相关论文: From Hand-Perspective Visual Information to Grasp …

This study examines the potential of utilizing Vision Language Models (VLMs) to improve the perceptual capabilities of semi-autonomous prosthetic hands. We introduce a unified benchmark for end-to-end perception and grasp inference,…

We present an accurate, real-time approach to robotic grasp detection based on convolutional neural networks. Our network performs single-stage regression to graspable bounding boxes without using standard sliding window or region proposal…

Learning Based Robot Grasping currently involves the use of labeled data. This approach has two major disadvantages. Firstly, labeling data for grasp points and angles is a strenuous process, so the dataset remains limited. Secondly, human…

Robotic grasp should be carried out in a real-time manner by proper accuracy. Perception is the first and significant step in this procedure. This paper proposes an improved pipeline model trying to detect grasp as a rectangle…

Many amputees throughout the world are left with limited options to personally own a prosthetic arm due to the expensive cost, mechanical system complexity, and lack of availability. The three main control methods of prosthetic hands are:…

Different manipulation tasks require different types of grasps. For example, holding a heavy tool like a hammer requires a multi-fingered power grasp offering stability, while holding a pen to write requires a multi-fingered precision grasp…

Recognizing human activities in a sequence is a challenging area of research in ubiquitous computing. Most approaches use a fixed size sliding window over consecutive samples to extract features---either handcrafted or learned…

People undergoing neuromuscular dysfunctions and amputated limbs require automatic prosthetic appliances. In developing such prostheses, the precise detection of brain motor actions is imperative for the Grasp-and-Lift (GAL) tasks. Because…

High-resolution representations are important for vision-based robotic grasping problems. Existing works generally encode the input images into low-resolution representations via sub-networks and then recover high-resolution…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

Recent advancements in control of prosthetic hands have focused on increasing autonomy through the use of cameras and other sensory inputs. These systems aim to reduce the cognitive load on the user by automatically controlling certain…

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…

Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The…

Current learning-based robot grasping approaches exploit human-labeled datasets for training the models. However, there are two problems with such a methodology: (a) since each object can be grasped in multiple ways, manually labeling grasp…

Dexterous robotic hands are appealing for their agility and human-like morphology, yet their high degree of freedom makes learning to manipulate challenging. We introduce an approach for learning dexterous grasping. Our key idea is to embed…

We propose a novel approach to multi-fingered grasp planning leveraging learned deep neural network models. We train a voxel-based 3D convolutional neural network to predict grasp success probability as a function of both visual information…

We present an attention based visual analysis framework to compute grasp-relevant information in order to guide grasp planning using a multi-fingered robotic hand. Our approach uses a computational visual attention model to locate regions…

Metric learning is an important problem in machine learning. It aims to group similar examples together. Existing state-of-the-art metric learning approaches require class labels to learn a metric. As obtaining class labels in all…

Grasping is a complex process involving knowledge of the object, the surroundings, and of oneself. While humans are able to integrate and process all of the sensory information required for performing this task, equipping machines with this…

In this work, we investigate the influence of labeling methods on the classification of human movements on data recorded using a marker-based motion capture system. The dataset is labeled using two different approaches, one based on video…