5 accepted papers
One of the most important research challenges in upper-limb prosthetics is enhancing the user-prosthesis communication to closely resemble the experience of a natural limb. As prosthetic devices become more complex, users often struggle to control the additional degrees of freedom. In this context,
<p>iHannes dataset used in the paper "Continuous Wrist Control on the Hannes Prosthesis: A Vision-Based Shared Autonomy Framework", accepted to ICRA2025</p>
System identification involving the geometry, appearance, and physical properties from video observations is a challenging task with applications in robotics and graphics. Recent approaches have relied on fully differentiable Material Point Method (MPM) and rendering for simultaneous optimization of…
Recent advancements in control of prosthetic hands have focused on increasing autonomy through the use of cameras and other sensory inputs. These systems aim to reduce the cognitive load on the user by automatically controlling certain degrees of freedom. In robotics, imitation learning has emerged
We consider the task of object grasping with a prosthetic hand capable of multiple grasp types. In this setting, communicating the intended grasp type often requires a high user cognitive load which can be reduced adopting shared autonomy frameworks. Among these, so-called eye-in-hand systems automa…