相关论文: A Bimanual Gesture Interface for ROS-Based Mobile …
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…
Capacitive sensing is a prominent technology that is cost-effective and low power consuming with fast recognition speed compared to existing sensing systems. On account of these advantages, Capacitive sensing has been widely studied and…
Precise in-hand manipulation of force-sensitive objects typically requires judicious coordinated force planning as well as accurate contact force feedback and control. Unlike multi-arm platforms with gripper end effectors, multi-fingered…
We present GestOS, a gesture-based operating system for high-level control of heterogeneous robot teams. Unlike prior systems that map gestures to fixed commands or single-agent actions, GestOS interprets hand gestures semantically and…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
We present a neuromorphic radar framework for real-time, low-power hand gesture recognition (HGR) using an event-driven architecture inspired by biological sensing. Our system comprises a 24 GHz Doppler radar front-end and a custom…
Hand Gesture Recognition (HGR) enables intuitive human-computer interactions in various real-world contexts. However, existing frameworks often struggle to meet the real-time requirements essential for practical HGR applications. This study…
Data-driven dexterous hand manipulation requires large-scale, physically consistent demonstration data. Simulation and video-based methods suffer from sim-to-real gaps and retargeting problems, while MoCap glove-based teleoperation systems…
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…
Intelligent interaction with the physical world requires perceptual abilities beyond vision and hearing; vibrant tactile sensing is essential for autonomous robots to dexterously manipulate unfamiliar objects or safely contact humans.…
Gestures are an integral part of our daily interactions with the environment. Hand gesture recognition (HGR) is the process of interpreting human intent through various input modalities, such as visual data (images and videos) and…
This paper proposes a novel framework for utilizing skin sensors as a new operation interface of complex robots. The skin sensors employed in this study possess the capability to quantify multimodal tactile information at multiple contact…
In this paper, we introduce a tilting interface that controls direction based applications in ubiquitous environments. A tilt interface is useful for situations that require remote and quick interactions or that are executed in public…
Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…
We present a joint camera and radar approach to enable autonomous vehicles to understand and react to human gestures in everyday traffic. Initially, we process the radar data with a PointNet followed by a spatio-temporal multilayer…
This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local…
This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
Gesture recognition is a very essential technology for many wearable devices. While previous algorithms are mostly based on statistical methods including the hidden Markov model, we develop two dynamic hand gesture recognition techniques…