Related papers: A wearable general-purpose solution for Human-Swar…
The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired…
Effective Human-Robot Interaction (HRI) is crucial for future service robots in aging societies. Existing solutions are biased toward only well-trained objects, creating a gap when dealing with new objects. Currently, HRI systems using…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
Human-robot interaction (HRI) has become a crucial enabler in houses and industries for facilitating operational flexibility. When it comes to mobile collaborative robots, this flexibility can be further increased due to the autonomous…
UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limited access to physical interaction signals. This becomes a…
The need for customizable properties in autonomous robotic platforms, such as in-home nursing care for the elderly and parallel implementations of human-to-machine control interfaces creates an opportunity to introduce methods deploying…
The study of human-robot interaction (HRI) has received increasing research attention for robot navigation in pedestrian crowds. In this paper, we present empirical study of pedestrian-robot interaction in an uni-directional exit corridor.…
Human video demonstrations provide abundant training data for learning robot policies, but video alone cannot capture the rich contact signals critical for mastering manipulation. We introduce OSMO, an open-source wearable tactile glove…
The increasing transition of human-robot interaction (HRI) context from controlled settings to dynamic, real-world public environments calls for enhanced adaptability in robotic systems. This can go beyond algorithmic navigation or…
The increasing labor shortage and aging population underline the need for assistive robots to support human care recipients. To enable safe and responsive assistance, robots require accurate human motion prediction in physical interaction…
In recent years, the demand for social robots has grown, requiring them to adapt their behaviors based on users' states. Accurately assessing user experience (UX) in human-robot interaction (HRI) is crucial for achieving this adaptability.…
Reliable humanoid-robot interaction (HRI) in household environments is constrained by two fundamental requirements, namely robustness to unconstrained user positions and preservation of user privacy. Millimeter-wave (mmWave) sensing…
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…
Social touch provides a rich non-verbal communication channel between humans and robots. Prior work has identified a set of touch gestures for human-robot interaction and described them with natural language labels (e.g., stroking,…
Currently, most social robots interact with their surroundings and humans through sensors that are integral parts of the robots, which limits the usability of the sensors, human-robot interaction, and interchangeability. A wearable sensor…
As the global population ages, effective rehabilitation and mobility aids will become increasingly critical. Gait assistive robots are promising solutions, but designing adaptable controllers for various impairments poses a significant…
Robot swarms have the potential to help groups of people with social tasks, given their ability to scale to large numbers of robots and users. Developing multi-human-swarm interaction is therefore crucial to support multiple people…
Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same way, it must reason about the location of the human arm in…
Integrating robots into populated environments is a complex challenge that requires an understanding of human social dynamics. In this work, we propose to model social motion forecasting in a shared human-robot representation space, which…
Mobile manipulators are increasingly deployed in human-centered environments to perform tasks. While completing such tasks, they should also be able to communicate their intent to the people around them using expressive robot behaviors.…