Related papers: Gaze-Based Intention Recognition for Human-Robot C…
When humans work together to complete a joint task, each person builds an internal model of the situation and how it will evolve. Efficient collaboration is dependent on how these individual models overlap to form a shared mental model…
Purposeful behavior in robotic assistants requires the integration of multiple components and technological advances. Often, the problem is reduced to recognizing explicit prompts, which limits autonomy, or is oversimplified through…
Upper limb and hand functionality is critical to many activities of daily living and the amputation of one can lead to significant functionality loss for individuals. From this perspective, advanced prosthetic hands of the future are…
As the use of collaborative robots (cobots) in industrial manufacturing continues to grow, human action recognition for effective human-robot collaboration becomes increasingly important. This ability is crucial for cobots to act…
We consider the human-aware task planning problem where a human-robot team is given a shared task with a known objective to achieve. Recent approaches tackle it by modeling it as a team of independent, rational agents, where the robot plans…
Intent inferral, the process by which a robotic device predicts a user's intent from biosignals, offers an effective and intuitive way to control wearable robots. Classical intent inferral methods treat biosignal inputs as unidirectional…
In human-robot collaboration, shared control presents an opportunity to teleoperate robotic manipulation to improve the efficiency of manufacturing and assembly processes. Robots are expected to assist in executing the user's intentions. To…
To have a robot actively supporting a human during a collaborative task, it is crucial that robots are able to identify the current action in order to predict the next one. Common approaches make use of high-level knowledge, such as object…
A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…
Human-robot collaboration (HRC) is one key component to achieving flexible manufacturing to meet the different needs of customers. However, it is difficult to build intelligent robots that can proactively assist humans in a safe and…
Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…
In human-robot interaction (HRI), detecting a human's gaze helps robots interpret user attention and intent. However, most gaze detection approaches rely on specialized eye-tracking hardware, limiting deployment in everyday settings.…
The letter focuses on Haptic Glove (HG) based control of a Robotic Hand (RH) executing in-hand manipulation of certain objects of interest. The high dimensional motion signals in HG and RH possess intrinsic variability of kinematics…
This paper explores a physical human-robot collaboration (pHRC) task involving the joint insertion of a board into a frame by a sightless robot and a human operator. While admittance control is commonly used in pHRC tasks, it can be…
An important feature of pervasive, intelligent assistance systems is the ability to dynamically adapt to the current needs of their users. Hence, it is critical for such systems to be able to recognize those goals and needs based on…
As robots enter collaborative workspaces, ensuring mutual understanding between human workers and robotic systems becomes a prerequisite for trust, safety, and efficiency. In this position paper, we draw on the cooperation scenario of the…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
Predicting human intent is challenging yet essential to achieving seamless Human-Robot Collaboration (HRC). Many existing approaches fail to fully exploit the inherent relationships between objects, tasks, and the human model. Current…
Gaze is a crucial social cue in any interacting scenario and drives many mechanisms of social cognition (joint and shared attention, predicting human intention, coordination tasks). Gaze direction is an indication of social and emotional…
The interactions between human and objects are important for recognizing object-centric actions. Existing methods usually adopt a two-stage pipeline, where object proposals are first detected using a pretrained detector, and then are fed to…