Related papers: Human-Exoskeleton Interaction Portrait
When a human dyad jointly manipulates an object, they must communicate about their intended motion plans. Some of that collaboration is achieved through the motion of the manipulated object itself, which we call "haptic communication." In…
Tactile interaction plays a crucial role in interactions between people. Touch can, for example, help people calm down and lower physiological stress responses. Consequently, it is believed that tactile and haptic interaction matter also in…
Supporting real-time interactions between human controllers and remote devices remains a challenging goal in the Metaverse due to the stringent requirements on computing workload, communication throughput, and round-trip latency. In this…
Real-time human activity recognition plays an essential role in real-world human-centered robotics applications, such as assisted living and human-robot collaboration. Although previous methods based on skeletal data to encode human poses…
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…
Mutual adaptation can significantly enhance overall task performance in human-robot co-transportation by integrating both the robot's and human's understanding of the environment. While human modeling helps capture humans' subjective…
Manipulation with whole-body contact by humanoid robots offers distinct advantages, including enhanced stability and reduced load. On the other hand, we need to address challenges such as the increased computational cost of motion…
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…
We present a hierarchical policy-learning framework that enables a legged humanoid to cooperatively carry extended loads with a human partner using only haptic cues for intent inference. At the upper tier, a lightweight behavior-cloning…
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…
Mirroring non-verbal social cues such as affect or movement can enhance human-human and human-robot interactions in the real world. The robotic platforms and control methods also impact people's perception of human-robot interaction.…
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…
Social robots must adjust to human proxemic norms to ensure user comfort and engagement. While prior research demonstrates that eye-tracking features reliably estimate comfort in human-human interactions, their applicability to interactions…
Tactile interaction plays an essential role in human-to-human interaction. People gain comfort and support from tactile interactions with others and touch is an important predictor for trust. While touch has been explored as a communicative…
This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local…
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…
Physical human-robot interaction (pHRI) remains a key challenge for achieving intuitive and safe interaction with robots. Current advancements often rely on external tactile sensors as interface, which increase the complexity of robotic…
Robots applied in therapeutic scenarios, for instance in the therapy of individuals with Autism Spectrum Disorder, are sometimes used for imitation learning activities in which a person needs to repeat motions by the robot. To simplify the…
Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of…
Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…