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

Robots operating in populated environments encounter many different types of people, some of whom might have an advanced need for cautious interaction, because of physical impairments or their advanced age. Robots therefore need to…

Since the emergence of large annotated datasets, state-of-the-art hand pose estimation methods have been mostly based on discriminative learning. Recently, a hybrid approach has embedded a kinematic layer into the deep learning structure in…

Electromyography (EMG) signals have been successfully employed for driving prosthetic limbs of a single or double degree of freedom. This principle works by using the amplitude of the EMG signals to decide between one or two simpler…

We describe a learning-based approach to hand-eye coordination for robotic grasping from monocular images. To learn hand-eye coordination for grasping, we trained a large convolutional neural network to predict the probability that…

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…

When humans grasp objects in the real world, we often move our arms to hold the object in a different pose where we can use it. In contrast, typical lab settings only study the stability of the grasp immediately after lifting, without any…

Over the last couple of years, deep learning and especially convolutional neural networks have become one of the work horses of computer vision. One limiting factor for the applicability of supervised deep learning to more areas is the need…

Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…

Proprioception, a key sensory modality in haptic perception, plays a vital role in perceiving the 3D structure of objects by providing feedback on the position and movement of body parts. The restoration of proprioceptive sensation is…

Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…

Hand gesture recognition is an important aspect of human-computer interaction. It forms the basis of sign language for the visually impaired people. This work proposes a novel hand gesture recognizing system for the differently-abled…

Electromyography (EMG) is a measure of muscular electrical activity and is used in many clinical/biomedical disciplines and modern human computer interaction. Myo-electric prosthetics analyze and classify the electrical signals recorded…

Current electromyography (EMG) pattern recognition (PR) models have been shown to generalize poorly in unconstrained environments, setting back their adoption in applications such as hand gesture control. This problem is often due to…

Identification of intended movement type and movement phase of hand grasp shaping are critical features for the control of volitional neuroprosthetics. We demonstrate that neural dynamics during visually-guided imagined grasp shaping can…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…

Supervised learning, more specifically Convolutional Neural Networks (CNN), has surpassed human ability in some visual recognition tasks such as detection of traffic signs, faces and handwritten numbers. On the other hand, even…

Recent advances in the field of intelligent robotic manipulation pursue providing robotic hands with touch sensitivity. Haptic perception encompasses the sensing modalities encountered in the sense of touch (e.g., tactile and kinesthetic…

Data-driven approaches have become a dominant paradigm for robotic grasp planning. However, the performance of these approaches is enormously influenced by the quality of the available training data. In this paper, we propose a framework to…

Objective: To automatically create large labeled training datasets and reduce the efforts of feature engineering for training accurate machine learning models for clinical information extraction. Materials and Methods: We propose a distant…