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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…
Self-supervised skill learning aims to acquire useful behaviors that leverage the underlying dynamics of the environment. Latent variable models, based on mutual information maximization, have been successful in this task but still struggle…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
Human-robot collaboration has significant potential in recycling due to the wide variation in the composition of recyclable products. Six participants performed a recyclable item sorting task collaborating with a robot arm equipped with a…
Robots that interact with humans must adapt to individual users' preferences to operate effectively in human-centered environments. An intuitive and effective technique to learn non-expert users' preferences is through rankings of robot…
In this paper we introduce a novel framework for expressing and learning force-sensitive robot manipulation skills. It is based on a formalism that extends our previous work on adaptive impedance control with meta parameter learning and…
In this study, importance of user inputs is studied in the context of personalizing human activity recognition models using incremental learning. Inertial sensor data from three body positions are used, and the classification is based on…
For non-robot-programming experts, kinesthetic guiding can be an intuitive input method, as robot programming of in-contact tasks is becoming more prominent. However, imprecise and noisy input signals from human demonstrations pose problems…
This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session,…
The pursuit of artificial intelligence has long been associated to the the challenge of effectively measuring intelligence. Even if the Turing Test was introduced as a means of assessing a system intelligence, its relevance and application…
With increasing levels of robot autonomy, robots are increasingly being supervised by users with varying levels of robotics expertise. As the diversity of the user population increases, it is important to understand how users with different…
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…
This paper explores a physical human-robot collaboration (pHRC) task involving the joint insertion of a board into a frame by a sightless robot and a human operator. While admittance control is commonly used in pHRC tasks, it can be…
We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the…
In complex industrial and chemical process control rooms, effective decision-making is crucial for safety and efficiency. The experiments in this paper evaluate the impact and applications of an AI-based decision support system integrated…
Robot-assisted intervention has shown reduced radiation exposure to physicians and improved precision in clinical trials. However, existing vascular robotic systems follow master-slave control mode and entirely rely on manual commands. This…
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…
New architecture GPUs like A100 are now equipped with multi-instance GPU (MIG) technology, which allows the GPU to be partitioned into multiple small, isolated instances. This technology provides more flexibility for users to support both…
Industrial workflows demand adaptive and trustworthy assistance that can operate under limited computing, connectivity, and strict privacy constraints. In this work, we present MICA (Multi-Agent Industrial Coordination Assistant), a…