Related papers: Uncertainty-based Arbitration of Human-Machine Sha…
Haptic shared control is expected to achieve a smooth collaboration between humans and automated systems, because haptics facilitate mutual communication. A methodology for sharing a given task is important to achieve effective shared…
We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…
Shared autonomy enables robots to infer user intent and assist in accomplishing it. But when the user wants to do a new task that the robot does not know about, shared autonomy will hinder their performance by attempting to assist them with…
Cooperative Adaptive Cruise Control (CACC) often requires human takeover for tasks such as exiting a freeway. Direct human takeover can pose significant risks, especially given the close-following strategy employed by CACC, which might…
An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…
Physical Human-Machine Interaction plays a pivotal role in facilitating collaboration across various domains. When designing appropriate model-based controllers to assist a human in the interaction, the accuracy of the human model is…
In this paper, we present an approach for quantifying the propagated uncertainty of robot systems in an online and data-driven manner. Especially in Human-Robot Collaboration, keeping track of the safety compliance during run time is…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
Wheelchair-mounted robotic arms (and other assistive robots) should 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…
Robotic systems often use predictive uncertainty to decide whether to act autonomously or defer to a fallback policy. In threshold-gated autonomy, uncertainty matters mainly through its ability to rank likely errors. Standard metrics such…
This study introduces a haptic shared control framework designed to teach human drivers advanced driving skills. In this context, shared control refers to a driving mode where the human driver collaborates with an autonomous driving system…
Generating safe behaviors for autonomous systems is important as they continue to be deployed in the real world, especially around people. In this work, we focus on developing a novel safe controller for systems where there are multiple…
When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…
Haptic shared control (HSC) is effective in teleoperation when full autonomy is limited by uncertainty or sensing constraints. However, autonomous control performance achieved by maximizing HSC strength is limited because the dynamics of…
Prior to realizing fully autonomous driving, human intervention will be required periodically to guarantee vehicle safety. This fact poses a new challenge in human-machine interaction, particularly during control authority transition from…
A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Uncertainties influencing the dynamical systems pose a significant challenge in estimating the achievable performance of a controller aiming to control such uncertain systems. When the uncertainties are of stochastic nature, obtaining hard…
Users of shared control systems change their behavior in the presence of assistance, which conflicts with assumpts about user behavior that some assistance methods make. In this paper, we propose an analysis technique to evaluate the user's…