相关论文: Correlating grip force signals from multiple senso…

With the rising interest in Virtual Reality and the fast development and improvement of available devices, new features of interactions are becoming available. One of them that is becoming very popular is hand tracking, as the idea to…

This article reviews contemporary methods for integrating force, including both proprioception and tactile sensing, in robot manipulation policy learning. We conduct a comparative analysis on various approaches for sensing force, data…

Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…

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,…

Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit and grippers, variable stem attachment,…

Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…

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…

Humans excel at grasping objects and manipulating them. Capturing human grasps is important for understanding grasping behavior and reconstructing it realistically in Virtual Reality (VR). However, grasp capture - capturing the pose of a…

Human dexterity relies on rapid, sub-second motor adjustments, yet capturing these high-frequency dynamics remains an enduring challenge in biomechanics and robotics. Existing motion capture paradigms are compromised by a trade-off between…

Handovers are basic yet sophisticated motor tasks performed seamlessly by humans. They are among the most common activities in our daily lives and social environments. This makes mastering the art of handovers critical for a social and…

Natural user interfaces are on the rise. Manufacturers for Augmented, Virtual, and Mixed Reality head mounted displays are increasingly integrating new sensors into their consumer grade products, allowing gesture recognition without…

Humans commonly work with multiple objects in daily life and can intuitively transfer manipulation skills to novel objects by understanding object functional regularities. However, existing technical approaches for analyzing and…

Activity recognition has shown impressive progress in recent years. However, the challenges of detecting fine-grained activities and understanding how they are combined into composite activities have been largely overlooked. In this work we…

Aging and chronic conditions affect older adults' daily lives, making the early detection of developing health issues crucial. Weakness, which is common across many conditions, can subtly alter physical movements and daily activities.…

Biomimetic and compliant robotic hands offer the potential for human-like dexterity, but controlling them is challenging due to high dimensionality, complex contact interactions, and uncertainties in state estimation. Sampling-based model…

Sensing gloves have become important tools for teleoperation and robotic policy learning as they are able to provide rich signals like speed, acceleration and tactile feedback. A common approach to track gloved hands is to directly use the…

We explore hand-gesture recognition through the use of passive body-worn reflective tags. A data processing pipeline is proposed to address the issue of missing data. Specifically, missing information is recovered through linear and…

Monitoring the state of contact is essential for robotic devices, especially grippers that implement gecko-inspired adhesives where intimate contact is crucial for a firm attachment. However, due to the lack of deformable sensors, few have…

Successfully manipulating many everyday objects, such as potato chips, requires precise force regulation. Failure to modulate force can lead to task failure or irreversible damage to the objects. Humans can precisely achieve this by…

During virtual interactions, rendering haptic feedback on a remote location (like the wrist) instead of the fingertips freeing users' hands from mechanical devices. This allows for real interactions while still providing information…