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Metaverse provides an alternative platform for human interaction in the virtual world. Since virtual platform holds few restrictions in changing the surrounding environments or the appearance of the avatars, it can serve as a platform that…
Brain-computer interface (BCI) technology is an interdisciplinary field that allows individuals to connect with the external world. The performance of BCI systems relies predominantly on the advancements of signal acquisition technology.…
In brain-machine interface (BMI) applications, a key challenge is the low information content and high noise level in neural signals, severely affecting stable robotic control. To address this challenge, we proposes a cooperative shared…
Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…
In this paper, we investigate the use of 'prosody' (the musical elements of speech) as a communicative signal for intuitive human-robot interaction interfaces. Our approach, rooted in Research through Design (RtD), examines the application…
Recent technological advances have made head-mounted displays (HMDs) smaller and untethered, fostering the vision of ubiquitous interaction with information in a digitally augmented physical world. For interacting with such devices, three…
In this work, we report on the integrated sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, with the BRL tactile fingertip (TacTip), a soft biomimetic…
Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material through tapping and listening. To capture frequencies in the human hearing range, commercial microphones…
Tactile sensing presents a promising opportunity for enhancing the interaction capabilities of today's robots. BioTac is a commonly used tactile sensor that enables robots to perceive and respond to physical tactile stimuli. However, the…
Human demonstrations collected by wearable devices (e.g., tactile gloves) provide fast and dexterous supervision for policy learning, and are guided by rich, natural tactile feedback. However, a key challenge is how to transfer…
An Oculomotor Brain-Computer Interface (BCI) records neural activity from regions of the brain involved in planning eye movements and translates this activity into control commands. While previous successful oculomotor BCI studies primarily…
In robotic surgery, the surgeon controls robotic instruments using dedicated interfaces. One critical limitation of current interfaces is that they are designed to be operated by only the hands. This means that the surgeon can only control…
We introduce UltraBots, a system that combines ultrasound haptic feedback and robotic actuation for large-area mid-air haptics for VR. Ultrasound haptics can provide precise mid-air haptic feedback and versatile shape rendering, but the…
Tactile sensing is crucial for robotic hands to achieve human-level dexterous manipulation, especially in scenarios with visual occlusion. However, its application is often hindered by the difficulty of collecting large-scale real-world…
Employing skin-like tactile sensors on robots enhances both the safety and usability of collaborative robots by adding the capability to detect human contact. Unfortunately, simple binary tactile sensors alone cannot determine the context…
This study introduces a pioneering approach in brain-computer interface (BCI) technology, featuring our novel concept of complex visual imagery for non-invasive electroencephalography (EEG)-based communication. Complex visual imagery, as…
We outline the design and construction of novel robotic arms using machine perception, convolutional neural networks, and symbolic AI for logical control and affordance indexing. We describe our robotic arms built with a humanlike…
In this paper, we investigate the utility of head-mounted display (HMD) interfaces for navigation of mobile robots. We focus on the selection of waypoint positions for the robot, whilst maintaining an egocentric view of the robot's…
With the recent developments in neuroscience and engineering, it is now possible to record brain signals and decode them. Also, a growing number of stimulation methods have emerged to modulate and influence brain activity. Current…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…