相关论文: Human-Inspired Soft Anthropomorphic Hand System fo…
We propose a novel system for robot-to-human object handover that emulates human coworker interactions. Unlike most existing studies that focus primarily on grasping strategies and motion planning, our system focus on 1. inferring human…
Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…
Brain-computer interfaces are being explored for a wide variety of therapeutic applications. Typically, this involves measuring and analyzing continuous-time electrical brain activity via techniques such as electrocorticogram (ECoG) or…
Efficient operation of intelligent machines in the real world requires methods that allow them to understand and predict the uncertainties presented by the unstructured environments with good accuracy, scalability and generalization,…
Combining different sensing modalities with multiple positions helps form a unified perception and understanding of complex situations such as human behavior. Hence, human activity recognition (HAR) benefits from combining redundant and…
This paper introduces the concept of employing neuromorphic methodologies for task-oriented underwater robotics applications. In contrast to the increasing computational demands of conventional deep learning algorithms, neuromorphic…
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…
Much of the literature on robotic perception focuses on the visual modality. Vision provides a global observation of a scene, making it broadly useful. However, in the domain of robotic manipulation, vision alone can sometimes prove…
In this work, we present a multimodal system for active robot-object interaction using laser-based SLAM, RGBD images, and contact sensors. In the object manipulation task, the robot adjusts its initial pose with respect to obstacles and…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
This paper presents a novel fabric-based thermal-haptic interface for virtual reality and teleoperation. It integrates pneumatic actuation and conductive fabric with an innovative ultra-lightweight design, achieving only 2~g for each finger…
The sense of touch, being the earliest sensory system to develop in a human body [1], plays a critical part of our daily interaction with the environment. In order to successfully complete a task, many manipulation interactions require…
Humans use a host of signals to infer the emotional state of others. In general, computer systems that leverage signals from multiple modalities will be more robust and accurate in the same task. We present a multimodal affect and context…
Neurocognitive models of higher-level somatosensory processing have emphasised the role of stored body representations in interpreting real-time sensory signals coming from the body (Longo, Azanon and Haggard, 2010; Tame, Azanon and Longo,…
We present a new trainable system for physically plausible markerless 3D human motion capture, which achieves state-of-the-art results in a broad range of challenging scenarios. Unlike most neural methods for human motion capture, our…
The increasing need for intelligent sensors in a wide range of everyday objects requires the existence of low power information processing systems which can operate autonomously in their environment. In particular, merging and processing…
Today digital sources supply an unprecedented component of human sensorimotor data, the consumption of which is correlated with poorly understood maladies such as Internet Addiction Disorder and Internet Gaming Disorder. This paper offers a…
Robotic technologies have been an indispensable part for improving human productivity since they have been helping humans in completing diverse, complex, and intensive tasks in a fast yet accurate and efficient way. Therefore, robotic…
Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…