Related papers: Towards Unconstrained Collision Injury Protection …
Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Robots, as AI with physical instantiation, inhabit our social and physical world, where their actions have both social and physical consequences, posing challenges for researchers when designing social robots. This study starts with a…
Though a goal of HRI is the natural integration of social robots into everyday public spaces, real-world studies still occur mostly within controlled environments with predetermined participants. True public spaces present an environment…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
Quantifying the safety of the human body orientation is an important issue in human-robot interaction. Knowing the changing physical constraints on human motion can improve inspection of safe human motions and bring essential information…
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…
Trust in human-robot interactions (HRI) is measured in two main ways: through subjective questionnaires and through behavioral tasks. To optimize measurements of trust through questionnaires, the field of HRI faces two challenges: the…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
It is critical to ensure safety for humanoid robots in real-world applications without compromising performance. In this paper, we consider the problem of dexterous safety, featuring limb-level geometry constraints for avoiding both…
This study introduces the development of hands-free control schemes for a riding ballbot, designed to allow riders including manual wheelchair users to control its movement through torso leaning and twisting. The hardware platform, Personal…
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA…
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…
Collision-free motion is often aided by tactile and proximity sensors distributed on the body of the robot due to their resistance to occlusion as opposed to external cameras. However, how to shape the sensor's properties, such as sensing…
The field of Augmented Reality (AR) based Human Robot Interaction (HRI) has progressed significantly since its inception more than two decades ago. With more advanced devices, particularly head-mounted displays (HMD), freely available…
Manual material handling tasks have the potential to be highly unsafe from an ergonomic viewpoint. Safety inspections to monitor body postures can help mitigate ergonomic risks of material handling. However, the real effect of awkward…
Human motion prediction has achieved a brilliant performance with the help of convolution-based neural networks. However, currently, there is no work evaluating the potential risk in human motion prediction when facing adversarial attacks.…