相关论文: EchoForce: Continuous Grip Force Estimation from S…
Our hands serve as a fundamental means of interaction with the world around us. Therefore, understanding hand poses and interaction context is critical for human-computer interaction. We present EchoWrist, a low-power wristband that…
Biosensors and wearable sensor systems with transmitting capabilities are currently developed and used for the monitoring of health data, exercise activities, and other performance data. Unlike conventional approaches, these devices enable…
Wearable biosensor technology enables real-time, convenient, and continuous monitoring of users behavioral signals. Such include signals relative to body motion, body temperature, biological or biochemical markers, and individual grip…
Hand-face interactions play a key role in many everyday tasks, providing insights into user habits, behaviors, intentions, and expressions. However, existing wearable sensing systems often struggle to track these interactions in daily…
Contact feedback is essential for contact-rich robotic manipulation, as it allows the robot to detect subtle interaction changes and adjust its actions accordingly. Six-axis force-torque sensors are commonly used to obtain contact feedback,…
Hand gesture recognition attracts great attention for interaction since it is intuitive and natural to perform. In this paper, we explore a novel method for interaction by using bone-conducted sound generated by finger movements while…
Contact force is a natural way for humans to interact with the physical world around us. However, most of our interactions with the digital world are largely based on a simple binary sense of touch (contact or no contact). Similarly, when…
Wearable sensor systems with transmitting capabilities are currently employed for the biometric screening of exercise activities and other performance data. Such technology is generally wireless and enables the noninvasive monitoring of…
We developed a new grip force measurement concept that allows for embedding tactile stimulation mechanisms in a gripper. This concept is based on a single force sensor to measure the force applied on each side of the gripper, and it…
Hand gesture recognition based on biosignals has shown strong potential for developing intuitive human-machine interaction strategies that closely mimic natural human behavior. In particular, sensor fusion approaches have gained attention…
Universal jamming grippers excel at grasping unknown objects due to their compliant bodies. Traditional tactile sensors can compromise this compliance, reducing grasping performance. We present acoustic sensing as a form of morphological…
Hand pose tracking is essential for advancing applications in human-computer interaction. Current approaches, such as vision-based systems and wearable devices, face limitations in portability, usability, and practicality. We present a…
User identification plays a pivotal role in how we interact with our mobile devices. Many existing authentication approaches require active input from the user or specialized sensing hardware, and studies on mobile device usage show…
Accurate pre-contact grasp force selection is critical for safe and reliable robotic manipulation. Adaptive controllers regulate force after contact but still require a reasonable initial estimate. Starting a grasp with too little force…
We propose a sensory substitution device that communicates one-degree-of-freedom proprioceptive feedback via deep pressure stimulation on the arm. The design is motivated by the need for a feedback modality detectable by individuals with a…
In this paper, we introduce EyeEcho, a minimally-obtrusive acoustic sensing system designed to enable glasses to continuously monitor facial expressions. It utilizes two pairs of speakers and microphones mounted on glasses, to emit encoded…
Hand grip strength is a widely used clinical biomarker linked to mobility, frailty, surgical outcomes, and overall health. This work explores a novel, phone only approach for estimating grip related force using a smartphone's built in…
Analysis of grip force signals tailored to hand and finger movement evolution and changes in grip force control during task execution provide unprecedented functional insight into somatosensory cognition. Somatosensory cognition is the…
We present PiMForce, a novel framework that enhances hand pressure estimation by leveraging 3D hand posture information to augment forearm surface electromyography (sEMG) signals. Our approach utilizes detailed spatial information from 3D…
Imitation learning requires high-quality demonstrations consisting of sequences of state-action pairs. For contact-rich dexterous manipulation tasks that require dexterity, the actions in these state-action pairs must produce the right…