Qualitative review of object recognition techniques for tabletop manipulation

This paper provides a qualitative review of different object recognition techniques relevant for near-proximity Human- Robot Interaction. These techniques are divided into three categories: 2D correspondence, 3D correspondence and nonvision based methods. For each technique an implementation is chosen that is representative of the existing technology to provide a broad review to assist in selecting an appropriate method for tabletop object recognition manipulation. For each of these techniques we give their strengths and weaknesses based on defined criteria. We then discuss and provide recommendations for each of them

Tangible user interfaces : past, present and future directions

In the last two decades, Tangible User Interfaces (TUIs) have emerged as a new interface type that interlinks the digital and physical worlds. Drawing upon users' knowledge and skills of interaction with the real non-digital world, TUIs show a potential to enhance the way in which people interact with and leverage digital information. However, TUI research is still in its infancy and extensive research is required in or- der to fully understand the implications of tangible user interfaces, to develop technologies that further bridge the digital and the physical, and to guide TUI design with empirical knowledge. This paper examines the existing body of work on Tangible User In- terfaces. We start by sketching the history of tangible user interfaces, examining the intellectual origins of this field. We then present TUIs in a broader context, survey application domains, and review frame- works and taxonomies. We also discuss conceptual foundations of TUIs including perspectives from cognitive sciences, phycology, and philoso- phy. Methods and technologies for designing, building, and evaluating TUIs are also addressed. Finally, we discuss the strengths and limita- tions of TUIs and chart directions for future research

Shortages and challenges in augmentative communication through tangible interaction using a user-centered design and assessment process

In this article, we present an assessment process on a tangible interaction application oriented to individuals with complex communication needs, called ACoTI, and details about the main results obtained thus far. The process is based on a set of decisions that have been surveyed as key elements for assessing this type of experiences, based on a background review that was carried out. In addition to that, it has taken into account the contribution of key players from the special education field and it is the foundation for the user-centered and evolutionary design of the application. A number of findings and challenges that open up the door to keep contributing to this specific area was presented. For instance, creating an authoring tool that is available for the educators to be able to generate themselves customized activities for their students, considering the specific needs of each of them

Shortages and Challenges in Augmentative Communication through Tangible Interaction Using a User-centered Design and Assessment Process

In this article, we present an assessment process on a tangible interaction application oriented to individuals with complex communication needs, called ACoTI, and details about the main results obtained thus far. The process is based on a set of decisions that have been surveyed as key elements for assessing this type of experiences, based on a background review that was carried out. In addition to that, it has taken into account the contribution of key players from the special education field and it is the foundation for the user-centered and evolutionary design of the application. A number of findings and challenges that open up the door to keep contributing to this specific area was presented. For instance, creating an authoring tool that is available for the educators to be able to generate themselves customized activities for their students, considering the specific needs of each of them.Instituto de Investigación en Informátic

Shortages and Challenges in Augmentative Communication through Tangible Interaction using a user-centered design and assessment process

In this article, we present an assessment process on a tangible interaction application oriented to individuals with complex communication needs, called ACoTI, and details about the main results obtained thus far. The process is based on a set of decisions that have been surveyed as key elements for assessing this type of experiences, based on a background review that was carried out. In addition to that, it has taken into account the contribution of key players from the special education field and it is the foundation for the user-centered and evolutionary design of the application. A number of findings and challenges that open up the door to keep contributing to this specific area was presented. For instance, creating an authoring tool that is available for the educators to be able to generate themselves customized activities for their students, considering the specific needs of each of them.Fil: Sanz, Cecilia Veronica. Universidad Nacional de La Plata. Facultad de Informática. Instituto de Investigación en Informática Lidi; Argentina. Provincia de Buenos Aires. Gobernación. Comisión de Investigaciones Científicas; ArgentinaFil: Artola, Verónica. Universidad Nacional de La Plata. Facultad de Informática. Instituto de Investigación en Informática Lidi; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata; ArgentinaFil: Guisen, Maria Andrea. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Marco, Javier. Universidad de Zaragoza; EspañaFil: Cerezo, Eva. Universidad de Zaragoza; EspañaFil: Baldassarri, Sandra Silvia. Universidad de Zaragoza; Españ

