Related papers: Using Fitts' Law to Benchmark Assisted Human-Robot…
An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…
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…
Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…
In shared autonomy, user input and robot autonomy are combined to control a robot to achieve a goal. Often, the robot does not know a priori which goal the user wants to achieve, and must both predict the user's intended goal, and assist in…
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…
Manufacturing assembly tasks can vary in complexity and level of automation. Yet, achieving full automation can be challenging and inefficient, particularly due to the complexity of certain assembly operations. Human-robot collaborative…
We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be used in conjunction with Imitation Learning to generate…
Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling a robot to perform a complex or demanding task may overload operators resulting in poor performance. To design a robot…
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…
Manufacturing requires consistent production rate and task success for sustainable operation. Some manufacturing tasks require a semi-autonomous approach, exploiting the combination of human adaptability and machine precision and speed, to…
Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…
Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…
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…
In this letter, we investigate whether classical function allocation-the principle of assigning tasks to either a human or a machine-holds for physical Human-Robot Collaboration, which is important for providing insights for Industry 5.0 to…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
Human interaction experience plays a crucial role in the effectiveness of human-machine collaboration, especially as interactions in future systems progress towards tighter physical and functional integration. While automation design has…
In brain-machine interface (BMI) applications, a key challenge is the low information content and high noise level in neural signals, severely affecting stable robotic control. To address this challenge, we proposes a cooperative shared…
In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
Shared control in teleoperation leverages both human and robot's strengths and has demonstrated great advantages of reducing the difficulties in teleoperating a robot and increasing the task performance. One fundamental question in shared…