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Robotic objects are simple actuated systems that subtly blend into human environments. We design and introduce Lantern, a minimalist robotic object platform to enable building simple robotic artifacts. We conducted in-depth design and…
Deep learning models have become increasingly popular for a wide range of applications, including computer vision, natural language processing, and speech recognition. However, these models typically require large amounts of computational…
Humanoid robots are envisioned as general-purpose platforms in human-centered environments, yet their deployment is limited by vulnerability to falls and the risks posed by rigid metal-plastic structures to people and surroundings. We…
Trust remains a critical barrier to the effective integration of Artificial Intelligence (AI) into human-centric domains. Disembodied agents, such as voice assistants, often fail to establish trust due to their inability to convey…
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…
Artificial intelligence systems are widely used by people with sensory disabilities, like loss of vision or hearing, to help perceive or navigate the world around them. This includes tasks like describing an image or object they cannot…
Robotic guide dogs hold significant potential to enhance the autonomy and mobility of blind or visually impaired (BVI) individuals by offering universal assistance over unstructured terrains at affordable costs. However, the design of…
The human brain has immense learning capabilities at extreme energy efficiencies and scale that no artificial system has been able to match. For decades, reverse engineering the brain has been one of the top priorities of science and…
Mobility impairment caused by limb loss is a significant challenge faced by millions of individuals worldwide. The development of advanced assistive technologies, such as prosthetic devices, has the potential to greatly improve the quality…
Current anthropomorphic robotic hands mainly focus on improving their dexterity by devising new mechanical structures and actuation systems. However, most of them rely on a single structure/system (e.g., bone-only) and ignore the fact that…
Developing real robotic systems requires a tight integration of mechanics, electronics and software. Most of the times, existing robotic platforms are either closed or expensive or both, and in-house solutions are costly to develop and…
Adhering to current HRI paradigms, all of the sensors, visualisation and legibility of actions and motions are borne by the robot or its working cell. This necessarily makes robots more complex or confines them into specialised, structured…
With the good performance of deep learning algorithms in the field of computer vision (CV), the convolutional neural network (CNN) architecture has become a main backbone of the computer vision task. With the widespread use of mobile…
The hand is one of the most complex and important parts of the human body. The dexterity provided by its multiple degrees of freedom enables us to perform many of the tasks of daily living which involve grasping and manipulating objects of…
People with disabilities often face discrimination and lack of access in all areas of society. While improving the affordability and appropriateness of assistive technologies can pave the way for easier participation and independence,…
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…
Blind users rely on keyboards and assistive technologies like screen readers to interact with user interface (UI) elements. In modern applications with complex UI hierarchies, navigating to different UI elements poses a significant…
Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who are unable to complete activities of daily living (ADLs).…
Recent advancements in AI foundation models have made it possible for them to be utilized off-the-shelf for creative tasks, including ideating design concepts or generating visual prototypes. However, integrating these models into the…
Prototyping is an important part in research and development of tangible user interfaces (TUIs). On the way from the idea to a working prototype, new hardware prototypes usually have to be crafted repeatedly in numerous iterations. This…