相关论文: Vision Controlled Orthotic Hand Exoskeleton
The integration of large-scale circuits and systems emphasizes the importance of automated defect detection of electronic components. The YOLO image detection model has been used to detect PCB defects and it has become a typical AI-assisted…
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…
Object detection and classification are crucial tasks across various application domains, particularly in the development of safe and reliable Advanced Driver Assistance Systems (ADAS). Existing deep learning-based methods such as…
Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic…
Existing robotic lower-limb prostheses use autonomous control to address cyclic, locomotive tasks, but they are inadequate to operate the prosthesis for daily activities that are non-cyclic and unpredictable. To address this challenge, this…
Existing grasp controllers usually either only support finger-tip grasps or need explicit configuration of the inner forces. We propose a novel grasp controller that supports arbitrary grasp types, including power grasps with…
Exoskeletons can boost human strength and provide assistance to individuals with physical disabilities. However, ensuring safety and optimal performance in their design poses substantial challenges. This study presents the design process…
Forecasting future 3D hand pose sequences from egocentric video is essential for understanding human intention and enabling embodied applications such as AR/VR assistance and human-robot interaction. However, this task remains a highly…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
Restoration of hand function is one of the highest priorities for SCI populations. In this work, we present a prototype of a robotic assistive orthosis capable of implementing tenodesis user control. The underactuated device provides active…
Effective rehabilitation methods are essential for the recovery of lower limb dysfunction caused by stroke. Nowadays, robotic exoskeletons have shown great potentials in rehabilitation. Nevertheless, traditional rigid exoskeletons are…
Egocentric hand-object motion generation is crucial for immersive AR/VR and robotic imitation but remains challenging due to unstable viewpoints, self-occlusions, perspective distortion, and noisy ego-motion. Existing methods rely on…
Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…
Exoskeletons have been shown to effectively assist humans during steady locomotion. However, their effects on non-steady locomotion, characterized by nonlinear phase progression within a gait cycle, remain insufficiently explored,…
Optical see-through augmented reality (OST-AR) overlays digital targets and annotations on the physical world, offering promising guidance for hands-on tasks such as medical needle insertion or assembly. Recent work on OST-AR depth…
Safe navigation for the visually impaired individuals remains a critical challenge, especially concerning head-level obstacles, which traditional mobility aids often fail to detect. We introduce GuideTouch, a compact, affordable, standalone…
Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…
Precision robotic manipulation tasks (insertion, screwing, precisely pick, precisely place) are required in many scenarios. Previous methods achieved good performance on such manipulation tasks. However, such methods typically require…
Finding obstacle-free paths in unknown environments is a big navigation issue for visually impaired people and autonomous robots. Previous works focus on obstacle avoidance, however they do not have a general view of the environment they…
The control of multi-fingered dexterous prosthetics hand remains challenging due to the lack of an intuitive and efficient Grasp-type Switching Interface (GSI). We propose a new GSI (i-GSI) t hat integrates the manifold power of…