相关论文: Polyrhythmic Bimanual Coordination Training using …

Intuitive control of prostheses relies on training algorithms to correlate biological recordings to motor intent. The quality of the training dataset is critical to run-time performance, but it is difficult to label hand kinematics…

Modeling hand-object manipulations is essential for understanding how humans interact with their environment. While of practical importance, estimating the pose of hands and objects during interactions is challenging due to the large mutual…

We present a method for controlling a simulated humanoid to grasp an object and move it to follow an object's trajectory. Due to the challenges in controlling a humanoid with dexterous hands, prior methods often use a disembodied hand and…

Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…

Reactions such as gestures, facial expressions, and vocalizations are an abundant, naturally occurring channel of information that humans provide during interactions. A robot or other agent could leverage an understanding of such implicit…

Nowadays, touch remains essential for emotional conveyance and interpersonal communication as more interactions are mediated remotely. While many studies have discussed the effectiveness of using haptics to communicate emotions,…

Grounded haptic devices can provide a variety of forces but have limited working volumes. Wearable haptic devices operate over a large volume but are relatively restricted in the types of stimuli they can generate. We propose the concept of…

Recent research has demonstrated the usefulness of imitation learning in autonomous robot operation. In particular, teaching using four-channel bilateral control, which can obtain position and force information, has been proven effective.…

Achieving human-level dexterity is an important open problem in robotics. However, tasks of dexterous hand manipulation, even at the baby level, are challenging to solve through reinforcement learning (RL). The difficulty lies in the high…

Robots are extending their presence in domestic environments every day, being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be…

There is a recommended body posture and hand position for playing every musical instrument, allowing efficient and quick movements without blockage. Due to humans' limited cognitive capabilities, they struggle to concentrate on several…

We propose an entirely data-driven approach to estimating the 3D pose of a hand given a depth image. We show that we can correct the mistakes made by a Convolutional Neural Network trained to predict an estimate of the 3D pose by using a…

Excitable systems with delayed feedback are important in areas from biology to neuroscience and optics. They sustain multistable pulsing regimes with different number of equidistant pulses in the feedback loop. Experimentally and…

Humans process significantly more information through the sense of touch than through vision. Consequently, haptics for telemanipulation is poised to become essential in the coming years, as it offers operators an additional sensory channel…

Neuronal brain activity in response to repeated stimuli can be perceived using functional magnetic resonance imaging (fMRI). In this paper, we develop a statistical model for fMRI data that estimates both the associated haemodynamic…

Fingernail imaging has been proven to be effective in prior works [1],[2] for estimating the 3D fingertip forces with a maximum RMS estimation error of 7%. In the current research, fingernail imaging is used to perform unconstrained grasp…

The present paper studies a feedback regulation problem, which may be interpreted as an adaptive control problem, but has not yet been studied in the control literature. The problem, which arises in at least two different biological…

Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile…

Real-time hybrid testing is a method in which a substructure of the system is realised experimentally and the rest numerically. The two parts interact in real time to emulate the dynamics of the full system. Such experiments however are…

Biomechanical forward simulation holds great potential for HCI, enabling the generation of human-like movements in interactive tasks. However, training biomechanical models with reinforcement learning is challenging, particularly for…