Related papers: Force-Sensing Tensegrity for Investigating Physica…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
Soft multi-axis force/torque sensors provide safe and precise force interaction. Capturing the complete degree-of-freedom of force is imperative for accurate force measurement with six-axis force/torque sensors. However, cross-axis coupling…
This paper explores the use of 3D lidar in a physical Human-Robot Interaction (pHRI) scenario. To achieve the aforementioned, experiments were conducted to mimic a modern shop-floor environment. Data was collected from a pool of seventeen…
This paper describes a new research project that aims to develop a social robot designed to help children cope with painful and distressing medical procedures in a clinical setting. While robots have previously been trialled for this task,…
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…
Tensegrity robots possess lightweight and resilient structures but present significant challenges for state estimation due to compliant and distributed ground contacts. This paper introduces a symmetry-aware heterogeneous graph neural…
Tensegrity structures are lightweight, can undergo large deformations, and have outstanding robustness capabilities. These unique properties inspired roboticists to investigate their use. However, the morphological design, control,…
In this paper, we present a light-weight, multi- axis compliant tenegrity joint that is biologically inspired by the human elbow. This tensegrity elbow actuates by shortening and lengthening cable in a method inspired by muscular actuation…
As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…
We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…
Human-robot interactions (HRI) can be modeled as dynamic or differential games with incomplete information, where each agent holds private reward parameters. Due to the open challenge in finding perfect Bayesian equilibria of such games,…
Safety for physical human-robot interaction (pHRI) is a major concern for all application domains. While current standardization for industrial robot applications provide safety constraints that address the onset of pain in blunt impacts,…
With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…
In recent years robots have become an important part of our day-to-day lives with various applications. Human-robot interaction creates a positive impact in the field of robotics to interact and communicate with the robots. Gesture…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
The interest in Physical Human-Robot Interaction (pHRI) has significantly increased over the last two decades thanks to the availability of collaborative robots that guarantee user safety during force exchanges. For this reason, stability…
People deeply care about how fairly they are treated by robots. The established paradigm for probing fairness in Human-Robot Interaction (HRI) involves measuring the perception of the fairness of a robot at the conclusion of an interaction.…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…