Related papers: Towards Safe Robot Use with Edged or Pointed Objec…
Reinforcement learning (RL) and sim-to-real transfer have advanced rigid-object manipulation. However, policies remain brittle for articulated mechanisms due to contact-rich dynamics that require both stable grasping and simultaneous free…
Post-market medical device surveillance is a challenge facing manufacturers, regulatory agencies, and health care providers. Electronic health records are valuable sources of real world evidence to assess device safety and track…
Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…
Guidance robots that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guidance robots for the visually impaired ignored the human response…
Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during…
Robots can influence people to accomplish their tasks more efficiently: autonomous cars can inch forward at an intersection to pass through, and tabletop manipulators can go for an object on the table first. However, a robot's ability to…
Robots that assist humans will need to interact with articulated objects such as cabinets or microwaves. Early work on creating systems for doing so used proprioceptive sensing to estimate joint mechanisms during contact. However, nowadays,…
Various robots have been developed so far; however, we face challenges in modeling the low-rigidity bodies of some robots. In particular, the deflection of the body changes during tool-use due to object grasping, resulting in significant…
In the near future, collaborative robots (cobots) are expected to play a vital role in the manufacturing and automation sectors. It is predicted that workers will work side by side in collaboration with cobots to surpass fully automated…
Human-robot interactions (HRI) can be modeled as dynamic or differential games with incomplete information, where each agent holds private reward parameters. Due to the open challenge in finding perfect Bayesian equilibria of such games,…
The use of connected surgical robotics to automate medical procedures presents new privacy challenges. We argue that conventional patient consent protocols no longer work. Indeed robots that replace human surgeons take on an extraordinary…
Hands are a fundamental tool humans use to interact with the environment and objects. Through hand motions, we can obtain information about the shape and materials of the surfaces we touch, modify our surroundings by interacting with…
In this paper, we explore whether a robot can learn to hang arbitrary objects onto a diverse set of supporting items such as racks or hooks. Endowing robots with such an ability has applications in many domains such as domestic services,…
Manipulating deformable linear objects (DLOs) is challenging due to their complex dynamics and the need for safe interaction in contact-rich environments. Most existing models focus on shape prediction alone and fail to account for contact…
Ergonomics and human comfort are essential concerns in physical human-robot interaction applications. Defining an accurate and easy-to-use ergonomic assessment model stands as an important step in providing feedback for postural correction…
An important challenge in human-robot interaction (HRI) is enabling non-expert users to specify complex tasks for autonomous robots. Recently, active preference learning has been applied in HRI to interactively shape a robot's behavior. We…
Understanding how humans respond to uncertainty is critical for designing safe and effective physical human-robot interaction (pHRI), as physically working with robots introduces multiple sources of uncertainty, including trust, comfort,…
In robotics, many control and planning schemes have been developed to ensure human physical safety in human-robot interaction. The human psychological state and the expectation towards the robot, however, are typically neglected. Even if…
Humanoid robots have received significant research interests and advancements in recent years. Despite many successes, due to their morphology, dynamics and limitation of control policy, humanoid robots are prone to fall as compared to…
The increasing labor shortage and aging population underline the need for assistive robots to support human care recipients. To enable safe and responsive assistance, robots require accurate human motion prediction in physical interaction…