Related papers: Robotic Haptic Proxies for Collaborative Virtual R…
When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…
Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as…
Robots coexisting with humans in their environment and performing services for them need the ability to interact with them. One particular requirement for such robots is that they are able to understand spatial relations and can place…
While there is no replacement for the learned expertise, devotion, and social benefits of a guide dog, there are cases in which a robot navigation assistant could be helpful for individuals with blindness or low vision (BLV). This study…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
We address the problem of controlling the workspace of a 3-DoF mobile robot. In a human-robot shared space, robots should navigate in a human-acceptable way according to the users' demands. For this purpose, we employ virtual borders, that…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Robots operating in everyday environments must often decide when and whether to engage with people, yet such decisions often hinge on subtle nonverbal cues that unfold over time and are difficult to model explicitly. Drawing on a five-day…
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…
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…
Large Multimodal Models (LMMs) have shown strong potential for assisting users in tasks, such as programming, content creation, and information access, yet their interaction remains largely limited to traditional interfaces such as desktops…
Haptic feedback is critical in a broad range of human-machine/computer-interaction applications. However, the high cost and low portability/wearability of haptic devices remain unresolved issues, severely limiting the adoption of this…
Recently, human-robot interaction (HRI) is an extensive research topic and theme which gained importance and significance. HRI aims at the complementary combination between the robot capabilities and human skills. The robots assist humans…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
Real-time synthesis of physically plausible human interactions remains a critical challenge for immersive VR/AR systems and humanoid robotics. While existing methods demonstrate progress in kinematic motion generation, they often fail to…
Expressivity--the use of multiple modalities to convey internal state and intent of a robot--is critical for interaction. Yet, due to cost, safety, and other constraints, many robots lack high degrees of physical expressivity. This paper…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Supporting real-time interactions between human controllers and remote devices remains a challenging goal in the Metaverse due to the stringent requirements on computing workload, communication throughput, and round-trip latency. In this…
Human-machine interaction (HMI) and human-robot interaction (HRI) can assist structural monitoring and structural dynamics testing in the laboratory and field. In vibratory experimentation, one mode of generating vibration is to use…
Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors…