-robot motion mapping,…
The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired…
A long-standing question in robot hand design is how accurate tactile sensing must be. This paper uses simulated tactile signals and the reinforcement learning (RL) framework to study the sensing needs in grasping systems. Our first…
Human-Robot Interfaces (HRIs) represent a crucial component in telerobotic systems. Body-Machine Interfaces (BoMIs) based on body motion can feel more intuitive than standard HRIs for naive users as they leverage humans' natural control…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
In this work we extend the low-cost GELLO teleoperation system, initially designed for joint position control, with additional force information. Our first extension is to implement force feedback, allowing users to feel resistance when…
Imitation learning is a promising approach for learning robot policies with user-provided data. The way demonstrations are provided, i.e., demonstration modality, influences the quality of the data. While existing research shows that…
Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic…
We present a method for EMG-driven teleoperation of non-anthropomorphic robot hands. EMG sensors are appealing as a wearable, inexpensive, and unobtrusive way to gather information about the teleoperator's hand pose. However, mapping from…
Precisely determining the contact force during safe interaction in Minimally Invasive Robotic Surgery (MIRS) is still an open research challenge. Inspired by post-operative qualitative analysis from surgical videos, the use of…
Clinical myoelectric prostheses lack the sensory feedback and sufficient dexterity required to complete activities of daily living efficiently and accurately. Providing haptic feedback of relevant environmental cues to the user or imbuing…
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…
Individuals who use myoelectric upper-limb prostheses often rely heavily on vision to complete their daily activities. They thus struggle in situations where vision is overloaded, such as multitasking, or unavailable, such as poor lighting…
Teleoperation with non-haptic VR controllers deprives human operators of critical motion feedback. We address this by embedding a multi-objective optimization problem that converts user input into collision-free UR5e joint trajectories…
The utilization of teleoperation is a crucial aspect of the construction industry, as it enables operators to control machines safely from a distance. However, remote operation of these machines at a joint level using individual joysticks…
Research in multi-modal interfaces aims to provide solutions to immersion and increase overall human performance. A promising direction is combining auditory, visual and haptic interaction between the user and the simulated environment.…