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Back-support exoskeletons have been proposed to mitigate spinal loading in industrial handling, yet their effectiveness critically depends on timely and context-aware assistance. Most existing approaches rely either on load-estimation…
The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…
Feedback optimization enables autonomous optimality seeking of a dynamical system through its closed-loop interconnection with iterative optimization algorithms. Among various iteration structures, model-based approaches require the…
This paper considers the problem of visual-inertial sensor fusion in the cooperative case and it provides new theoretical contributions, which regard its observability and its resolvability in closed form. The case of two agents is…
Virtual Reality (VR) is increasingly used for training and demonstration purposes including a variety of applications ranging from robot learning to rehabilitation. However, the choice of input device and its visualization might influence…
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…
In shared control, advances in autonomous robotics are applied to help empower a human user in operating a robotic system. While these systems have been shown to improve efficiency and operation success, users are not always accepting of…
Concentration is significant for maximizing potential in any activity. However, traditional methods to improve it often lack direct and natural feedback. We propose an innovative and inspiring VR system to experience and improve…
Combining interconnected wearables provides fascinating opportunities like augmenting exergaming with virtual coaches, feedback on the execution of sports activities, or how to improve on them. Breathing rhythm is a particularly interesting…
Virtual reality enables users to experience real-life situations in immersive environments. Interaction methods significantly shape user experience, particularly in high fidelity simulations mimicking real world tasks. This study evaluates…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…
The purpose of this paper is to characterize aiming errors in controlled weapon systems given target location as input. To achieve this objective, we analyze the accuracy of a controlled weapon system model for stationary and moving targets…
Inertial navigation systems (INS) are widely used in both manned and autonomous platforms. One of the most critical tasks prior to their operation is to accurately determine their initial alignment while stationary, as it forms the…
Grasping is a fundamental skill for interacting with and manipulating objects in the environment. However, this ability can be challenging for individuals with hand impairments. Soft hand exoskeletons designed to assist grasping can enhance…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
In this paper, we describe the results of replicating one of our studies from two years ago which compares two techniques for transferring content across multiple screens in VR. Results from the previous study have shown that a combined…
Virtual reality (VR) glove technology is increasingly important for professional training, industrial applications, and teleoperation in hazardous environments, since it enables more natural and immersive interactions than controllers.…
Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile…
It has been shown that the emotional state of students has an important relationship with learning; for instance, engaged concentration is positively correlated with learning. This paper proposes the Inductive Control (IC) for educational…