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Augmented feedback has been shown to improve interaction in virtual environments and to facilitate motor learning. Recent studies proposed this type of feedback to guide users, to highlight specific areas or to help them to perform a specific task. They can follow a path, pass through specific waypoints or even mimic an avatar. However these approaches do not show the gap between learners' performance...
We present a framework from vision based hand movement prediction in a real-world human-robot collaborative scenario for safety guarantee. We first propose a perception submodule that takes in visual data solely and predicts human collaborator's hand movement. Then a robot trajectory adaptive planning submodule is developed that takes the noisy movement prediction signal into consideration for optimization...
Children with hemiplegia have movements' difficulties especially in their upper limbs, these difficulties occur due to the loss of the communication between the brain and the affected side of the body. In this study, visual, audio, and tactile stimulation were provided to the patients to reactivate the communication between their brains and their affected upper limbs. Haptic stimulation control strategy...
Hemispatial neglect is common after stroke and associated with poor functional recovery and social return. Among various possible treatments for neglect, prism adaptation therapy has been known to be effective to promote the recovery from neglect. However, the conventional prism therapy using a prism glass and real object has a few shortcomings. Prism lens has to be changed to adjust the degree of...
This paper considers the design and implementation of a visual servo system for catching a flying ball using an active stereo vision system, a static vision system, and an omni-directional wheeled mobile robot. These multi-camera vision systems are used to track the flying ball and guide the omni-directional mobile wheeled robot to catch it. The dynamic model of a flying ball and Kalman filter are...
Background: Unilateral spatial neglect (USN), a highly prevalent post-stroke impairment, has been strongly associated with poor functional outcomes in self-care and instrumental activities of daily living. Hence, its sensitive detection is crucial. Yet, conventional USN assessments present with significant limitations, often leading to misdiagnosis. Virtual reality (VR) can be used to counteract those...
Background: Avoiding collisions with other pedestrians during overground locomotion is a trivial task for young adults, but with age or for stroke survivors it can become a daunting endeavour. Coordinated eye-head movements probably play an important role in obstacle circumvention, but unfortunately the literature on the subject is rather scarce. Objectives: The aim of this study was therefore to...
The increasing number of test tasks lead to the rapid growth of test data. How to effectively and intuitively use the data has become the difficulty of the test data processing. Data visualization is the data is displayed by the modes of graphics and images, etc. it can effectively improve the data processing and interpretation capabilities, currently, and the data visualization has become an important...
It has been shown in previous studies that haptic guidance improves the learning outcomes of handwriting motor skills. In this paper, we present a comparison between full guidance and partial guidance using a haptic learning tool which supports these two modes. The full guidance mode leads the user along a pre-recorded trajectory, whereas the partial guidance mode allows the user a free movement and...
As the number of commercial products of virtual reality (VR) has steeply increased and the development of VR technology has quickly advanced, more and more digital contents have been developed using the VR technology. This trend appears in the game industry too. The gesture-based interface becomes one of well-adopted interfaces for VR games, which has been used several years in other domains such...
Micro aerial vehicles, such as multirotors, are developed for applications like autonomous monitoring, inspection, and surveillance. Most of the current application scenarios assume a stationary environment and thus, trajectory generation rehes on static targets. In this paper, we address time-optimal trajectory generation in dynamic environments, e.g., for landing on a moving platform. We extend...
Identification of intended movement type and movement phase of hand grasp shaping are critical features for the control of volitional neuroprosthetics. We demonstrate that neural dynamics during visually-guided imagined grasp shaping can encode intended movement. We apply Procrustes analysis and LASSO regression to achieve 72% accuracy (chance = 25%) in distinguishing between visually-guided imagined...
3Sergey Levine is with Google Brain, Mountain View, CA 94043, USA. We present a policy search method for learning complex feedback control policies that map from high-dimensional sensory inputs to motor torques, for manipulation tasks with discontinuous contact dynamics. We build on a prior technique called guided policy search (GPS), which iteratively optimizes a set of local policies for specific...
Low textured scenes are well known to be one of the main Achilles heels of geometric computer vision algorithms relying on point correspondences, and in particular for visual SLAM. Yet, there are many environments in which, despite being low textured, one can still reliably estimate line-based geometric primitives, for instance in city and indoor scenes, or in the so-called “Manhattan worlds”, where...
This paper presents O-POCO, a visual odometry and SLAM system that makes online decisions regarding what to map and what to ignore. It takes a point cloud from classical SfM and aims to sample it on-line by selecting map features useful for future 6D relocalisation. We use the camera's traveled trajectory to compartamentalize the point cloud, along with visual and spatial information to sample and...
In this paper, we propose a method for improving the maneuverability of master-slave systems. We aim at reproducing human skillfulness and dynamic performance in master-slave robots by using assist control for human operators. In this paper, we tackle a reaching task performed by a master-slave robot and propose an operation assist algorithm based on visual feedback control. The algorithm consists...
This paper describes visual route following for a cliff-climbing, tethered mobile robot for the purpose of autonomously traversing extreme terrain in the presence of obstacles. When the robot's tether contacts an obstacle, an intermediate anchor is formed. In order to detach from intermediate anchors and avoid entanglement, the robot must backtrack along its outgoing trajectory. We use the Visual...
Understanding visual attention has always been a topic of great interest in the graphics, image/video processing, robotics and human-computer interaction communities. By understanding salient image regions, the compression, transmission and rendering algorithms can be optimized. This is particularly important in omnidirectional images (ODIs) viewed with a head-mounted display (HMD), where only a fraction...
In human action classification task, a video must be classified into a pre-determined class. To cope with this problem, we propose a mid-level representation, in which information about quantization errors is embedded together with the aggregated data on low level features. The main contributions of this article are twofold: (i) assembly of low-level features (dense trajectories) by a mid-level representation...
As legged robots maneuver over increasingly complex and rough terrains, designing motion planners with the capability of predicting future footsteps becomes imperative. In turn, these planners provide a valuable tool for understanding the fundamental principles underlying human locomotion [2, 3]. In this study, we use our previously proposed phase-space planning framework [1] to analyze human walking...
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