相关论文: Tracking Hand Hygiene Gestures with Leap Motion Co…

We introduce a novel 3D hand pose estimator that can accurately recover the shape and pose of people's hands in a room from afar, typically from fixed cameras at room corners, in extremely low-resolution and frequently occluded views. Our…

People's personal hygiene habits speak volumes about the condition of taking care of their bodies and health in daily lifestyle. Maintaining good hygiene practices not only reduces the chances of contracting a disease but could also reduce…

Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While…

In this paper, we study task-oriented human grasp synthesis, a new grasp synthesis task that demands both task and context awareness. At the core of our method is the task-aware contact maps. Unlike traditional contact maps that only reason…

Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive…

In surgical training for medical students, proficiency development relies on expert-led skill assessment, which is costly, time-limited, difficult to scale, and its expertise remains confined to institutions with available specialists.…

This paper presents the maneuver of mouse pointer and performs various mouse operations such as left click, right click, double click, drag etc using gestures recognition technique. Recognizing gestures is a complex task which involves many…

For humans, both the proprioception and touch sensing are highly utilized when performing haptic perception. However, most approaches in robotics use only either proprioceptive data or touch data in haptic object recognition. In this paper,…

Hand gesture recognition has long been a hot topic in human computer interaction. Traditional camera-based hand gesture recognition systems cannot work properly under dark circumstances. In this paper, a Doppler Radar based hand gesture…

Manipulation tasks are sequential in nature. Grasp selection approaches that take into account the con- straints at each task step are critical, since they allow to both (1) Identify grasps that likely require simple arm motions through the…

In considering human-machine interface (HMI) for smart environment, a simple but effective method is proposed for automatic arm motion recognition with a Doppler radar sensor. Arms, in lieu of hands, have stronger radar cross-section and…

Wearable cameras allow people to record their daily activities from a user-centered (First Person Vision) perspective. Due to their favorable location, wearable cameras frequently capture the hands of the user, and may thus represent a…

Gestures performed accompanying the voice are essential for voice interaction to convey complementary semantics for interaction purposes such as wake-up state and input modality. In this paper, we investigated voice-accompanying…

The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…

Over the years, hand gesture recognition has been mostly addressed considering hand trajectories in isolation. However, in most sign languages, hand gestures are defined on a particular context (body region). We propose a pipeline to…

In this paper, we present a number of robust methodologies for an underwater robot to visually detect, follow, and interact with a diver for collaborative task execution. We design and develop two autonomous diver-following algorithms, the…

In haptic object discrimination, the effect of gripper embodiment, action parameters, and sensory channels has not been systematically studied. We used two anthropomorphic hands and two 2-finger grippers to grasp two sets of deformable…

Scalable learning of dexterous manipulation remains bottlenecked by the difficulty of collecting natural, high-fidelity human demonstrations of multi-finger hands due to occlusion, complex hand kinematics, and contact-rich interactions. We…

Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…

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,…