Related papers: CelluloTactix: Towards Empowering Collaborative On…

Interactive computational environments can help students explore algorithmic concepts through collaborative hands-on experimentation. However, static and instructor controlled demos in lectures limit engagement. Even when interactive…

We investigated the application of haptic feedback control and deep reinforcement learning (DRL) to robot-assisted dressing. Our method uses DRL to simultaneously train human and robot control policies as separate neural networks using…

This paper presents LEMURS, an algorithm for learning scalable multi-robot control policies from cooperative task demonstrations. We propose a port-Hamiltonian description of the multi-robot system to exploit universal physical constraints…

In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…

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…

Collaborative robots must continually adapt to novel tasks and user preferences without overburdening the user. While prior interactive robot learning methods aim to reduce human effort, they are typically limited to single-task scenarios…

This study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…

Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…

Human-guided robotic exploration is a useful approach to gathering information at remote locations, especially those that might be too risky, inhospitable, or inaccessible for humans. Maintaining common ground between the remotely-located…

Communication and cooperation among team members can be enhanced significantly with physical interaction. Successful collaboration requires the integration of the individual partners' intentions into a shared action plan, which may involve…

Effectively integrating diverse sensory modalities is crucial for robotic manipulation. However, the typical approach of feature concatenation is often suboptimal: dominant modalities such as vision can overwhelm sparse but critical signals…

Navigating large and complex indoor environments, such as universities, airports, and hospitals, can be cognitively demanding and requires attention and effort. While mobile applications provide convenient navigation support, they occupy…

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.…

Telepresence robots offer presence, embodiment, and mobility to remote users, making them promising options for homebound K-12 students. It is difficult, however, for robot operators to know how well they are being heard in remote and noisy…

This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to…

Haptic feedback provides an essential sensory stimulus crucial for interaction and analyzing three-dimensional spatio-temporal phenomena on surface visualizations. Given its ability to provide enhanced spatial perception and scene…

Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…

Automating dexterous, contact-rich manipulation tasks using rigid robots is a significant challenge in robotics. Rigid robots, defined by their actuation through position commands, face issues of excessive contact forces due to their…

Affective tactile interaction constitutes a fundamental component of human communication. In natural human-human encounters, touch is seldom experienced in isolation; rather, it is inherently multisensory. Individuals not only perceive the…

Humans can fluidly adapt their interest in complex environments in ways that machines cannot. Here, we lay the groundwork for a real-world system that passively monitors and merges neural correlates of visual interest across team members…