Related papers: Force-Sensing Tensegrity for Investigating Physica…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
Social-physical human-robot interaction (spHRI) is difficult to study: building and programming robots that integrate multiple interaction modalities is costly and slow, while VR-based prototypes often lack physical contact, breaking users'…
Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…
Successful entrainment during collaboration positively affects trust, willingness to collaborate, and likeability towards collaborators. In this paper, we present a mixed-method study to investigate characteristics of successful entrainment…
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
This paper investigates the specific scenario of high-intensity confrontations between humans and robots, to understand how robots can defuse the conflict. It focuses on the effectiveness of using five different affective expression…
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position…
Implicit communication plays such a crucial role during social exchanges that it must be considered for a good experience in human-robot interaction. This work addresses implicit communication associated with the detection of physical…
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solutions have the potential to improve operational safety and…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…
Since the late 1990s when speech companies began providing their customer-service software in the market, people have gotten used to speaking to machines. As people interact more often with voice and gesture controlled machines, they expect…
Understanding the physical interaction with wearable robots is essential to ensure safety and comfort. However, this interaction is complex in two key aspects: (1) the motion involved, and (2) the non-linear behaviour of soft tissues.…
Physical human-robot interactions (pHRIs) can improve robot autonomy and reduce physical demands on humans. In this paper, we consider a collaborative task with a considerably long object and no prior knowledge of the object's parameters.…
Human-in-the-loop approaches are of great importance for robot applications. In the presented study, we implemented a multimodal human-robot interaction (HRI) scenario, in which a simulated robot communicates with its human partner through…
This project aims to motivate research in competitive human-robot interaction by creating a robot competitor that can challenge human users in certain scenarios such as physical exercise and games. With this goal in mind, we introduce the…
Social robots must adjust to human proxemic norms to ensure user comfort and engagement. While prior research demonstrates that eye-tracking features reliably estimate comfort in human-human interactions, their applicability to interactions…
Physical human-robot interaction (pHRI) requires robots to adapt to individual contact preferences, such as where and how much force is applied. Identifying preferences is difficult for a single contact; with whole-arm interaction involving…
Most traditional robotic mechanisms feature inelastic joints that are unable to robustly handle large deformations and off-axis moments. As a result, the applied loads are transferred rigidly throughout the entire structure. The…