Related papers: Haptic Feedback Improves Human-Robot Agreement and…

Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces. These aim to streamline and enhance the user interaction…

Robotic minimally invasive interventions typically require using more than two instruments. We thus developed a foot pedal interface which allows the user to control a robotic arm (simultaneously to working with the hands) with four degrees…

We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…

Research in multi-modal interfaces aims to provide solutions to immersion and increase overall human performance. A promising direction is combining auditory, visual and haptic interaction between the user and the simulated environment.…

Augmented Reality and Virtual Reality can provide to a Human Operator (HO) a real help to complete complex tasks, such as robot teleoperation and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer…

Mobile manipulators broaden the operational envelope for robot manipulation. However, the whole-body teleoperation of such robots remains a problem: operators must coordinate a wheeled base and two arms while reasoning about obstacles and…

This paper introduces human-robot sensory augmentation and illustrates it on a tracking task, where performance can be improved by the exchange of sensory information between the robot and its human user. It was recently found that during…

Embodiment of users within robotic systems has been explored in human-robot interaction, most often in telepresence and teleoperation. In these applications, synchronized visuomotor feedback can evoke a sense of body ownership and agency,…

In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff to remain responsive and to apply force when needed. In this…

Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…

This paper considers the problem of enabling the user to modify the path of a telepresence robot. The robot is capable of autonomously navigating to a goal predefined by the user, but the user might still want to modify the path, for…

Despite the rapid technological progress, autonomous vehicles still face a wide range of complex driving situations that require human intervention. Teleoperation technology offers a versatile and effective way to address these challenges.…

Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. This paper presents an anatomy-aware control framework for…

Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…

Novice pilots find it difficult to operate and land unmanned aerial vehicles (UAVs), due to the complex UAV dynamics, challenges in depth perception, lack of expertise with the control interface and additional disturbances from the ground…

Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…

In the rapidly evolving landscape of Human-Robot Collaboration (HRC), effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder…

A single service robot can present two distinct agencies: its onboard autonomy and an operator-mediated agency, yet users experience them through one physical body. We formalize this dual-agency structure as a User-Robot-Operator triad in…

Autonomous manipulation systems have achieved remarkable capabilities, yet the integration of human expertise with diffusion-based policies in shared control remains relatively unexplored. In this paper, we propose Human-In-The-Loop…

When dealing with the haptic teleoperation of multi-limbed mobile manipulators, the problem of mitigating the destabilizing effects arising from the communication link between the haptic device and the remote robot has not been properly…