相关论文: Polyrhythmic Bimanual Coordination Training using …

We present a novel approach to synthesize dexterous motions for physically simulated hands in tasks that require coordination between the control of two hands with high temporal precision. Instead of directly learning a joint policy to…

We introduce Purrfect Pitch, a system consisting of a wearable haptic device and a custom-designed learning interface for musical ear training. We focus on the ability to identify musical intervals (sequences of two musical notes), which is…

In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…

Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…

Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…

Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…

Bimanual manipulation, i.e., the coordinated use of two robotic arms to complete tasks, is essential for achieving human-level dexterity in robotics. Recent simulation benchmarks, e.g., RoboTwin and RLBench2, have advanced data-driven…

This paper presents a learning-from-demonstration (LfD) framework for teaching human-robot social interactions that involve whole-body haptic interaction, i.e. direct human-robot contact over the full robot body. The performance of existing…

Pseudo-haptics exploit carefully crafted visual or auditory cues to trick the brain into "feeling" forces that are never physically applied, offering a low-cost alternative to traditional haptic hardware. Here, we present a comparative…

This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…

Manic episodes of bipolar disorder can lead to uncritical behaviour and delusional psychosis, often with destructive consequences for those affected and their surroundings. Early detection and intervention of a manic episode are crucial to…

The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing…

Haptic interaction between two humans, for example, a physiotherapist assisting a patient regaining the ability to grasp a cup, likely facilitates motor skill acquisition. Haptic human-human interaction has been shown to enhance individual…

Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…

Tactile sensors play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their…

Haptic feedback enhances immersion in virtual environments by allowing users to physically interact with simulated objects. Supporting accurate force responses in multiphysics systems is challenging because physically based simulation of…

Aiming to replicate human-like dexterity, perceptual experiences, and motion patterns, we explore learning from human demonstrations using a bimanual system with multifingered hands and visuotactile data. Two significant challenges exist:…

We propose an approach to estimate arm and hand dynamics from monocular video by utilizing the relationship between arm and hand. Although monocular full human motion capture technologies have made great progress in recent years, recovering…

This study looked into how effective a Musical Brain-Computer Interface (MBCI) can be in providing feedback about synchrony between two people. Using a double EEG setup, we compared two types of musical feedback; one that adapted in…

Haptic interfaces have untapped the sense of touch to assist multimodal music learning. We have recently seen various improvements of interface design on tactile feedback and force guidance aiming to make instrument learning more effective.…