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The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…
Maintaining an active lifestyle is vital for quality of life, yet challenging for wheelchair users. For instance, powered wheelchairs face increasing risks of obesity and deconditioning due to inactivity. Conversely, manual wheelchair…
Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices. However, this is non-intuitive and makes achieving desired…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
In this paper, we aim to achieve a human-robot work balance by implementing shared autonomy through a web interface. Shared autonomy integrates user input with the autonomous capabilities of the robot and therefore increases the overall…
It is crucial for any assistive robot to prioritize the autonomy of the user. For a robot working in a task setting to effectively maintain a user's autonomy it must provide timely assistance and make accurate decisions. We use four…
Robots operating in populated environments encounter many different types of people, some of whom might have an advanced need for cautious interaction, because of physical impairments or their advanced age. Robots therefore need to…
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we…
Achieving seamless synchronization between user and robot motion in teleoperation, particularly during high-speed tasks, remains a significant challenge. In this work, we propose a novel approach for transferring stepping motions from the…
Wheel-legged robots combine the advantages of both wheeled robots and legged robots, offering versatile locomotion capabilities with excellent stability on challenging terrains and high efficiency on flat surfaces. However, existing…
Blind users rely on keyboards and assistive technologies like screen readers to interact with user interface (UI) elements. In modern applications with complex UI hierarchies, navigating to different UI elements poses a significant…
The tasks that an aerial manipulator can perform are incredibly diverse. However, nowadays the technology is not completely developed to achieve complex tasks autonomously. That's why we propose a human-in-the-loop system that can control a…
Teleoperating high degrees-of-freedom (DoF) robotic manipulators via low-DoF controllers like joysticks often requires frequent switching between control modes, where each mode maps controller movements to specific robot actions. Manually…
Our goal is to model and experimentally assess trust evolution to predict future beliefs and behaviors of human-robot teams in dynamic environments. Research suggests that maintaining trust among team members in a human-robot team is vital…
Spinal cord injuries can often lead to quadriplegia in patients limiting their mobility. Wheelchairs could be a good proposition for patients, but most of them operate either manually or with the help of electric motors operated with a…
We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…
Robots assist in many areas that are considered unsafe for humans to operate. For instance, in handling pandemic diseases such as the recent Covid-19 outbreak and other outbreaks like Ebola, robots can assist in reaching areas dangerous for…
Teleoperation is a cornerstone of embodied-robot learning, and bimanual dexterous teleoperation in particular provides rich demonstrations that are difficult to obtain with fully autonomous systems. While recent studies have proposed…
In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a…