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In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human…
When humans control drones, cars, and robots, we often have some preconceived notion of how our inputs should make the system behave. Existing approaches to teleoperation typically assume a one-size-fits-all approach, where the designers…
Ergonomic assessment of human posture plays a vital role in understanding work-related safety and health. Current posture estimation approaches face occlusion challenges in teleoperation and physical human-robot interaction. We investigate…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
Close human-robot interaction (HRI), especially in industrial scenarios, has been vastly investigated for the advantages of combining human and robot skills. For an effective HRI, the validity of currently available human-machine…
Everyday robotics are challenged to deal with autonomous product handling in applications like logistics or retail, possibly causing damage on the items during manipulation. Traditionally, most approaches try to minimize physical…
Design, implementation, and machine learning issues associated with developing a control system for a serpentine robotic manipulator are explored. The controller developed provides autonomous control of the serpentine robotic…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
The growing integration of mobile robots in shared workspaces requires efficient path planning and coordination between the agents, accounting for safety and productivity. In this work, we propose a digital model-based optimization…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
In this paper, we present the implementation details of a Virtual Reality (VR)-based teleoperation interface for moving a robotic manipulator. We propose an iterative human-in-the-loop design where the user sets the next task-space waypoint…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
Human-robot collaboration in surgery represents a significant area of research, driven by the increasing capability of autonomous robotic systems to assist surgeons in complex procedures. This systematic review examines the advancements and…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
Spatial computing experiences are physically constrained by the geometry and semantics of the local user environment. This limitation is elevated in remote multi-user interaction scenarios, where finding a common virtual ground physically…
Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. This is achieved by coupling the motion of the prosthesis to the human command, such as the residual limb…
Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…