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While assistive robots have much potential to help older people with frailty-related needs, there are few in use. There is a gap between what is developed in laboratories and what would be viable in real-world contexts. Through a series of…
During co-manipulation involving humans and robots, it is necessary to base robot controllers on human behaviors to achieve comfortable and coordinated movement between the human-robot dyad. In this paper, we describe an experiment between…
We introduce the conceptual formulation, design, fabrication, control and commercial translation with IoT connection of a hybrid-face social robot and validation of human emotional response to its affective interactions. The hybrid-face…
With the increasing use of assistive robots in rehabilitation and assisted mobility of human patients, there has been a need for a deeper understanding of human-robot interactions particularly through simulations, allowing an understanding…
As robots and artificial agents become increasingly integrated into daily life, enhancing their ability to interact with humans is essential. Emotions, which play a crucial role in human interactions, can improve the naturalness and…
Despite living in an increasingly connected world, social isolation is a prevalent issue today. While social robots have been explored as tools to enhance social connection through companionship, their potential as asynchronous social…
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…
Emotion regulation (ER) is essential to mental well-being but often difficult to access, especially in high-intensity moments or for individuals with clinical vulnerabilities. While existing technology-based ER tools offer value, they…
Living organisms intertwine soft (e.g., muscle) and hard (e.g., bones) materials, giving them an intrinsic flexibility and resiliency often lacking in conventional rigid robots. The emerging field of soft robotics seeks to harness these…
Animating realistic avatars requires using high quality animations for every possible state the avatar can be in. This includes actions like walking or running, but also subtle movements that convey emotions and personality. Idle…
Touch is a fundamental aspect of emotion-rich communication, playing a vital role in human interaction and offering significant potential in human-robot interaction. Previous research has demonstrated that a sparse representation of human…
The facial expression generation capability of humanoid social robots is critical for achieving natural and human-like interactions, playing a vital role in enhancing the fluidity of human-robot interactions and the accuracy of emotional…
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…
Strategies are necessary to mitigate the impact of unexpected behavior in collaborative robotics, and research to develop solutions is lacking. Our aim here was to explore the benefits of an affective interaction, as opposed to a more…
Good human relationships are important for us to have a happy life and maintain our well-being. Otherwise, we will be at risk of experiencing loneliness or depression. In human-computer interaction (HCI) and computer-supported cooperative…
Robotic legs have bimodal operations: swing phases when the leg needs to move quickly in the air (high-speed, low-force) and stance phases when the leg bears the weight of the system (low-speed, high-force). Sizing a traditional…
As robotic systems become more and more capable of assisting humans in their everyday lives, we must consider the opportunities for these artificial agents to make their human collaborators feel unsafe or to treat them unfairly. Robots can…
We have been developing human-sized biped robots based on passive dynamic mechanisms. In human locomotion, the muscles activate at the same rate relative to the gait cycle during running. To achieve adaptive running for robots, such…
Homeostasis keeps animals alive; it is a fundamental process that allows animals to adapt quickly to their environment. Artificial homeostasis can be used to help robots adapt to changing environments. Previous attempts at developing…
The ability to realize nonlinear controllers with formal guarantees on dynamic robotic systems has the potential to enable more complex robotic behaviors -- yet, realizing these controllers is often practically challenging. To address this…