Related papers: Wrapping Haptic Displays Around Robot Arms to Comm…
Haptic technology enhances interactive experiences by providing force and tactile feedback, improving user performance and immersion. However, despite advancements, creating tactile experiences still remains challenging due to device…
Robotic grasping of house-hold objects has made remarkable progress in recent years. Yet, human grasps are still difficult to synthesize realistically. There are several key reasons: (1) the human hand has many degrees of freedom (more than…
Grasping is an incredible ability of animals using their arms and limbs in their daily life. The human hand is an especially astonishing multi-fingered tool for precise grasping, which helped humans to develop the modern world. The…
Human emotions are complex and can be conveyed through nuanced touch gestures. Previous research has primarily focused on how humans recognize emotions through touch or on identifying key features of emotional expression for robots.…
Humanoid robots are increasingly being integrated into learning contexts to assist teaching and learning. However, challenges remain how to design and incorporate such robots in an educational context. As an important part of teaching…
Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…
Handheld grippers are increasingly used to collect human demonstrations due to their ease of deployment and versatility. However, most existing designs lack tactile sensing, despite the critical role of tactile feedback in precise…
Relocation of haptic feedback from the fingertips to the wrist has been considered as a way to enable haptic interaction with mixed reality virtual environments while leaving the fingers free for other tasks. We present a pair of wrist-worn…
Effective human-robot interaction, such as in robot learning from human demonstration, requires the learning agent to be able to ground abstract concepts (such as those contained within instructions) in a corresponding high-dimensional…
Torque and continuous rotation are fundamental methods of actuation and manipulation in rigid robots. Soft robot arms use soft materials and structures to mimic the passive compliance of biological arms that bend and extend. This use of…
Learning from demonstration is a proven technique to teach robots new skills. Data quality and quantity play a critical role in the performance of models trained using data collected from human demonstrations. In this paper we enhance an…
Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation modes and interactions…
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…
Humans leverage multiple sensor modalities when interacting with objects and discovering their intrinsic properties. Using the visual modality alone is insufficient for deriving intuition behind object properties (e.g., which of two boxes…
Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world…
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although commercial robotic systems have begun…
The increasing number of robots in home environments leads to an emerging coexistence between humans and robots. Robots undertake common tasks and support the residents in their everyday life. People appreciate the presence of robots in…
Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, primarily categorized as folding the paper or creating creases.…
In real life, grasping is one of the fundamental and effective forms of interaction when manipulating objects. This holds true in the physical and virtual world; however, unlike the physical world, virtual reality (VR) is grasped in a…
A hug is a tight embrace and an expression of warmth, sympathy and camaraderie. Despite the fact that a hug often only takes a few seconds, it is filled with details and nuances and is a highly complex process of coordination between two…