相关论文: Adaptive Semi-Supervised Intent Inferral to Contro…

Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…

Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…

This article provides an original understanding of the behavior of a class of graph-oriented semi-supervised learning algorithms in the limit of large and numerous data. It is demonstrated that the intuition at the root of these methods…

Advances in eye-tracking control for assistive robotic arms provide intuitive interaction opportunities for people with physical disabilities. Shared control has gained interest in recent years by improving user satisfaction through partial…

This work addresses human intention identification during physical Human-Robot Interaction (pHRI) tasks to include this information in an assistive controller. To this purpose, human intention is defined as the desired trajectory that the…

Exoskeletons and orthoses are wearable mobile systems providing mechanical benefits to the users. Despite significant improvements in the last decades, the technology is not fully mature to be adopted for strenuous and non-programmed tasks.…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

In this study, we introduce a novel shared-control system for key-hole docking operations, combining a commercial camera with occlusion-robust pose estimation and a hand-eye information fusion technique. This system is used to enhance…

Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…

This paper presents an online intention prediction framework for estimating the goal state of autonomous systems in real time, even when intention is time-varying, and system dynamics or objectives include unknown parameters. The problem is…

Inspired by the remarkable ability of the infant visual learning system, a recent study collected first-person images from children to analyze the `training data' that they receive. We conduct a follow-up study that investigates two…

Shared autonomy holds promise for improving the usability and accessibility of assistive robotic arms, but current methods often rely on costly expert demonstrations and remain static after pretraining, limiting their ability to handle…

A number of studies have proposed to use domain adaptation to reduce the training efforts needed to control an upper-limb prosthesis exploiting pre-trained models from prior subjects. These studies generally reported impressive reductions…

In this paper, we study the problem of adapting manipulation trajectories involving grasped objects (e.g. tools) defined for a single grasp pose to novel grasp poses. A common approach to address this is to define a new trajectory for each…

3D hand-object pose estimation is an important issue to understand the interaction between human and environment. Current hand-object pose estimation methods require detailed 3D labels, which are expensive and labor-intensive. To tackle the…

The increasingly wide usage of location aware sensors has made it possible to collect large volume of trajectory data in diverse application domains. Machine learning allows to study the activities or behaviours of moving objects (e.g.,…

This study describes and evaluates i-GRIP, a novel movement intention estimator designed to facilitate the control of assistive devices for grasping tasks in individuals with upper limb impairments. Operating within a collaborative grasping…

Without finger function, people with C5-7 spinal cord injury (SCI) regularly utilize wrist extension to passively close the fingers and thumb together for grasping. Wearable assistive grasping devices often focus on this familiar…

Building robotic prostheses requires a sensor-based interface designed to provide the robotic hand with the control required to perform hand gestures. Traditional Electromyography (EMG) based prosthetics and emerging alternatives often face…

Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…