相关论文: Learning Hand State Estimation for a Light Exoskel…

Grasping is a fundamental skill for interacting with and manipulating objects in the environment. However, this ability can be challenging for individuals with hand impairments. Soft hand exoskeletons designed to assist grasping can enhance…

We propose a method for hand pose estimation based on a deep regressor trained on two different kinds of input. Raw depth data is fused with an intermediate representation in the form of a segmentation of the hand into parts. This…

A low-cost 1-DOF hand exoskeleton for neuromuscular rehabilitation has been designed and assembled. It consists of a base equipped with a servo motor, an index finger part, and a thumb part, connected through three gears. The index part has…

For lower arm amputees, prosthetic hands promise to restore most of physical interaction capabilities. This requires to accurately predict hand gestures capable of grabbing varying objects and execute them timely as intended by the user.…

Exoskeletons for rehabilitation can help enhance motor recovery in individuals suffering from neurological disorders. Precision in movement execution, especially in arm rehabilitation, is crucial to prevent maladaptive plasticity. However,…

Many people suffer from the loss of a limb. Learning to get by without an arm or hand can be very challenging, and existing prostheses do not yet fulfil the needs of individuals with amputations. One promising solution is to provide greater…

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…

Manual assembly workers face increasing complexity in their work. Human-centered assistance systems could help, but object recognition as an enabling technology hinders sophisticated human-centered design of these systems. At the same time,…

An accurate estimate of limb position is necessary for movement. Where we localize our unseen hand after a reach depends on felt hand position, or proprioception, but often only predicted sensory consequences based on efference copies of…

Hand detection is essential for many hand related tasks, e.g. parsing hand pose, understanding gesture, which are extremely useful for robotics and human-computer interaction. However, hand detection in uncontrolled environments is…

We present EgoAllo, a system for human motion estimation from a head-mounted device. Using only egocentric SLAM poses and images, EgoAllo guides sampling from a conditional diffusion model to estimate 3D body pose, height, and hand…

State-of-the-art reinforcement learning is now able to learn versatile locomotion, balancing and push-recovery capabilities for bipedal robots in simulation. Yet, the reality gap has mostly been overlooked and the simulated results hardly…

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…

Back-support exoskeletons are commonly used in the workplace to reduce low back pain risk for workers performing demanding activities. However, for the assistance of tasks differing from lifting, back-support exoskeletons potential has not…

In this paper, an approach for gait assistance with a lower body exoskeleton is described. Two concepts, transparency and motion assistance, are combined. The transparent mode, where the system is following the user's free motion with a…

One of the typical purposes of using lower-limb exoskeleton robots is to provide assistance to the wearer by supporting their weight and augmenting their physical capabilities according to a given task and human motion intentions. The…

Assistive exoskeletons have shown great potential in enhancing mobility for individuals with motor impairments, yet their effectiveness relies on precise parameter tuning for personalized assistance. In this study, we investigate the…

This paper explores the development of a control and sensor strategy for an industrial wearable wrist exoskeleton by classifying and predicting workers' actions. The study evaluates the correlation between exerted force and effort…

Low-cost sensing gloves for reconstruction posture provide measurements which are limited under several regards. They are generated through an imperfectly known model, are subject to noise, and may be less than the number of Degrees of…

Imitation learning has emerged as a powerful paradigm for robot skills learning. However, traditional data collection systems for dexterous manipulation face challenges, including a lack of balance between acquisition efficiency,…