相关论文: i-GSI: A Fast and Reliable Grasp-type Switching In…
We build a low-level reflex control layer driven by fast tactile feedback for multifinger grasp stabilization. Our hybrid approach combines learned tactile slip detection with model-based internal-force control to halt in-hand slip while…
Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide variety of objects and demands robust and adaptive grasping…
Transformers are state-of-the-art networks for most sequence processing tasks. However, the self-attention mechanism often used in Transformers requires large time windows for each computation step and thus makes them less suitable for…
Clinical myoelectric prostheses lack the sensory feedback and sufficient dexterity required to complete activities of daily living efficiently and accurately. Providing haptic feedback of relevant environmental cues to the user or imbuing…
The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…
Haptic feedback is integral to the improved experience of prosthetic users and the reduction in prosthesis rejection. Prior studies have explored various methods to encode tactile information and deliver vibration feedback. However, a…
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…
Hand pose tracking is essential for advancing applications in human-computer interaction. Current approaches, such as vision-based systems and wearable devices, face limitations in portability, usability, and practicality. We present a…
Swarms of robots will revolutionize many industrial applications, from targeted material delivery to precision farming. Controlling the motion and behavior of these swarms presents unique challenges for human operators, who cannot yet…
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…
As head-mounted displays (HMDs) with eye-tracking become increasingly accessible, the need for effective gaze-based interfaces in virtual reality (VR) grows. Traditional gaze- or hand-based navigation often limits user precision or impairs…
Most research on deformable linear object (DLO) manipulation assumes rigid grasping. However, beyond rigid grasping and re-grasping, in-hand following is also an essential skill that humans use to dexterously manipulate DLOs, which requires…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
The rapid development of Large Language Models (LLMs) creates an exciting potential for flexible, general knowledge-driven Human-Robot Interaction (HRI) systems for assistive robots. Existing HRI systems demonstrate great progress in…
With increasing global age and disability assistive robots are becoming more necessary, and brain computer interfaces (BCI) are often proposed as a solution to understanding the intent of a disabled person that needs assistance. Most…
Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…
Identifying gene splicing is a core and significant task confronted in modern collaboration between artificial intelligence and bioinformatics. Past decades have witnessed great efforts on this concern, such as the bio-plausible splicing…
Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…
Brain computer interfaces (BCIs) offer individuals suffering from major disabilities an alternative method to interact with their environment. Sensorimotor rhythm (SMRs) based BCIs can successfully perform control tasks; however, the…
How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two…