Related papers: Haptic Shoulder for Rendering Biomechanically Accu…
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…
Addressing the global caregiver shortage through socially assistive robots necessitates a deep understanding of their psychological and physiological impacts on older adults during human-robot interaction (HRI). This study addresses whether…
Despite the increasing interest in trust in human-robot interaction (HRI), there is still relatively little exploration of trust as a social construct in HRI. We propose that integration of useful models of human-human trust from…
Throwing with a legged robot involves precise coordination of object manipulation and locomotion - crucial for advanced real-world interactions. Most research focuses on either manipulation or locomotion, with minimal exploration of tasks…
While parallel grippers and multi-fingered robotic hands are well developed and commonly used in structured settings, it remains a challenge in robotics to design a highly articulated robotic hand that can be comparable to human hands to…
Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the…
Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…
We propose a new approach for interaction in Virtual Reality (VR) using mobile robots as proxies for haptic feedback. This approach allows VR users to have the experience of sharing and manipulating tangible physical objects with remote…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
The goal of the Interactive Learning for Artificial Intelligence (AI) for Human-Robot Interaction (HRI) symposium is to bring together the large community of researchers working on interactive learning scenarios for interactive robotics.…
Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. Existing approaches are either limited to simulations that overlook…
Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during…
There is an increasing interest in considering, implementing, and measuring trust in human-robot interaction (HRI). Typically, this centres on influencing user trust within the framing of HRI as a dyadic interaction between robot and user.…
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…
Humanoid Reaction Synthesis is pivotal for creating highly interactive and empathetic robots that can seamlessly integrate into human environments, enhancing the way we live, work, and communicate. However, it is difficult to learn the…
Complex high-dimensional spaces with high Degree-of-Freedom and complicated action spaces, such as humanoid robots equipped with dexterous hands, pose significant challenges for reinforcement learning (RL) algorithms, which need to wisely…
Scalable learning of dexterous manipulation remains bottlenecked by the difficulty of collecting natural, high-fidelity human demonstrations of multi-finger hands due to occlusion, complex hand kinematics, and contact-rich interactions. We…
This paper presents the design, characterization and validation of a wearable haptic device able to convey skin stretch, force feedback, and a combination of both, to the user's arm. In this work, we carried out physical and perceptual…
Robots are increasingly deployed in spaces shared with humans, including home settings and industrial environments. In these environments, the interaction between humans and robots (HRI) is crucial for safety, legibility, and efficiency. A…