Related papers: Remote Assistance with Mixed Reality for Procedura…
Robotic-assisted medical systems (RAMS) have gained significant attention for their advantages in alleviating surgeons' fatigue and improving patients' outcomes. These systems comprise a range of human-computer interactions, including…
The extraordinarily high X-ray flux and specialized instrumentation at synchrotron beamlines have enabled versatile in-situ and high throughput studies that are impossible elsewhere. Dexterous and efficient control of experiments are thus…
This paper explores the challenges faced by assistive robots in effectively cooperating with humans, requiring them to anticipate human behavior, predict their actions' impact, and generate understandable robot actions. The study focuses on…
In this paper we present a system that detects and tracks objects and agents, computes spatial relations, and communicates those relations to the user using speech. Our system is able to detect multiple objects and agents at 30 frames per…
Procedural activity assistants potentially support humans in a variety of settings, from our daily lives, e.g., cooking or assembling flat-pack furniture, to professional situations, e.g., manufacturing or biological experiments. Despite…
Augmented and mixed-reality techniques harbor a great potential for improving human-robot collaboration. Visual signals and cues may be projected to a human partner in order to explicitly communicate robot intentions and goals. However, it…
Virtual reality (VR) technology is commonly used in entertainment applications; however, it has also been deployed in practical applications in more serious aspects of our lives, such as safety. To support people working in dangerous…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
An estimated 253 million people have visual impairments. These visual impairments affect everyday lives, and limit their understanding of the outside world. This can pose a risk to health from falling or collisions. We propose a solution to…
Imitation learning is a prominent paradigm for robotic manipulation. However, existing visual imitation methods map 2D image observations directly to 3D action outputs, imposing a 2D-3D mismatch that hinders spatial reasoning and degrades…
In our daily lives, we can naturally convey instructions for the spatial manipulation of objects using words and gestures. Transposing this form of interaction into virtual reality (VR) object manipulation can be beneficial. We propose VR…
In our daily life, cluttered objects are everywhere, from scattered stationery and books cluttering the table to bowls and plates filling the kitchen sink. Retrieving a target object from clutters is an essential while challenging skill for…
With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is…
As human space exploration evolves toward longer voyages farther from our home planet, in-situ resource utilization (ISRU) becomes increasingly important. Haptic teleoperations are one of the technologies by which such activities can be…
The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly,…
Traditional control interfaces for robotic-assisted minimally invasive surgery impose a significant cognitive load on surgeons. To improve surgical efficiency, surgeon-robot collaboration capabilities, and reduce surgeon burden, we present…
This article presents an open-source architecture for conveying robots' intentions to human teammates using Mixed Reality and Head-Mounted Displays. The architecture has been developed focusing on its modularity and re-usability aspects.…
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…
The development of advanced surgical systems embedding the Master-Slave control strategy introduced the possibility of remote interaction between the surgeon and the patient, also known as teleoperation. The present paper aims to integrate…