Philipp Ruppel
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View article: Elastic Tactile Sensor Glove for Dexterous Teaching by Demonstration
Elastic Tactile Sensor Glove for Dexterous Teaching by Demonstration Open
We present a thin and elastic tactile sensor glove for teaching dexterous manipulation tasks to robots through human demonstration. The entire glove, including the sensor cells, base layer, and electrical connections, is made from soft and…
View article: Efficient Human Motion Reconstruction from Monocular Videos with Physical Consistency Loss
Efficient Human Motion Reconstruction from Monocular Videos with Physical Consistency Loss Open
Vision-only motion reconstruction from monocular videos often produces artifacts such as foot sliding and jittering. Existing physics-based methods typically either simplify the problem to focus solely on foot-ground contacts, or they reco…
View article: Coordinating human-robot collaboration by EEG-based human intention prediction and vigilance control
Coordinating human-robot collaboration by EEG-based human intention prediction and vigilance control Open
In human-robot collaboration scenarios with shared workspaces, a highly desired performance boost is offset by high requirements for human safety, limiting speed and torque of the robot drives to levels which cannot harm the human body. Es…
View article: Efficient and Collision-Free Human–Robot Collaboration Based on Intention and Trajectory Prediction
Efficient and Collision-Free Human–Robot Collaboration Based on Intention and Trajectory Prediction Open
Human-Robot collaboration (HRC) is an important topic for manufacturing and household robotics. It is very challenging to ensure both efficiency and safety in HRC. This paper presents an HRC pipeline that generates efficient and collision-…
View article: Low-cost fabrication of flexible tactile sensor arrays
Low-cost fabrication of flexible tactile sensor arrays Open
While for vision and audio the same mass-produced units can be embedded in many different systems from smartphones to robots, tactile sensors have to be built in application-specific shapes and sizes. To use a commercially available tactil…
View article: A Dexterous Hand-Arm Teleoperation System Based on Hand Pose Estimation and Active Vision
A Dexterous Hand-Arm Teleoperation System Based on Hand Pose Estimation and Active Vision Open
Markerless vision-based teleoperation that leverages innovations in computer vision offers the advantages of allowing natural and noninvasive finger motions for multifingered robot hands. However, current pose estimation methods still face…
View article: Reinforcement Learning With Vision-Proprioception Model for Robot Planar Pushing
Reinforcement Learning With Vision-Proprioception Model for Robot Planar Pushing Open
We propose a vision-proprioception model for planar object pushing, efficiently integrating all necessary information from the environment. A Variational Autoencoder (VAE) is used to extract compact representations from the task-relevant p…
View article: Elastic Tactile Sensor Skin on Double-Curved Surfaces for Robots and Wearables
Elastic Tactile Sensor Skin on Double-Curved Surfaces for Robots and Wearables Open
Tactile perception is an important modality for dexterous manipulation, but faces unique challenges in that the sensor has to wrap around the system. Biological skin solves these problems extremely well. Not only can it detect contacts, bu…
View article: Crossmodal Pattern Discrimination in Humans and Robots: A Visuo-Tactile Case Study
Crossmodal Pattern Discrimination in Humans and Robots: A Visuo-Tactile Case Study Open
The quality of crossmodal perception hinges on two factors: The accuracy of the independent unimodal perception and the ability to integrate information from different sensory systems. In humans, the ability for cognitively demanding cross…
View article: Self-Adapting Recurrent Models for Object Pushing from Learning in Simulation
Self-Adapting Recurrent Models for Object Pushing from Learning in Simulation Open
Planar pushing remains a challenging research topic, where building the dynamic model of the interaction is the core issue. Even an accurate analytical dynamic model is inherently unstable because physics parameters such as inertia and fri…
View article: A Mobile Robot Hand-Arm Teleoperation System by Vision and IMU
A Mobile Robot Hand-Arm Teleoperation System by Vision and IMU Open
In this paper, we present a multimodal mobile teleoperation system that consists of a novel vision-based hand pose regression network (Transteleop) and an IMU-based arm tracking method. Transteleop observes the human hand through a low-cos…
View article: Crossmodal Pattern Discrimination in Humans and Robots: A Visuo-Tactile Case Study
Crossmodal Pattern Discrimination in Humans and Robots: A Visuo-Tactile Case Study Open
The quality of crossmodal perception hinges on two factors: The accuracy of the independent unimodal perception and the ability to integrate information from different sensory systems. In humans, the ability for cognitively demanding cross…
View article: Vision-based Teleoperation of Shadow Dexterous Hand using End-to-End Deep Neural Network
Vision-based Teleoperation of Shadow Dexterous Hand using End-to-End Deep Neural Network Open
In this paper, we present TeachNet, a novel neural network architecture for intuitive and markerless vision-based teleoperation of dexterous robotic hands. Robot joint angles are directly generated from depth images of the human hand that …