Related papers: CoboGuider: Haptic Potential Fields for Safe Human…
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…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
This paper presents a novel approach to real-time safety monitoring in human-robot collaborative manufacturing environments through a wrist-mounted Inertial Measurement Unit (IMU) system integrated with a Predictive Safety Model (PSM). The…
Human activity recognition (HAR) is fundamental in human-robot collaboration (HRC), enabling robots to respond to and dynamically adapt to human intentions. This paper introduces a HAR system combining a modular data glove equipped with…
To achieve a smooth and safe guiding of a drone formation by a human operator, we propose a novel interaction strategy for a human-swarm communication which combines impedance control and vibrotactile feedback. The presented approach takes…
We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user's objective. In this paradigm, the role of the autonomous…
Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitated by an augmented reality interface. Our system provides…
This paper studies real-time collaborative robot (cobot) handling, where the cobot maneuvers an object under human dynamic gesture commands. Enabling dynamic gesture commands is useful when the human needs to avoid direct contact with the…
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…
Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…
Manufacturing requires consistent production rate and task success for sustainable operation. Some manufacturing tasks require a semi-autonomous approach, exploiting the combination of human adaptability and machine precision and speed, to…
The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing…
For humans and robots to form an effective human-robot team (HRT) there must be sufficient trust between team members throughout a mission. We analyze data from an HRT experiment focused on trust dynamics in teams of one human and two…
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
Collision-free motion is often aided by tactile and proximity sensors distributed on the body of the robot due to their resistance to occlusion as opposed to external cameras. However, how to shape the sensor's properties, such as sensing…
Aligning humans' assessment of what a robot can do with its true capability is crucial for establishing a common ground between human and robot partners when they collaborate on a joint task. In this work, we propose an approach to…
Robots operating alongside people, particularly in sensitive scenarios such as aiding the elderly with daily tasks or collaborating with workers in manufacturing, must guarantee safety and cultivate user trust. Continuum soft manipulators…
A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…