Related papers: Neuroadaptation in Physical Human-Robot Collaborat…
Physical Human-Robot Interaction (pHRI) is critical for implementing Industry 5.0, which focuses on human-centric approaches. However, few studies explore the practical alignment of pHRI to industrial-grade performance. This paper…
Mammals can generate autonomous behaviors in various complex environments through the coordination and interaction of activities at different levels of their central nervous system. In this paper, we propose a novel hierarchical learning…
In Human-Robot Collaboration (HRC), which encompasses physical interaction and remote cooperation, accurate estimation of human intentions and seamless switching of collaboration modes to adjust robot behavior remain paramount challenges.…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the…
Neurorehabilitation conventionally relies on the interaction between a patient and a physical therapist. Robotic systems can improve and enrich the physical feedback provided to patients after neurological injury, but they under-utilize the…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
This work presents Adaptive Robot Coordination (ARC), a novel hybrid framework for multi-robot motion planning (MRMP) that employs local subproblems to resolve inter-robot conflicts. ARC creates subproblems centered around conflicts, and…
Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…
In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…
When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
In our everyday lives we are accustomed to partake in complex, personalized, adaptive interactions with our peers. For a social robot to be able to recreate this same kind of rich, human-like interaction, it should be aware of our needs and…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
For robots to seamlessly interact with humans, we first need to make sure that humans and robots understand one another. Diverse algorithms have been developed to enable robots to learn from humans (i.e., transferring information from…
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This paper proposes a novel human-robot interaction framework in…
In the rapidly evolving landscape of Human-Robot Collaboration (HRC), effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder…
Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically…
As robots increasingly operate in shared, safety critical environments, acting safely is no longer sufficient robots must also make their safety decisions intelligible to human collaborators. In human robot collaboration (HRC), behaviours…
Robots operating in unstructured environments face significant challenges when interacting with everyday objects like doors. They particularly struggle to generalize across diverse door types and conditions. Existing vision-based and…