The process of modeling a series of hand-object parameters is crucial for precise and controllable robotic in-hand manipulation because it enables the mapping from the hand's actuation input to the object's motion to be obtained. Without assuming tha...
Humans use all surfaces of the hand for contact-rich manipulation. Robot hands, in contrast, typically use only the fingertips, which can limit dexterity. In this work, we leveraged a potential energy-based whole-hand manipulation model, which does n...
BACKGROUND: Shedding light on the neuroscientific mechanisms of human upper limb motor control, in both healthy and disease conditions (e.g., after a stroke), can help to devise effective tools for a quantitative evaluation of the impaired conditions...
We present an avatar system designed to facilitate the embodiment of humanoid robots by human operators, validated through iCub3, a humanoid developed at the Istituto Italiano di Tecnologia. More precisely, the paper makes two contributions: First, w...
Model-Mediated Teleoperation (MMT) between a haptic device and a remote or virtual environment uses a local model of the environment to compensate for latency of communication. MMT is often case-specific, and requires underlying latency distributions...
IEEE transactions on visualization and computer graphics
40085451
The lack of haptic feedback in touchless human-robot interaction is critical in applications such as robotic ultrasound, where force perception is crucial to ensure image quality. Augmented reality (AR) is a promising tool to address this limitation ...