相关论文: MyoKin3X: A Myoelectric Framework for Full-Hand 3D…

We present a framework for pre-training of 3D hand pose estimation from in-the-wild hand images sharing with similar hand characteristics, dubbed SimHand. Pre-training with large-scale images achieves promising results in various tasks, but…

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…

This paper presents a novel underactuated adaptive robotic hand, Hockens-A Hand, which integrates the Hoeckens mechanism, a double-parallelogram linkage, and a specialized four-bar linkage to achieve three adaptive grasping modes: parallel…

Hand synergies, or joint coordination patterns, have become an effective tool for achieving versatile robotic grasping with simple hands or planning algorithms. Here we propose a method to determine the hand synergies such that they can be…

Video Diffusion Models (VDMs) offer a promising approach for simulating dynamic scenes and environments, with broad applications in robotics and media generation. However, existing models often generate temporally incoherent content that…

With the ongoing efforts to empower people with mobility impairments and the increase in technological acceptance by the general public, assistive technologies, such as collaborative robotic arms, are gaining popularity. Yet, their…

The regulation of various cellular processes heavily relies on the protein complexes within a living cell, necessitating a comprehensive understanding of their three-dimensional structures to elucidate the underlying mechanisms. While…

Quantifying human movement (kinematics) and musculoskeletal forces (kinetics) at scale, such as estimating quadriceps force during a sit-to-stand movement, could transform prediction, treatment, and monitoring of mobility-related…

We present a novel method for estimation of 3D human poses from a multi-camera setup, employing distributed smart edge sensors coupled with a backend through a semantic feedback loop. 2D joint detection for each camera view is performed…

Blind harmonization has emerged as a promising technique for MR image harmonization to achieve scale-invariant representations, requiring only target domain data (i.e., no source domain data necessary). However, existing methods face…

The ultimate goal of video generation is to satisfy a fundamental trilemma: achieving high visual quality, maintaining rigorous physical consistency, and enabling precise controllability. While recent models can maintain this balance in…

Accurate 3D understanding of human hands and objects during manipulation remains a significant challenge for egocentric computer vision. Existing hand-object interaction datasets are predominantly captured in controlled studio settings,…

In this paper, we consider the challenging task of simultaneously locating and recovering multiple hands from a single 2D image. Previous studies either focus on single hand reconstruction or solve this problem in a multi-stage way.…

Biomedical research increasingly relies on 3D cell culture models and AI-based analysis can potentially facilitate a detailed and accurate feature extraction on a single-cell level. However, this requires for a precise segmentation of 3D…

This paper addresses the scarcity of affordable, fully-actuated five-fingered hands for dexterous teleoperation, which is crucial for collecting large-scale real-robot data within the "Learning from Demonstrations" paradigm. We introduce…

Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…

This paper presents a comprehensive workflow for generating and validating a synthetic dataset designed for robotic surgery instrument segmentation. A 3D reconstruction of the Da Vinci robotic arms was refined and animated in Autodesk Maya…

High speed, high-resolution, and accurate 3D scanning would open doors to many new applications in graphics, robotics, science, and medicine by enabling the accurate scanning of deformable objects during interactions. Past attempts to use…

Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…

In recent years, muscle synergies have been pro-posed for proportional myoelectric control. Synergies were extracted using matrix factorisation techniques (mainly non-negative matrix factorisation, NMF), which requires identification of…