Related papers: Enhancing Flexibility and Adaptability in Conjoine…
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…
As robots shift from industrial to human-centered spaces, adopting mobile manipulators, which expand workspace capabilities, becomes crucial. In these settings, seamless interaction with humans necessitates compliant control. Two common…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…
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…
The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…
In this paper we introduce a novel approach that enables users to interact with a mobile robot in a natural manner. The proposed interaction system does not require any specific infrastructure or device, but relies on commonly utilized…
Macro-micro manipulators combine a macro manipulator with a large workspace, such as an industrial robot, with a lightweight, high-bandwidth micro manipulator. This enables highly dynamic interaction control while preserving the wide…
The remote human operator's user interface (UI) is an important link to make the robot an efficient extension of the operator's perception and action. In rescue applications, several studies have investigated the design of operator…
Wheelchairs and mobility devices have transformed our bodies into cybernic systems, enhancing our well-being by enabling individuals with reduced mobility to regain freedom. Notwithstanding, current interfaces of control primarily rely on…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…
Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…
An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Worker-Robot Cooperation is a new industrial trend, which aims to sum the advantages of both the human and the industrial robot to afford a new intelligent manufacturing techniques. The cooperative manufacturing between the worker and the…
Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design. With right structural…
We provide an experimental evaluation of a wearable augmented reality (AR) system we have developed for human-robot teams working on tasks requiring collaboration in shared physical workspace. Recent advances in AR technology have…
This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This…