46 citations · 101 across the 25 of their papers we have counts for
28 papers
Sampling-Based Visibility Task Planning
Stav Ashur, Avishai Sintov
Robot Task and Motion Planning (TAMP) algorithms enable autonomous operation by incorporating the specific functions and constraints of end-effector tools, such as grippers or sold…
IMU-based Real-Time Crutch Gait Phase and Step Detections in Lower-Limb Exoskeletons
Anis R. Shakkour, David Hexner, Yehuda Bitton +1
Lower limb exoskeletons and prostheses require precise, real time gait phase and step detections to ensure synchronized motion and user safety. Conventional methods often rely on c…
DiG-Net: Enhancing Human-Robot Interaction through Hyper-Range Dynamic Gesture Recognition in Assistive Robotics
Eran Bamani Beeri, Eden Nissinman, Avishai Sintov
Dynamic hand gestures play a pivotal role in assistive human-robot interaction (HRI), facilitating intuitive, non-verbal communication, particularly for individuals with mobility c…
ORACLE-Grasp: Zero-Shot Affordance-Aligned Robotic Grasping using Large Multimodal Models
Avihai Giuili, Rotem Atari, Avishai Sintov
Grasping unknown objects in unstructured environments is a critical challenge for service robots, which must operate in dynamic, real-world settings such as homes, hospitals, and w…
Speech-to-Trajectory: Learning Human-Like Verbal Guidance for Robot Motion
Eran Beeri Bamani, Eden Nissinman, Rotem Atari +2
Full integration of robots into real-life applications necessitates their ability to interpret and execute natural language directives from untrained users. Given the inherent vari…
Embodiment-Agnostic Navigation Policy Trained with Visual Demonstrations
Nimrod Curtis, Osher Azulay, Avishai Sintov
Learning to navigate in unstructured environments is a challenging task for robots. While reinforcement learning can be effective, it often requires extensive data collection and c…
Vibration-based Full State In-Hand Manipulation of Thin Objects
Oron Binyamin, Guy Shapira, Noam Nahum +1
Robotic hands offer advanced manipulation capabilities, while their complexity and cost often limit their real-world applications. In contrast, simple parallel grippers, though aff…
Robust Dynamic Gesture Recognition at Ultra-Long Distances
Eran Bamani Beeri, Eden Nissinman, Avishai Sintov
Dynamic hand gestures play a crucial role in conveying nonverbal information for Human-Robot Interaction (HRI), eliminating the need for complex interfaces. Current models for dyna…
Human Arm Pose Estimation with a Shoulder-worn Force-Myography Device for Human-Robot Interaction
Rotem Atari, Eran Bamani, Avishai Sintov
Accurate human pose estimation is essential for effective Human-Robot Interaction (HRI). By observing a user's arm movements, robots can respond appropriately, whether it's providi…
Visuotactile-Based Learning for Insertion with Compliant Hands
Osher Azulay, Dhruv Metha Ramesh, Nimrod Curtis +1
Compared to rigid hands, underactuated compliant hands offer greater adaptability to object shapes, provide stable grasps, and are often more cost-effective. However, they introduc…
Motion Planning for Minimally Actuated Serial Robots
Avi Cohen, Avishai Sintov, David Zarrouk
Modern manipulators are acclaimed for their precision but often struggle to operate in confined spaces. This limitation has driven the development of hyper-redundant and continuum…
Dynamic Gesture Recognition in Ultra-Range Distance for Effective Human-Robot Interaction
Eran Bamani Beeri, Eden Nissinman, Avishai Sintov
This paper presents a novel approach for ultra-range gesture recognition, addressing Human-Robot Interaction (HRI) challenges over extended distances. By leveraging human gestures…
Recognition of Dynamic Hand Gestures in Long Distance using a Web-Camera for Robot Guidance
Eran Bamani Beeri, Eden Nissinman, Avishai Sintov
Dynamic gestures enable the transfer of directive information to a robot. Moreover, the ability of a robot to recognize them from a long distance makes communication more effective…
A Diffusion-based Data Generator for Training Object Recognition Models in Ultra-Range Distance
Eran Bamani, Eden Nissinman, Lisa Koenigsberg +2
Object recognition, commonly performed by a camera, is a fundamental requirement for robots to complete complex tasks. Some tasks require recognizing objects far from the robot's c…
Kinesthetic-based In-Hand Object Recognition with an Underactuated Robotic Hand
Julius Arolovitch, Osher Azulay, Avishai Sintov
Tendon-based underactuated hands are intended to be simple, compliant and affordable. Often, they are 3D printed and do not include tactile sensors. Hence, performing in-hand objec…
Kinematic Optimization of a Robotic Arm for Automation Tasks with Human Demonstration
Inbar Meir, Avital Bechar, Avishai Sintov
Robotic arms are highly common in various automation processes such as manufacturing lines. However, these highly capable robots are usually degraded to simple repetitive tasks suc…
Print-N-Grip: A Disposable, Compliant, Scalable and One-Shot 3D-Printed Multi-Fingered Robotic Hand
Alon Laron, Eran Sne, Yaron Perets +1
Robotic hands are an important tool for replacing humans in handling toxic or radioactive materials. However, these are usually highly expensive, and in many cases, once they are c…
Survey of Learning-based Approaches for Robotic In-Hand Manipulation
Abraham Itzhak Weinberg, Alon Shirizly, Osher Azulay +1
Human dexterity is an invaluable capability for precise manipulation of objects in complex tasks. The capability of robots to similarly grasp and perform in-hand manipulation of ob…
Ultra-Range Gesture Recognition using a Web-Camera in Human-Robot Interaction
Eran Bamani, Eden Nissinman, Inbar Meir +2
Hand gestures play a significant role in human interactions where non-verbal intentions, thoughts and commands are conveyed. In Human-Robot Interaction (HRI), hand gestures offer a…
Augmenting Tactile Simulators with Real-like and Zero-Shot Capabilities
Osher Azulay, Alon Mizrahi, Nimrod Curtis +1
Simulating tactile perception could potentially leverage the learning capabilities of robotic systems in manipulation tasks. However, the reality gap of simulators for high-resolut…
Learning Human-arm Reaching Motion Using IMU in Human-Robot Collaboration
Nadav D. Kahanowich, Avishai Sintov
Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same w…
TeleFMG: A Wearable Force-Myography Device for Natural Teleoperation of Multi-finger Robotic Hands
Alon Mizrahi, Avishai Sintov
Teleoperation enables a user to perform dangerous tasks (e.g., work in disaster zones or in chemical plants) from a remote location. Nevertheless, common approaches often provide c…
Real-time Human Finger Pointing Recognition and Estimation for Robot Directives Using a Single Web-Camera
Eran Bamani, Eden Nissinman, Lisa Koenigsberg +3
Gestures play a pivotal role in human communication, often serving as a preferred or complementary medium to verbal expression due to their superior spatial reference capabilities.…
AllSight: A Low-Cost and High-Resolution Round Tactile Sensor with Zero-Shot Learning Capability
Osher Azulay, Nimrod Curtis, Rotem Sokolovsky +4
Tactile sensing is a necessary capability for a robotic hand to perform fine manipulations and interact with the environment. Optical sensors are a promising solution for high-reso…