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In shared autonomy, user input is combined with semi-autonomous control to achieve a common goal. The goal is often unknown ex-ante, so prior work enables agents to infer the goal from user input and assist with the task. Such methods tend…
Safety, reliability, and user trust are crucial in human-robot interaction (HRI) where the robots must address hazards in real-time. This study presents hazard driven low-level control strategies implemented in robot-assisted dressing (RAD)…
Human-robot teams will soon be expected to accomplish complex tasks in high-risk and uncertain environments. Here, the human may not necessarily be a robotics expert, but will need to establish a baseline understanding of the robot's…
Rapid developments in artificial intelligence technology have led to unmanned systems replacing human beings in many fields requiring high-precision predictions and decisions. In modern operational environments, all job plans are affected…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
The Industry 4.0 paradigm emphasizes the crucial benefits that collaborative robots, i.e., robots able to work alongside and together with humans, could bring to the whole production process. In this context, an enabling technology yet…
One of the primary drivers for self-adaptation is ensuring that systems achieve their goals regardless of the uncertainties they face during operation. Nevertheless, the concept of uncertainty in self-adaptive systems is still…
Surgical automation has the capability to improve the consistency of patient outcomes and broaden access to advanced surgical care in underprivileged communities. Shared autonomy, where the robot automates routine subtasks while the surgeon…
Recent advances in the areas of human-robot interaction (HRI) and robot autonomy are changing the world. Today robots are used in a variety of applications. People and robots work together in human autonomous teams (HATs) to accomplish…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
We survey the landscape of human operator modeling ranging from the early cognitive models developed in artificial intelligence to more recent formal task models developed for model-checking of human machine interactions. We review human…
Modern industry still relies on manual manufacturing operations and safe human-robot interaction is of great interest nowadays. Speed and Separation Monitoring (SSM) allows close and efficient collaborative scenarios by maintaining a…
The success of the human-robot co-worker team in a flexible manufacturing environment where robots learn from demonstration heavily relies on the correct and safe operation of the robot. How this can be achieved is a challenge that requires…
Content moderation is often performed by a collaboration between humans and machine learning models. However, it is not well understood how to design the collaborative process so as to maximize the combined moderator-model system…
Successful entrainment during collaboration positively affects trust, willingness to collaborate, and likeability towards collaborators. In this paper, we present a mixed-method study to investigate characteristics of successful entrainment…
Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
As robotic teammates become more common in society, people will assess the robots' roles in their interactions along many dimensions. One such dimension is effectiveness: people will ask whether their robotic partners are trustworthy and…
Trust in autonomy is essential for effective human-robot collaboration and user adoption of autonomous systems such as robot assistants. This paper introduces a computational model which integrates trust into robot decision-making.…