Related papers: Haptic Feedback Improves Human-Robot Agreement and…
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…
There is a growing demand for teleoperated robots. This paper presents a novel method for reducing vibration noise generated by robot's own motion, which can disrupt the quality of tactile feedback for teleoperated robots. Our approach…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…
Haptic interaction between two humans, for example, a physiotherapist assisting a patient regaining the ability to grasp a cup, likely facilitates motor skill acquisition. Haptic human-human interaction has been shown to enhance individual…
In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…
Embodied interaction has been introduced to human-robot interaction (HRI) as a type of teleoperation, in which users control robot arms with bodily action via handheld controllers or haptic gloves. Embodied teleoperation has made robot…
Multi-task missions for unmanned aerial vehicles (UAVs) involving inspection and landing tasks are challenging for novice pilots due to the difficulties associated with depth perception and the control interface. We propose a shared…
We present advancements in the design and development of in-vehicle infotainment systems that utilize gesture input and ultrasonic mid-air haptic feedback. Such systems employ state-of-the-art hand tracking technology and novel haptic…
Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of such applications require teleoperation. The operator receives visual feedback from…
We present TASC, a Task-Aware Shared Control framework for teleoperated manipulation that infers task-level user intent and provides assistance throughout the task. To support everyday tasks without predefined knowledge, TASC constructs an…
The integration of haptics within Augmented Reality may help to deliver an enriched experience, while facilitating the performance of specific actions (e.g. repositioning or resizin ) that are still dependent on the user's skills. This…
Since Automated Driving Systems are not expected to operate flawlessly, Automated Vehicles will require human assistance in certain situations. For this reason, teleoperation offers the opportunity for a human to be remotely connected to…
Skull base surgery is a demanding field in which surgeons operate in and around the skull while avoiding critical anatomical structures including nerves and vasculature. While image-guided surgical navigation is the prevailing standard,…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
In-hand dexterous telemanipulation requires not only precise remote motion control of the robot but also effective haptic feedback to the human operator to ensure stable and intuitive interactions between them. Most existing haptic devices…
To interact seamlessly with robots, users must infer the causes of a robot's behavior and be confident about that inference. Hence, trust is a necessary condition for human-robot collaboration (HRC). Despite its crucial role, it is largely…
Sense of agency is one factor that influences people's preferences for robot assistance and a phenomenon from cognitive science that represents the experience of control over one's environment. However, in assistive robotics literature, we…
As robots increasingly operate in shared, safety critical environments, acting safely is no longer sufficient robots must also make their safety decisions intelligible to human collaborators. In human robot collaboration (HRC), behaviours…
Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…