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Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
In order to address the limitations of gestural capabilities in physical robots, researchers in Virtual, Augmented, Mixed Reality Human-Robot Interaction (VAM-HRI) have been using augmented-reality visualizations that increase robot…
In today's high-pressure and isolated society, the demand for emotional support has surged, necessitating innovative solutions. Socially Assistive Robots (SARs) offer a technological approach to providing emotional assistance by leveraging…
Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who are unable to complete activities of daily living. Speech…
In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during…
Autonomy and independent navigation are vital to daily life but remain challenging for individuals with blindness. Robotic systems can enhance mobility and confidence by providing intelligent navigation assistance. However, fully autonomous…
In shared control, advances in autonomous robotics are applied to help empower a human user in operating a robotic system. While these systems have been shown to improve efficiency and operation success, users are not always accepting of…
Sense of agency is one factor that influences people's preferences for robot assistance and a phenomenon from cognitive science that represents the experience of control over one's environment. However, in assistive robotics literature, we…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
Existing assistive technologies (AT) often adopt a one-size-fits-all approach, overlooking the diverse needs of people with visual impairments (PVI). Do-it-yourself AT (DIY-AT) toolkits offer one path toward customization, but most remain…
Newcomer children face barriers in acquiring the host country's language and literacy programs are often constrained by limited staffing, mixed-proficiency cohorts, and short contact time. While Socially Assistive Robots (SARs) show promise…
Existing work in physical robot caregiving is limited in its ability to provide long-term assistance. This is majorly due to (i) lack of well-defined problems, (ii) diversity of tasks, and (iii) limited access to stakeholders from the…
Robot-assisted feeding has the potential to improve the quality of life for individuals with mobility limitations who are unable to feed themselves independently. However, there exists a large gap between the homogeneous, curated plates…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
Robot-led physical therapy (PT) offers a promising avenue to enhance the care provided by clinical exercise specialists (ES) and physical and occupational therapists to improve patients' adherence to prescribed exercises outside of a…
Robotic arms, integral in domestic care for individuals with motor impairments, enable them to perform Activities of Daily Living (ADLs) independently, reducing dependence on human caregivers. These collaborative robots require users to…
One of the major areas where social robots are finding their place in society is for healthcare-related applications. Yet, very little research has mapped the deployment of socially assistive robots (SARs) in real settings. Using a…
The ability to adapt to physical actions and constraints in an environment is crucial for embodied agents (e.g., robots) to effectively collaborate with humans. Such physically grounded human-AI collaboration must account for the increased…
We present an ongoing project that aims to develop a social robot to help children cope with painful and distressing medical procedures in a clinical setting. Our approach uses automated planning as a core component for action selection in…
Socially assistive robots are increasingly being used to support the social, cognitive, and physical well-being of those who provide care (healthcare professionals) and those in need of care (older adults). However, the effectiveness of…