相关论文: Cost-Effective Robotic Handwriting System with AI …

This work presents an RGB-D imaging-based approach to marker-free hand-eye calibration using a novel implementation of the iterative closest point (ICP) algorithm with a robust point-to-plane (PTP) objective formulated on a Lie algebra. Its…

The sophisticated sense of touch of the human hand significantly contributes to our ability to safely, efficiently, and dexterously manipulate arbitrary objects in our environment. Robotic and prosthetic devices lack refined, tactile…

Input devices, such as buttons and sliders, are the foundation of any interface. The typical user-centered design workflow requires the developers and users to go through many iterations of design, implementation, and analysis. The…

Manual digitisation of structured handwritten documents is slow and costly. We benchmark 17 leading frontier multi-modal large language models and open-source models against a very challenging real-world medical form that mixes dates;…

Human grasps can be roughly categorized into two types: power grasps and precision grasps. Precision grasping enables tool use and is believed to have influenced human evolution. Today's multi-fingered robotic hands are effective in power…

As of recent generative adversarial networks have allowed for big leaps in the realism of generated images in diverse domains, not the least of which being handwritten text generation. The generation of realistic-looking hand-written text…

While parallel grippers and multi-fingered robotic hands are well developed and commonly used in structured settings, it remains a challenge in robotics to design a highly articulated robotic hand that can be comparable to human hands to…

This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…

Over the last years collaborative robots have gained great success in manufacturing applications where human and robot work together in close proximity. However, current ISO/TS-15066-compliant implementations often limit the efficiency of…

Current anthropomorphic robotic hands mainly focus on improving their dexterity by devising new mechanical structures and actuation systems. However, most of them rely on a single structure/system (e.g., bone-only) and ignore the fact that…

This paper presents an experiment of automatically scoring handwritten descriptive answers in the trial tests for the new Japanese university entrance examination, which were made for about 120,000 examinees in 2017 and 2018. There are…

Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…

While there exists many methods for manipulating rigid objects with parallel-jaw grippers, grasping with multi-finger robotic hands remains a quite unexplored research topic. Reasoning and planning collision-free trajectories on the…

Real-time high-accuracy optical flow estimation is a crucial component in various applications, including localization and mapping in robotics, object tracking, and activity recognition in computer vision. While recent learning-based…

Generative AI, particularly Language Models (LMs), has the potential to transform real-world domains with societal impact, particularly where access to experts is limited. For example, in education, training novice educators with expert…

Grasping is essential in robotic manipulation, yet challenging due to object and gripper diversity and real-world complexities. Traditional analytic approaches often have long optimization times, while data-driven methods struggle with…

This study presents WriteFlow, an AI voice-based writing assistant designed to support reflective academic writing through goal-oriented interaction. Academic writing involves iterative reflection and evolving goal regulation, yet prior…

Reliability on cloud providers for ASR inference to support child-centered voice-based applications is becoming challenging due to regulatory and privacy challenges. Motivated by a privacy-preserving design, this study aims to develop a…

Dynamic in-hand manipulation remains a challenging task for soft robotic systems that have demonstrated advantages in safe compliant interactions but struggle with high-speed dynamic tasks. In this work, we present SWIFT, a system for…

Human fingers achieve exceptional dexterity and adaptability by combining structures with varying stiffness levels, from soft tissues (low) to tendons and cartilage (medium) to bones (high). This paper explores developing a robotic finger…