Related papers: Tool Compensation and User Strategy during Human-R…

Human-in-the-loop telerobotic systems (HiLTS) are robotic tools designed to extend and in some circumstances improve the dexterous capabilities of the human operator in virtual and remote environments. Dexterous manipulation, however,…

Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…

Bilateral teleoperation provides humanoid robots with human planning intelligence while enabling the human to feel what the robot feels. It has the potential to transform physically capable humanoid robots into dynamically intelligent ones.…

Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…

We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…

Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…

In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…

Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…

We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…

Creating haptic interfaces capable of rendering the rich sensation needed for dexterous manipulation is crucial for the advancement of human-in-the-loop telerobotic systems (HiLTS). One limiting factor has been the absence of detailed…

Ergonomic assessment of human posture plays a vital role in understanding work-related safety and health. Current posture estimation approaches face occlusion challenges in teleoperation and physical human-robot interaction. We investigate…

Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…

Communication delays in mobile robot teleoperation adversely affect human-machine collaboration. Understanding delay effects on human operational performance and neurocognition is essential for resolving this issue. However, no previous…

This study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…

With the rising popularity of telerobotic systems, the focus on transparency with regards to haptic perception is also increasing. Transparency, however, represents a theoretical ideal as most bilateral force-reflecting telerobots introduce…

Low-cost teleguidance of medical procedures is becoming essential to provide healthcare to remote and underserved communities. Human teleoperation is a promising new method for guiding a novice person with relatively high precision and…

Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…

Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…

Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…

Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…