Related papers: Demonstrating a Control Framework for Physical Hum…
Physiological signals are increasingly relevant to estimate the mental states of users in human-robot interaction (HRI), yet ROS 2-based HRI frameworks still lack reusable support to integrate such data streams in a standardized way.…
Human safety is critical in applications involving close human-robot interactions (HRI) and is a key aspect of physical compatibility between humans and robots. While measures of human safety in HRI exist, these mainly target industrial…
Physical Human-Humanoid Interaction (pHHI) is a rapidly advancing field with significant implications for deploying robots in unstructured, human-centric environments. In this review, we examine the current state of the art in pHHI through…
Physical human-robot interaction offers the potential to leverage human intelligence and robot physical capabilities to enable a range of exciting applications, e.g., collaborative robots for rehabilitation. Safety is critical for the…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
Robots can serve as safety catalysts on construction job sites by taking over hazardous and repetitive tasks while alleviating the risks associated with existing manual workflows. Research on the safety of physical human-robot interaction…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…
We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a Quadratic Program (QP)…
With the presence of robots increasing in the society, the need for interacting with robots is becoming necessary. The field of Human-Robot Interaction (HRI) has emerged important since more repetitive and tiresome jobs are being done by…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…
To facilitate natural and intuitive interactions with diverse user groups in real-world settings, social robots must be capable of addressing the varying requirements and expectations of these groups while adapting their behavior based on…
As of today, robots exhibit impressive agility but also pose potential hazards to humans using/collaborating with them. Consequently, safety is considered the most paramount factor in human-robot interaction (HRI). This paper presents a…
Robots that interact with humans or perform delicate manipulation tasks must exhibit compliance. However, most commercial manipulators are rigid and suffer from significant friction, limiting end-effector tracking accuracy in…
Physical human-robot interaction (pHRI) remains a key challenge for achieving intuitive and safe interaction with robots. Current advancements often rely on external tactile sensors as interface, which increase the complexity of robotic…
Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…
Human-robot collaboration including close physical human-robot interaction (pHRI) is a current trend in industry and also science. The safety guidelines prescribe two modes of safety: (i) power and force limitation and (ii) speed and…
As robots get more integrated into human environments, fostering trustworthiness in embodied robotic agents becomes paramount for an effective and safe human-robot interaction (HRI). To achieve that, HRI applications must promote human…