Object Touch by a Humanoid Robot Avatar Induces Haptic Sensation in the Real Hand

Haptic touch and hand ability

Animating a Synergy-Based Deformable Hand Avatar for Haptic Grasping

A 3D deformable hand avatar for virtual grasping using multiple single-contact-point haptic devices is introduced. The proposed technique has two main advantages. First, the whole hand motion is reconstructed by measuring only fingertips positions and using a biomechanical model of the hand along with the postural synergies characterizing grasping actions. Secondly, this technique requires only...

Toward Haptic Rendering of Full-Hand Touch

Most of the current haptic rendering techniques model either force-interaction through a pen-like tool or vibrationinteraction on the finger tip. Such techniques are not able, nowadays, to provide force-feedback of the interaction through the human hand. In this paper, we address some of the computational challenges in computing haptic feedback forces for hand-based interaction. We describe a h...

Active Object Categorization on a Humanoid Robot

We present a Bag of Words-based active object categorization technique implemented and tested on a humanoid robot. The robot is trained to categorize objects that are handed to it by a human operator. The robot uses hand and head motions to actively acquire a number of different views. A view planning scheme using entropy minimization reduces the number of views needed to achieve a valid decisi...

Learning Hand Movement by Markerless Demonstration for Humanoid Robot Task

In this paper, we investigate the problem of generating trajectories from demonstration and instructing the robot to perform similar tasks under new situations. We present an approach that enables robots to extract movement trajectories from Kinect data capture, automatically segment movement into action units, learn the task-specific models and grasp target object under new situations. The mod...