相关论文: ETHOS: A Robotic Encountered-Type Haptic Display f…
In this work, we explore the role of synthetic data in improving the detection of Hand-Object Interactions from egocentric images. Through extensive experimentation and comparative analysis on VISOR, EgoHOS, and ENIGMA-51 datasets, our…
In this work, we present a reconfigurable data glove design to capture different modes of human hand-object interactions, which are critical in training embodied artificial intelligence (AI) agents for fine manipulation tasks. To achieve…
This paper presents a comprehensive study of virtual 3D object manipulation along 4DoF on real surfaces in mixed reality (MR), using hand-based and tangible interactions. A custom cylindrical tangible proxy leverages affordances of physical…
In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during…
As robots are expected to get more involved in people's everyday lives, frameworks that enable intuitive user interfaces are in demand. Hand gesture recognition systems provide a natural way of communication and, thus, are an integral part…
Haptics in virtual reality is the emerging dimension after audiovisual experiences. Researchers designed several handheld VR controllers to simulate haptic experiences in virtual reality environments. Some of these devices, equipped to…
Efficient text entry remains a primary bottleneck preventing Virtual Reality (VR) from evolving into a viable productivity platform. To address this, we conducted an empirical comparison of six physical input systems across three…
We provide an experimental evaluation of a wearable augmented reality (AR) system we have developed for human-robot teams working on tasks requiring collaboration in shared physical workspace. Recent advances in AR technology have…
Embodied interaction has been introduced to human-robot interaction (HRI) as a type of teleoperation, in which users control robot arms with bodily action via handheld controllers or haptic gloves. Embodied teleoperation has made robot…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
Virtual Reality (VR) has become increasingly popular for remote collaboration, but video conferencing poses challenges when the user's face is covered by the headset. Existing solutions have limitations in terms of accessibility. In this…
Immersive Virtual Reality typically requires a head-mounted display (HMD) to visualize the environment and hand-held controllers to interact with the virtual objects. Recently, many applications display full-body avatars to represent the…
In this paper, we present the implementation details of a Virtual Reality (VR)-based teleoperation interface for moving a robotic manipulator. We propose an iterative human-in-the-loop design where the user sets the next task-space waypoint…
We introduce (HPS) Human POSEitioning System, a method to recover the full 3D pose of a human registered with a 3D scan of the surrounding environment using wearable sensors. Using IMUs attached at the body limbs and a head mounted camera…
Current Virtual Reality (VR) environments lack the rich haptic signals that humans experience during real-life interactions, such as the sensation of texture during lateral movement on a surface. Adding realistic haptic textures to VR…
This paper presents a learning-from-demonstration (LfD) framework for teaching human-robot social interactions that involve whole-body haptic interaction, i.e. direct human-robot contact over the full robot body. The performance of existing…
We introduce UltraBots, a system that combines ultrasound haptic feedback and robotic actuation for large-area mid-air haptics for VR. Ultrasound haptics can provide precise mid-air haptic feedback and versatile shape rendering, but the…
To assist robots in teleoperation tasks, haptic rendering which allows human operators access a virtual touch feeling has been developed in recent years. Most previous haptic rendering methods strongly rely on data collected by tactile…
Real-time synthesis of physically plausible human interactions remains a critical challenge for immersive VR/AR systems and humanoid robotics. While existing methods demonstrate progress in kinematic motion generation, they often fail to…
Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…