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Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…

The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…

Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…

Autonomous grasping remains challenging as unlike humans, robots do not possess a sophisticated sensing nor delicate interaction capability with the real environment. Among other efforts that tried to close the gap between them,…

People with lower and upper body disabilities can benefit from wheelchairs and robotic arms to improve mobility and independence. Prior assistive interfaces, such as touchscreens and voice-driven predefined commands, often remain…

Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…

Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…

Humans process significantly more information through the sense of touch than through vision. Consequently, haptics for telemanipulation is poised to become essential in the coming years, as it offers operators an additional sensory channel…

Despite the advancement in robotic grasping and dexterity through haptic information, affective social touch, such as handshaking or reassuring stroking, remains a major challenge in Human-Robot-Interaction. This position paper examines…

Drone teleoperation is usually accomplished using remote radio controllers, devices that can be hard to master for inexperienced users. Moreover, the limited amount of information fed back to the user about the robot's state, often limited…

This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…

Human-Robot Interfaces (HRIs) represent a crucial component in telerobotic systems. Body-Machine Interfaces (BoMIs) based on body motion can feel more intuitive than standard HRIs for naive users as they leverage humans' natural control…

Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…

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…

The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing…

This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…

This paper addresses the problem of mixed initiative, shared control for master-slave grasping and manipulation. We propose a novel system, in which an autonomous agent assists a human in teleoperating a remote slave arm/gripper, using a…

Machines that mimic humans have inspired scientists for centuries. Bio-inspired soft robotic hands are a good example of such an endeavor, featuring intrinsic material compliance and continuous motion to deal with uncertainty and adapt to…

Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…