相关论文: HapticGiant: A Novel Very Large Kinesthetic Haptic…
We present a novel hierarchical graphical model based context-aware hybrid brain-machine interface (hBMI) using probabilistic fusion of electroencephalographic (EEG) and electromyographic (EMG) activities. Based on experimental data…
Human-centric volumetric videos offer immersive free-viewpoint experiences, yet existing methods focus either on replaying general dynamic scenes or animating human avatars, limiting their ability to re-perform general dynamic scenes. In…
Assistive and Wearable Robotics have the potential to support humans with different types of motor impairments to become independent and fulfil their activities of daily living successfully. The success of these robot systems, however,…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although commercial robotic systems have begun…
The tactile sensing capabilities of human hands are essential in performing daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated into the hands enables humans to achieve daily tasks like…
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…
Mid-air haptic interfaces employ focused ultrasound waves to generate touchless haptic sensations on the skin. Prior studies have demonstrated the potential positive impact of mid-air haptic feedback on virtual experiences, enhancing…
Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks which require the robot to interact with an unstructured and/or unknown…
We present a novel underactued humanoid five finger soft hand, the KIT \softhand, which is equipped with cameras in the fingertips and integrates a high performance embedded system for visual processing and control. We describe the…
Hand interactions are increasingly used as the primary input modality in immersive environments, but they are not always feasible due to situational impairments, motor limitations, and environmental constraints. Speech interfaces have been…
Volume Rendering applications require sophisticated user interaction for the definition and refinement of transfer functions. Traditional 2D desktop user interface elements have been developed to solve this task, but such concepts do not…
The virtual reality (VR) and human-computer interaction (HCI) combination has radically changed the way users approach a virtual environment, increasing the feeling of VR immersion, and improving the user experience and usability. The…
This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which,…
Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks that require the robot to interact with an unstructured and unknown…
Hand gesture is a new and promising interface for locomotion in virtual environments. While several previous studies have proposed different hand gestures for virtual locomotion, little is known about their differences in terms of…
For contact-intensive tasks, the ability to generate policies that produce comprehensive tactile-aware motions is essential. However, existing data collection and skill learning systems for dexterous manipulation often suffer from…
Pseudo-haptics exploit carefully crafted visual or auditory cues to trick the brain into "feeling" forces that are never physically applied, offering a low-cost alternative to traditional haptic hardware. Here, we present a comparative…
Grasping constitutes a critical challenge for visually impaired people. To address this problem, we developed a tactile bracelet that assists in grasping by guiding the user's hand to a target object using vibration commands. Here we…
High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…