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Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories…
Designing artificial cyber-agents able to interact with human safely, smartly and in a natural way is a current open problem in control. Solving such an issue will allow the design of cyber-agents capable of co-operatively interacting with…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
We introduce a dynamic model for complexity control (CC) between systems, represented by time series characterized by different temporal complexity measures, as indicated by their respective inverse power law (IPL) indices. Given the…
In this chapter, we focus on two main categories of visual interaction: body gestures and gaze direction. Our focus on body gestures is motivated by research showing that gesture patterns often change during joint action tasks to become…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
In guide dog training, trainers use haptic information transmitted through the handle of the harness worn by the guide dog to understand the dog's state. They then apply appropriate force to the handle to train the dog to make correct…
Augmenting the body with artificial limbs controlled concurrently to the natural limbs has long appeared in science fiction, but recent technological and neuroscientific advances have begun to make this vision possible. By allowing…
Rapid, targeted hand movements exhibit a regular movement pattern described by Fitts law. We develop a model of these movements in which this movement pattern results from an optimal control model describing rapid hand movements and a…
Although robots with flexible bodies are superior in terms of the contact and adaptability, it is difficult to control them precisely. On the other hand, human beings make use of the surrounding environments to stabilize their bodies and…
Kinesthetic illusion can present a sense of movement without actual physical movement of the body, but it often lacks a sense of agency over the movement. Therefore, we focused on the sensation of walking induced by the kinesthetic illusion…
Recent advances in upper limb prostheses have led to significant improvements in the number of movements provided by the robotic limb. However, the method for controlling multiple degrees of freedom via user-generated signals remains…
Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of…
Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems continue to attract the attention of biologists and roboticists…
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…
Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The…
When a human dyad jointly manipulates an object, they must communicate about their intended motion plans. Some of that collaboration is achieved through the motion of the manipulated object itself, which we call "haptic communication." In…
Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…
How dynamic interactions between nervous system regions in mammals performs online motor control remains an unsolved problem. In this paper we show that feedback control is a simple, yet powerful way to understand the neural dynamics of…
Robots that can operate autonomously in a human living environment are necessary to have the ability to handle various tasks flexibly. One crucial element is coordinated bimanual movements that enable functions that are difficult to perform…