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In this work, we propose a gesture based language to allow humans to interact with robots using their body in a natural way. We have created a new gesture detection model using neural networks and a custom dataset of humans performing a set…
Recent research in affective robots has recognized their potential in supporting human well-being. Due to rapidly developing affective and artificial intelligence technologies, this field of research has undergone explosive expansion and…
Over the past decades, research in cognitive and affective neuroscience has emphasized that emotion is crucial for human intelligence and in fact inseparable from cognition. Concurrently, there has been growing interest in simulating and…
Wearable robots are designed to be worn on the human body. Taking advantage of their physical form, various applications for wearable robots are being considered. This study proposes a wearable robot worn on the abdomen and a new…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
Functional autonomous systems often realize complex tasks by utilizing state machines comprised of discrete primitive behaviors and transitions between these behaviors. This architecture has been widely studied in the context of…
Integrating generative AI such as Large Language Models into social robots has improved their ability to engage in natural, human-like communication. This study presents a method to examine their persuasive capabilities. We designed an…
We introduce StaccaToe, a human-scale, electric motor-powered single-leg robot designed to rival the agility of human locomotion through two distinctive attributes: an actuated toe and a co-actuation configuration inspired by the human leg.…
A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical study of fault tolerant dynamic gaits…
Soft robotics has emerged as a versatile field with applications across various domains, from healthcare to industrial automation, and more recently, art and interactive installations. The inherent flexibility, adaptability, and safety of…
Nonverbal behaviors such as posture, gestures, and gaze are essential for conveying internal states, both consciously and unconsciously, in human interaction. For robots to interact more naturally with humans, robot movement design should…
Emotions, which are an important component of social interaction, can be studied with the help of android robots and their appearance, which is as similar to humans as possible. The production and customization of android robots is…
Equipping humanoid robots with the capability to understand emotional states of human interactants and express emotions appropriately according to situations is essential for affective human-robot interaction. However, enabling current…
Emotional expressions and their changes during an interaction affect heavily how we perceive and behave towards other persons. To design an HRI scenario that makes possible to observe, understand, and model affective interactions and…
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…
With the increasing presence of social robots in various environments and applications, there is an increasing need for these robots to exhibit socially-compliant behaviors. Legible motion, characterized by the ability of a robot to clearly…
Animatronic robots hold the promise of enabling natural human-robot interaction through lifelike facial expressions. However, generating realistic, speech-synchronized robot expressions poses significant challenges due to the complexities…
Robot accidents are inevitable. Although rare, they have been happening since assembly-line robots were first introduced in the 1960s. But a new generation of social robots are now becoming commonplace. Often with sophisticated embedded…
The role of robots is expanding from tool to collaborator. Socially assistive robots (SARs) are an example of collaborative robots that assist humans in the real world. As robots enter our social sphere, unforeseen risks occur during…
Emotions can provide a natural communication modality to complement the existing multi-modal capabilities of social robots, such as text and speech, in many domains. We conducted three online studies with 112, 223, and 151 participants to…