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Tracking the full skeletal pose of the hands and fingers is a challenging problem that has a plethora of applications for user interaction. Existing techniques either require wearable hardware, add restrictions to user pose, or require…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
The past few years have seen rapid progress in the development of service robots. Universities and companies alike have launched major research efforts toward the deployment of ambitious systems designed to aid human operators performing a…
The human body demonstrates exceptional motor capabilities-such as standing steadily on one foot or performing a high kick with the leg raised over 1.5 meters-both requiring precise balance control. While recent research on humanoid control…
The Industry 4.0 paradigm emphasizes the crucial benefits that collaborative robots, i.e., robots able to work alongside and together with humans, could bring to the whole production process. In this context, an enabling technology yet…
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,…
While augmented reality shows promise for supporting human-robot collaboration, creating such interactive systems still poses great challenges. Addressing this, we introduce ARTHUR, an open-source authoring tool for augmented…
As robots become increasingly prevalent in work-oriented collaborations, trust has emerged as a critical factor in their acceptance and effectiveness. However, trust is dynamic and can erode when mistakes are made. Despite emerging research…
Today, physical Human-Robot Interaction (pHRI) is a very popular topic in the field of ground manipulation. At the same time, Aerial Physical Interaction (APhI) is also developing very fast. Nevertheless, pHRI with aerial vehicles has not…
Dynamic hand gestures play a pivotal role in assistive human-robot interaction (HRI), facilitating intuitive, non-verbal communication, particularly for individuals with mobility constraints or those operating robots remotely. Current…
Accurate and efficient simulation of modern robots remains challenging due to their high degrees of freedom and intricate mechanisms. Neural simulators have emerged as a promising alternative to traditional analytical simulators, capable of…
Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across complex terrains. While prior work has separately explored…
This paper focuses on developing a novel hybrid-haptic (nHH) device with a remote center of rotation with 4 DOFs (degrees of freedom) intendant to be used as a haptic device. The new architecture is composed of two chains handling each one…
End-user development (EUD) represents a key step towards making robotics accessible for experts and nonexperts alike. Within academia, researchers investigate novel ways that EUD tools can capture, represent, visualize, analyze, and test…
A realistic human kinematic model that satisfies anatomical constraints is essential for human-robot interaction, biomechanics and robot-assisted rehabilitation. Modeling realistic joint constraints, however, is challenging as human arm…
Machine learning-based surrogate models have emerged as a powerful tool to accelerate simulation-driven scientific workflows, but their adoption is limited by the lack of large-scale, diverse, and standardized datasets for physics-based…
We explore how humanoid robots can be repurposed as haptic media, extending beyond their conventional role as social, assistive, collaborative agents. To illustrate this approach, we implemented HumanoidTurk, taking a first step toward a…
Robotic systems that can dynamically combine manipulation and locomotion could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could leverage their body by leaning against collapsed building…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
We focus on the human-humanoid interaction task optionally with an object. We propose a new task named online full-body motion reaction synthesis, which generates humanoid reactions based on the human actor's motions. The previous work only…