Related papers: SPARCS: Structuring Physically Assistive Robotics …
Spatial confounding poses a significant challenge in scientific studies involving spatial data, where unobserved spatial variables can influence both treatment and outcome, possibly leading to spurious associations. To address this problem,…
Technological progress increasingly envisions the use of robots interacting with people in everyday life. Human-robot collaboration (HRC) is the approach that explores the interaction between a human and a robot, during the completion of a…
The growing integration of mobile robots in shared workspaces requires efficient path planning and coordination between the agents, accounting for safety and productivity. In this work, we propose a digital model-based optimization…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…
This paper investigates the control problem of steering a group of spherical mobile robots to cooperatively transport a spherical object. By controlling the movements of the robots to exert appropriate contact (pushing) forces, it is…
Manipulation in contrast to grasping is a trajectorial task that needs to use dexterous hands. Improving the dexterity of robot hands, increases the controller complexity and thus requires to use the concept of postural synergies. Inspired…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Medical robotics includes assistive devices used by the physician in order to make his/her diagnostic or therapeutic practices easier and more efficient. This chapter focuses on such systems. It introduces the general field of…
Service robots are appearing more and more in our daily life. The development of service robots combines multiple fields of research, from object perception to object manipulation. The state-of-the-art continues to improve to make a proper…
Living a self-determined life independent of human caregivers or fully autonomous robots is a crucial factor for human dignity and the preservation of self-worth for people with motor impairments. Assistive robotic solutions - particularly…
Humans often work closely together and relay a wealth of information through physical interaction. Robots, on the other hand, are not yet able to work similarly closely with humans and to effectively convey information when engaging in…
The application of robotic solutions to small-batch production is challenging: economical constraints tend to dramatically limit the time for setting up new batches. Organizing robot tasks into modular software components, called skills,…
Robot haircare systems could provide a controlled and personalized environment that is respectful of an individual's sensitivities and may offer a comfortable experience. We argue that because of hair and hairstyles' often unique importance…
Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined spaces while assisting a human operator in physically…
Current orthopedic robotic systems largely focus on navigation, aiding surgeons in positioning a guiding tube but still requiring manual drilling and screw placement. The automation of this task not only demands high precision and safety…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans or damage any nearby objects. Generating these motion plans…
The past few years have seen rapid progress in the development of service robots. Universities and companies alike have launched major research efforts toward the deployment of ambitious systems designed to aid human operators performing a…
Background: The use of social robotics in elderly care is increasingly discussed as one way of meeting emerging care needs due to scarce resources. While many potential benefits are associated with robotic care technologies, there is a…
Physical caregiving robots hold promise for improving the quality of life of millions worldwide who require assistance with feeding. However, in-home meal assistance remains challenging due to the diversity of activities (e.g., eating,…