Related papers: Towards Optimal Human-Robot Interface Design Appli…
The ocean vast unexplored regions and diverse soft-bodied marine organisms have spurred interest in bio-inspired underwater soft robotics. Recent advances have enabled new capabilities in underwater movement, sensing, and interaction.…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…
Mobile manipulator platforms, like the Stretch RE1 robot, make the promise of in-home robotic assistance feasible. For people with severe physical limitations, like those with quadriplegia, the ability to tele-operate these robots…
This study presents a multi-modal mechanism for recognizing human intentions while diving underwater, aiming to achieve natural human-robot interactions through an underwater superlimb for diving assistance. The underwater environment…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…
We present a method for EMG-driven teleoperation of non-anthropomorphic robot hands. EMG sensors are appealing as a wearable, inexpensive, and unobtrusive way to gather information about the teleoperator's hand pose. However, mapping from…
The number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…
Remotely operated vehicles (ROVs) have drawn much attention to underwater tasks, such as the inspection and maintenance of infrastructure. The workload of ROV operators tends to be high, even for the skilled ones. Therefore, assistance…
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated…
In this paper, we present a systematic method of design for human-swarm interaction interfaces, combining theoretical insights with empirical evaluation. We first derived ten design principles from existing literature, applying them to key…
In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
The paper deals with the well-known problem of teleoperating a robotic arm along six degrees of freedom. The prevailing and most effective approach to this problem involves a direct position-to-position mapping, imposing robotic…
The teleoperation of robots enables remote intervention in distant and dangerous tasks without putting the operator in harm's way. However, remote operation faces fundamental challenges due to limits in communication delays. The proposed…
Robotic skill learning has been increasingly studied but the demonstration collections are more challenging compared to collecting images/videos in computer vision and texts in natural language processing. This paper presents a skill…
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…
Diagnostic medical ultrasound is widely used, safe, and relatively low cost but requires a high degree of expertise to acquire and interpret the images. Personnel with this expertise are often not available outside of larger cities, leading…
Teleoperation offers a promising solution for enabling hands-on learning in remote education, particularly in environments requiring interaction with real-world equipment. However, such remote experiences can be costly or non-intuitive. To…
Robot teleoperation systems face a common set of challenges including latency, low-dimensional user commands, and asymmetric control inputs. User control with Brain-Computer Interfaces (BCIs) exacerbates these problems through especially…