Related papers: Autonomy Infused Teleoperation with Application to…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
Providing an accurate and efficient assessment of operative difficulty is important for designing robot-assisted teleoperation interfaces that are easy and natural for human operators to use. In this paper, we aim to develop a data-driven…
A brain-computer interface (BCI) based on electroencephalography (EEG) can be useful for rehabilitation and the control of external devices. Five grasping tasks were decoded for motor execution (ME) and motor imagery (MI). During this…
Embodied intelligence has witnessed remarkable progress in recent years, driven by advances in computer vision, natural language processing, and the rise of large-scale multimodal models. Among its core challenges, robot manipulation stands…
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated…
Brain-computer interfaces (BCIs) have shown promise in enabling communication for individuals with motor impairments. Recent advancements like brain-to-speech technology aim to reconstruct speech from neural activity. However, decoding…
Assistive robot arms try to help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control over the robot's motion: as the robot…
Brain computer interfaces (BCI) decode the electrophysiological signals from the brain into an action that is carried out by a computer or robotic device. Motor imagery BCIs (MI BCI) rely on the user s imagination of bodily movements,…
Neuroprosthetic brain-computer interfaces function via an algorithm which decodes neural activity of the user into movements of an end effector, such as a cursor or robotic arm. In practice, the decoder is often learned by updating its…
In robotic bimanual teleoperation, multimodal sensory feedback plays a crucial role, providing operators with a more immersive operating experience, reducing cognitive burden, and improving operating efficiency. In this study, we develop an…
We introduce Brain-Artificial Intelligence Interfaces (BAIs) as a new class of Brain-Computer Interfaces (BCIs). Unlike conventional BCIs, which rely on intact cognitive capabilities, BAIs leverage the power of artificial intelligence to…
Brain-computer interfaces (BCIs) with speech decoding from brain recordings have broad application potential in fields such as clinical rehabilitation and cognitive neuroscience. However, current decoding methods remain limited to…
Brain-computer interfaces (BCIs) offer a pathway to restore communication for individuals with severe motor or speech impairments. Imagined handwriting provides an intuitive paradigm for character-level neural decoding, bridging the gap…
Brain-computer interfaces (BCIs) show enormous potential for advancing personalized medicine. However, BCIs also introduce new avenues for cyber-attacks or security compromises. In this article, we analyze the problem and make…
Behavior cloning facilitates the learning of dexterous manipulation skills, yet the complexity of surgical environments, the difficulty and expense of obtaining patient data, and robot calibration errors present unique challenges for…
Brain-computer interfaces (BCIs) are moving rapidly from laboratory research into clinical, edge, and real-world settings. Under ISO/IEC 8663:2025, a BCI is a direct communication link between central nervous system activity and external…
This study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…
In human-in-the-loop systems such as teleoperation, especially those involving heavy-duty manipulators, achieving high task performance requires both robust control and strong human engagement. This paper presents a bilateral teleoperation…
This paper discusses the feasibility of using configuration space (C-space) as a means of visualization and control in operator-guided real-time motion of a robot arm manipulator. The motivation is to improve performance of the human…
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…