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Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…
AI and robotics technologies have witnessed remarkable advancements in the past decade, revolutionizing work patterns and opportunities in various domains. The application of these technologies has propelled society towards an era of…
This paper considers a scenario where a robot and a human operator share the same workspace, and the robot is able to both carry out autonomous tasks and physically interact with the human in order to achieve common goals. In this context,…
In this work, we present a multimodal system for active robot-object interaction using laser-based SLAM, RGBD images, and contact sensors. In the object manipulation task, the robot adjusts its initial pose with respect to obstacles and…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
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…
Most human-robot interfaces, such as joysticks and keyboards, require training and constant cognitive effort and provide a limited degree of awareness of the robots state and its environment. Embodied interactions, instead of interfaces,…
Many of us researchers take extra measures to control for known-unknowns. However, unknown-unknowns can, at best, be negligible, but otherwise, they could produce unreliable data that might have dire consequences in real-life downstream…
Cyber human interaction is a broad term encompassing the range of interactions that humans can have with technology. While human interaction with fixed and mobile computers is well understood, the world is on the cusp of ubiquitous and…
The integration of dialogue interfaces in mobile devices has become ubiquitous, providing a wide array of services. As technology progresses, humanoid robots designed with human-like features to interact effectively with people are gaining…
Touch is a key part of interaction and communication between humans, but has still been little explored in human-robot interaction. In this work, participants were asked to approach and touch a humanoid robot on the hand (Nao - 26…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not…
Physiological sensors are gaining the attention of manufacturers and users. As denoted by devices such as smartwatches or the newly released Kinect 2 -- which can covertly measure heartbeats -- or by the popularity of smartphone apps that…
Understanding the intentions of robots is essential for natural and seamless human-robot collaboration. Ensuring that robots have means for non-verbal communication is a basis for intuitive and implicit interaction. For this, we contribute…
The gaze of a person tends to reflect their interest. This work explores what happens when this statement is taken literally and applied to robots. Here we present a robot system that employs a moving robot head with a screen-based eye…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
Industrial arms need to evolve beyond their standard shape to embrace new and emerging technologies. In this paper, we shall first perform an analysis of four popular but different modern industrial robot arms. By seeing the common trends…