相关论文: A novel gesture interaction control method for reh…

Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To accurately reconstruct object contours, it is crucial for the…

In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we…

Learning from demonstrations has shown to be an effective approach to robotic manipulation, especially with the recently collected large-scale robot data with teleoperation systems. Building an efficient teleoperation system across diverse…

Existing multi-person human reconstruction approaches mainly focus on recovering accurate poses or avoiding penetration, but overlook the modeling of close interactions. In this work, we tackle the task of reconstructing closely interactive…

Wireless charging pads are common, yet their functionality is mainly restricted to charging. Existing gesture recognition techniques, such as those based on machine vision and WiFi, have drawbacks like high costs and poor precision. This…

Successful adoption of industrial robots will strongly depend on their ability to safely and efficiently operate in human environments, engage in natural communication, understand their users, and express intentions intuitively while…

Reliable human-robot communication is essential for underwater human-robot interaction (U-HRI), yet traditional methods such as acoustic signaling and predefined gesture-based models suffer from limitations in adaptability and robustness.…

Developing exoskeleton controllers that generalize across diverse locomotor conditions typically requires extensive motion-capture data and biomechanical labeling, limiting scalability beyond instrumented laboratory settings. Here, we…

Mobile devices' user interfaces are still quite similar to traditional interfaces offered by desktop computers, but those can be highly problematic when used in a mobile context. Human gesture recognition in mobile interaction appears as an…

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…

This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…

Over the past decade, Extended Reality (XR), including Virtual, Augmented, and Mixed Reality, gained attention as a research instrument in human-robot interaction studies, but remains underexplored in empirical investigations of social…

This study presents an innovative computer vision framework designed to analyze human movements in industrial settings, aiming to enhance biomechanical analysis by integrating seamlessly with existing software. Through a combination of…

Timely and adequate rehabilitation is critical in facilitating post-stroke recovery. However, the organization and delivery of rehabilitation are resource-demanding, and are only available to approximately 25% of stroke survivors in…

This paper introduces a motion retargeting method that preserves self-contacts and prevents interpenetration. Self-contacts, such as when hands touch each other or the torso or the head, are important attributes of human body language and…

Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by…

Gait phase estimation based on inertial measurement unit (IMU) signals facilitates precise adaptation of exoskeletons to individual gait variations. However, challenges remain in achieving high accuracy and robustness, particularly during…

Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…

Haptic devices have been employed to immerse users in VR environments. In particular, hand and finger haptic devices have been deeply developed. However, this type of device occlude the hand detection by some tracking systems, or in other…

Gesture recognition is mainly apprehensive on analyzing the functionality of human wits. The main goal of gesture recognition is to create a system which can recognize specific human gestures and use them to convey information or for device…