Related papers: Physically interacting humans regulate muscle coac…

Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…

Soft materials are not only highly deformable but they also possess rich and diverse body dynamics. Soft body dynamics exhibit a variety of properties, including nonlinearity, elasticity, and potentially infinitely many degrees of freedom.…

Inspired by the remarkable ability of the infant visual learning system, a recent study collected first-person images from children to analyze the `training data' that they receive. We conduct a follow-up study that investigates two…

This paper addresses the problem of mixed initiative, shared control for master-slave grasping and manipulation. We propose a novel system, in which an autonomous agent assists a human in teleoperating a remote slave arm/gripper, using a…

Humans are able to outperform robots in terms of robustness, versatility, and learning of new tasks in a wide variety of movements. We hypothesize that highly nonlinear muscle dynamics play a large role in providing inherent stability,…

Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…

Using joint actuators to drive the skeletal movements is a common practice in character animation, but the resultant torque patterns are often unnatural or infeasible for real humans to achieve. On the other hand, physiologically-based…

This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for…

Robotic arms are highly common in various automation processes such as manufacturing lines. However, these highly capable robots are usually degraded to simple repetitive tasks such as pick-and-place. On the other hand, designing an optimal…

Although it has been shown that augmented multimodal feedback has a facilitatory effect on motor performance for motor learning and music training, the functionality of haptic feedback combined with other modalities in rhythmic movement…

A realistic human kinematic model that satisfies anatomical constraints is essential for human-robot interaction, biomechanics and robot-assisted rehabilitation. Modeling realistic joint constraints, however, is challenging as human arm…

Human capabilities in understanding visual relations are far superior to those of AI systems, especially for previously unseen objects. For example, while AI systems struggle to determine whether two such objects are visually the same or…

In practical applications, computer vision tasks often need to be addressed simultaneously. Multitask learning typically achieves this by jointly training a single deep neural network to learn shared representations, providing efficiency…

We introduce a real-time, human-in-the-loop gesture control framework that can dynamically adapt audio and music based on human movement by analyzing live video input. By creating a responsive connection between visual and auditory stimuli,…

Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…

Advances in wearable robotics challenge the traditional definition of human motor systems, as wearable robots redefine body structure, movement capability, and perception of their own bodies. We measured gait performance and perceived body…

Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…

Many biological phenomena such as locomotion, circadian cycles, and breathing are rhythmic in nature and can be modeled as rhythmic dynamical systems. Dynamical systems modeling often involves neglecting certain characteristics of a…

This study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…

Dexterous manipulation has seen remarkable progress in recent years, with policies capable of executing many complex and contact-rich tasks in simulation. However, transferring these policies from simulation to real world remains a…