Designing Hybrid Interactions through an Understanding of the Affordances of Physical and Digital Technologies

Two recent technological advances have extended the diversity of domains and social contexts of Human-Computer Interaction: the embedding of computing capabilities into physical hand-held objects, and the emergence of large interactive surfaces, such as tabletops and wall boards. Both interactive surfaces and small computational devices usually allow for direct and space-multiplex input, i.e., for the spatial coincidence of physical action and digital output, in multiple points simultaneously. Such a powerful combination opens novel opportunities for the design of what are considered as hybrid interactions in this work. This thesis explores the affordances of physical interaction as resources for interface design of such hybrid interactions. The hybrid systems that are elaborated in this work are envisioned to support specific social and physical contexts, such as collaborative cooking in a domestic kitchen, or collaborative creativity in a design process. In particular, different aspects of physicality characteristic of those specific domains are explored, with the aim of promoting skill transfer across domains. irst, different approaches to the design of space-multiplex, function-specific interfaces are considered and investigated. Such design approaches build on related work on Graspable User Interfaces and extend the design space to direct touch interfaces such as touch-sensitive surfaces, in different sizes and orientations (i.e., tablets, interactive tabletops, and walls). These approaches are instantiated in the design of several experience prototypes: These are evaluated in different settings to assess the contextual implications of integrating aspects of physicality in the design of the interface. Such implications are observed both at the pragmatic level of interaction (i.e., patterns of users' behaviors on first contact with the interface), as well as on user' subjective response. The results indicate that the context of interaction affects the perception of the affordances of the system, and that some qualities of physicality such as the 3D space of manipulation and relative haptic feedback can affect the feeling of engagement and control. Building on these findings, two controlled studies are conducted to observe more systematically the implications of integrating some of the qualities of physical interaction into the design of hybrid ones. The results indicate that, despite the fact that several aspects of physical interaction are mimicked in the interface, the interaction with digital media is quite different and seems to reveal existing mental models and expectations resulting from previous experience with the WIMP paradigm on the desktop PC

ISAR: Ein Autorensystem für Interaktive Tische

Developing augmented reality systems involves several challenges, that prevent end users and experts from non-technical domains, such as education, to experiment with this technology. In this research we introduce ISAR, an authoring system for augmented reality tabletops targeting users from non-technical domains. ISAR allows non-technical users to create their own interactive tabletop applications and experiment with the use of this technology in domains such as educations, industrial training, and medical rehabilitation.Die Entwicklung von Augmented-Reality-Systemen ist mit mehreren Herausforderungen verbunden, die Endbenutzer und Experten aus nicht-technischen Bereichen, wie z.B. dem Bildungswesen, daran hindern, mit dieser Technologie zu experimentieren. In dieser Forschung stellen wir ISAR vor, ein Autorensystem für Augmented-Reality-Tabletops, das sich an Benutzer aus nicht-technischen Bereichen richtet. ISAR ermöglicht es nicht-technischen Anwendern, ihre eigenen interaktiven Tabletop-Anwendungen zu erstellen und mit dem Einsatz dieser Technologie in Bereichen wie Bildung, industrieller Ausbildung und medizinischer Rehabilitation zu experimentieren

Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing

Many manipulation tasks require the robot to control the contact between a grasped compliant tool and the environment, e.g. scraping a frying pan with a spatula. However, modeling tool-environment interaction is difficult, especially when the tool is compliant, and the robot cannot be expected to have the full geometry and physical properties (e.g., mass, stiffness, and friction) of all the tools it must use. We propose a framework that learns to predict the effects of a robot's actions on the contact between the tool and the environment given visuo-tactile perception. Key to our framework is a novel contact feature representation that consists of a binary contact value, the line of contact, and an end-effector wrench. We propose a method to learn the dynamics of these contact features from real world data that does not require predicting the geometry of the compliant tool. We then propose a controller that uses this dynamics model for visuo-tactile contact servoing and show that it is effective at performing scraping tasks with a spatula, even in scenarios where precise contact needs to be made to avoid obstacles.Comment: 6th Conference on Robotic Learning (CoRL 2022), Auckland, New Zealand. 8 pages + references + appendi