Related papers: A Study of Human-Robot Handover through Human-Huma…
Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The robot can reduce the number of human inputs -- and how precise…
One of the open challenges in designing robots that operate successfully in the unpredictable human environment is how to make them able to predict what actions they can perform on objects, and what their effects will be, i.e., the ability…
Human-robot collaboration requires the contactless estimation of the physical properties of containers manipulated by a person, for example while pouring content in a cup or moving a food box. Acoustic and visual signals can be used to…
Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…
Trust is essential in shaping human interactions with one another and with robots. This paper discusses how human trust in robot capabilities transfers across multiple tasks. We first present a human-subject study of two distinct task…
Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide variety of objects and demands robust and adaptive grasping…
Object handover is a common human collaboration behavior that attracts attention from researchers in Robotics and Cognitive Science. Though visual perception plays an important role in the object handover task, the whole handover process…
Humans are very effective at interpreting subtle properties of the partner's movement and use this skill to promote smooth interactions. Therefore, robotic platforms that support human partners in daily activities should acquire similar…
Self-handover, transferring an object between one's own hands, is a common but understudied bimanual action. While it facilitates seamless transitions in complex tasks, the strategies underlying its execution remain largely unexplored.…
Human-robot handovers are characterized by high uncertainty and poor structure of the problem that make them difficult tasks. While machine learning methods have shown promising results, their application to problems with large state…
We study human-robot handovers in a naturalistic collaboration scenario, where a mobile manipulator robot assists a person during a crafting session by providing and retrieving objects used for wooden piece assembly (functional activities)…
Due to real-world dynamics and hardware uncertainty, robots inevitably fail in task executions, resulting in undesired or even dangerous executions. In order to avoid failures and improve robot performance, it is critical to identify and…
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not…
One of the first and foremost non-verbal interactions that humans perform is a handshake. It has an impact on first impressions as touch can convey complex emotions. This makes handshaking an important skill for the repertoire of a social…
A dynamic autonomy allocation framework automatically shifts how much control lies with the human versus the robotics autonomy, for example based on factors such as environmental safety or user preference. To investigate the question of…
The flexible under-actuated musculoskeletal hand is superior in its adaptability and impact resistance. On the other hand, since the relationship between sensors and actuators cannot be uniquely determined, almost all its controls are based…
Human demonstrations collected by wearable devices (e.g., tactile gloves) provide fast and dexterous supervision for policy learning, and are guided by rich, natural tactile feedback. However, a key challenge is how to transfer…
The foundation of this paper is an experiment of fifteen participants interacting directly with an autonomous robot. The task for the participants was to carry a table, in two different setups, together with a robot, which is intended to…