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Soft robots have demonstrated superior flexibility and functionality than conventional rigid robots. These versatile devices can respond to a wide range of external stimuli (including light, magnetic field, heat, electric field, etc.), and…
External Human-Machine Interfaces (eHMI) are widely used on robots and autonomous vehicles to convey the machine's intent to humans. Delivery robots are getting common, and they share the sidewalk along with the pedestrians. Current…
The integration of robots and AI in society raises concerns about discrimination and biases mostly affecting underrepresented groups, including queer and feminine figures. Socially assistive robots (SAR) are being used in a variety of…
Navigation in new or unknown environments is vital, especially for visually impaired individuals. While many solutions exist, few are tailored to specific disabilities, often due to limited collaboration with handicap users in the design…
Robots' visual qualities (VQs) impact people's perception of their characteristics and affect users' behaviors and attitudes toward the robot. Recent years point toward a growing need for Socially Assistive Robots (SARs) in various contexts…
Autonomy and independent navigation are vital to daily life but remain challenging for individuals with blindness. Robotic systems can enhance mobility and confidence by providing intelligent navigation assistance. However, fully autonomous…
The global population is rapidly aging, necessitating technologies that promote healthy aging. Voice User Interfaces (VUIs), leveraging natural language interaction, offer a promising solution for older adults due to their ease of use.…
Tactile graphics are widely used to present maps and statistical diagrams to blind and low vision (BLV) people, with accessibility guidelines recommending their use for graphics where spatial relationships are important. Their use is…
Camera-based technology can be privacy-invasive, especially for bystanders who can be captured by the cameras but do not have direct control or access to the devices. The privacy threats become even more significant to bystanders with…
It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…
Socially assistive robots are increasingly being designed to interact with humans in various therapeutical scenarios. We believe that one useful scenario is providing exercise coaching for Persons with Dementia (PwD), which involves unique…
Practical bipedal robot locomotion needs to be both energy efficient and robust to variability and uncertainty. In this paper, we build upon recent works in trajectory optimization for robot locomotion with two primary goals. First, we wish…
Tactile Walking Surface Indicators (TWSIs) are safety-critical landmarks that blind and low-vision (BLV) pedestrians use to locate crossings and hazard zones. From our observation sessions with BLV guide dog handlers, trainers, and an O&M…
Facial expressiveness plays a crucial role in a robot's ability to engage and interact with children. Prior research has shown that expressive robots can enhance child engagement during human-robot interactions. However, many robots used in…
Design-oriented HRI is increasingly interested in robots as long-term companions, yet many designs still assume a fixed form and a stable set of functions. We present an ongoing design research program that treats modularity as a designerly…
As the global population ages, many seniors face the problem of loneliness. Companion robots offer a potential solution. However, current companion robots often lack advanced functionality, while task-oriented robots are not designed for…
The navigation of indoor spaces poses difficult challenges for individuals with visual impairments, as it requires processing of sensory information, dealing with uncertainties, and relying on assistance. To tackle these challenges, we…
Navigation assistance systems (NASs) aim to help visually impaired people (VIPs) navigate unfamiliar environments. Most of today's NASs support VIPs via turn-by-turn navigation, but a growing body of work highlights the importance of…
It is important for socially assistive robots to be able to recognize when a user needs and wants help. Such robots need to be able to recognize human needs in a real-time manner so that they can provide timely assistance. We propose an…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…