相关论文: Simultaneous Estimation of Manipulation Skill and …
Ultrasound based hand movement estimation is a crucial area of research with applications in human-machine interaction. Forearm ultrasound offers detailed information about muscle morphology changes during hand movement which can be used to…
Ultrasound imaging of the forearm has demonstrated significant potential for accurate hand gesture classification. Despite this progress, there has been limited focus on developing a stand-alone end- to-end gesture recognition system which…
Diagnostic activities, such as ultrasound scans and palpation, are relatively low-cost. They play a crucial role in the early detection of health problems and in assessing their progression. However, they are also error-prone activities,…
With the advancement in computing and robotics, it is necessary to develop fluent and intuitive methods for interacting with digital systems, augmented/virtual reality (AR/VR) interfaces, and physical robotic systems. Hand motion…
Ultrasound images of the forearm can be used to classify hand gestures towards developing human machine interfaces. In our previous work, we have demonstrated gesture classification using ultrasound on a single subject without removing the…
Estimation of a hand grip force is essential for the understanding of force pattern during the execution of assembly or disassembly operations. Human demonstration of a correct way of doing an operation is a powerful source of information…
A central challenge in building robotic prostheses is the creation of a sensor-based system able to read physiological signals from the lower limb and instruct a robotic hand to perform various tasks. Existing systems typically perform…
Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human…
Tactile and kinesthetic perceptions are crucial for human dexterous manipulation, enabling reliable grasping of objects via proprioceptive sensorimotor integration. For robotic hands, even though acquiring such tactile and kinesthetic…
Purpose: Recent developments in robotics and artificial intelligence (AI) have led to significant advances in healthcare technologies enhancing robot-assisted minimally invasive surgery (RAMIS) in some surgical specialties. However, current…
To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…
Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the…
Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system…
Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…
This paper proposes a wearable-controlled mobile manipulator system for intelligent smart home assistance, integrating MEMS capacitive microphones, IMU sensors, vibration motors, and pressure feedback to enhance human-robot interaction. The…
Spine injections are commonly performed in several clinical procedures. The localization of the target vertebral level (i.e. the position of a vertebra in a spine) is typically done by back palpation or under X-ray guidance, yielding either…
This paper builds on our previous work by exploiting Artificial Intelligence to predict individual grip force variability in manual robot control. Grip forces were recorded from various loci in the dominant and non dominant hands of…
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…
Ultrasound (US) has emerged as a promising modality for Human-Machine Interfaces (HMIs), with recent research efforts exploring its potential for Hand Pose Estimation (HPE). A reliable solution to this problem could introduce interfaces…
Accurate and real-time hand gesture recognition is essential for controlling advanced hand prostheses. Surface Electromyography (sEMG) signals obtained from the forearm are widely used for this purpose. Here, we introduce a novel hand…