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An intent expression system using eye robots is proposed for a mascot robot system from a viewpoint of humatronics. The eye robot aims at providing a basic interface method for an information terminal robot system. To achieve better…
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…
Human-robot teaming offers great potential because of the opportunities to combine strengths of heterogeneous agents. However, one of the critical challenges in realizing an effective human-robot team is efficient information exchange -…
Understanding action correspondence between humans and robots is essential for evaluating alignment in decision-making, particularly in human-robot collaboration and imitation learning within unstructured environments. We propose a…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
Humans have an extraordinary ability to communicate and read the properties of objects by simply watching them being carried by someone else. This level of communicative skills and interpretation, available to humans, is essential for…
Human teams are able to easily perform collaborative manipulation tasks. However, for a robot and human to simultaneously manipulate an extended object is a difficult task using existing methods from the literature. Our approach in this…
To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermediate areas of the limbs, such as knees and elbows, is…
Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of…
Assistive robots can potentially improve the quality of life and personal independence of elderly people by supporting everyday life activities. To guarantee a safe and intuitive interaction between human and robot, human intentions need to…
We evaluate two methods of signalling abrupt direction changes of a robotic platform using a Mixed Reality avatar. The "Body" method uses gaze, gesture and torso direction to point to upcoming waypoints. The "Path" method visualises the…
As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…
A major challenge for the realization of intelligent robots is to supply them with cognitive abilities in order to allow ordinary users to program them easily and intuitively. One way of such programming is teaching work tasks by…
Human collaborators coordinate effectively their actions through both verbal and non-verbal communication. We believe that the the same should hold for human-robot teams. We propose a formalism that enables a robot to decide optimally…
Recent technological advances have made head-mounted displays (HMDs) smaller and untethered, fostering the vision of ubiquitous interaction with information in a digitally augmented physical world. For interacting with such devices, three…
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…
In this paper, we aim at improving human motion prediction during human-robot collaboration in industrial facilities by exploiting contributions from both physical and physiological signals. Improved human-machine collaboration could prove…
Humans often work closely together and relay a wealth of information through physical interaction. Robots, on the other hand, are not yet able to work similarly closely with humans and to effectively convey information when engaging in…