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Tactile perception has the potential to significantly enhance dexterous robotic manipulation by providing rich local information that can complement or substitute for other sensory modalities such as vision. However, because tactile sensing…
Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when encountering unavoidable obstructions. In response, we…
We discuss the process of building semantic maps, how to interactively label entities in them, and how to use them to enable context-aware navigation behaviors in human environments. We utilize planar surfaces, such as walls and tables, and…
People with blindness and low vision (pBLV) face significant challenges, struggling to navigate environments and locate objects due to limited visual cues. Spatial reasoning is crucial for these individuals, as it enables them to understand…
Contour maps are an essential tool for exploring spatial features of the terrain, such as distance, directions, and surface gradient among the contour areas. User interactions in contour-based visualizations create approaches to visual…
Telepresence VR systems allow for face-to-face communication, promoting the feeling of presence and understanding of nonverbal cues. However, when discussing virtual 3D objects, limitations to presence and communication cause deictic…
With the growing availability of urban data and the increasing complexity of societal challenges, visual analytics has become essential for deriving insights into pressing real-world problems. However, analyzing such data is inherently…
What happens when your walls begin to move? This paper explores the design of human-robot interaction for architectural-scale, shape-changing environments. We present findings from two studies: (1) a series of speculative design workshops…
Video games remain largely inaccessible to visually impaired people (VIPs). Today's blind-accessible games are highly simplified renditions of what sighted players enjoy, and they do not give VIPs the same freedom to look around and explore…
This study explores the use of virtual reality (VR) as an innovative tool to enhance awareness, acceptance, and understanding of accessibility for persons with vision loss (VL). Through a VR-based workshop developed in collaboration with…
Humans effortlessly integrate common-sense knowledge with sensory input from vision and touch to understand their surroundings. Emulating this capability, we introduce FusionSense, a novel 3D reconstruction framework that enables robots to…
Maps are broadly relevant across various fields, serving as valuable tools for presenting spatial phenomena and communicating spatial knowledge. However, map-making is still largely confined to those with expertise in GIS and cartography…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
Serious games can support communities in becoming more flood resilient. However, the process of identifying and integrating locally relevant and doable actions into gameplay is complex and underresearched. We approached the challenge by…
Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively…
In developing and underdeveloped regions, many 'Blind Colleges' exclusively enroll individuals with Blindness or Vision Impairment (BLV) for higher education. While advancements in accessible technologies have facilitated BLV student…
Digital tools have long been used for supporting children's creativity. Digital games that allow children to create artifacts and express themselves in a playful environment serve as efficient Creativity Support Tools (or CSTs). Creativity…
We build on theoretical foundations of tool-mediated learning, tool design, and human computer interaction to develop a framework for implicit scaffolding in learning environments. Implicit scaffolding employs affordances, constraints,…
Physical skill acquisition, from sports techniques to surgical procedures, requires instruction and feedback. In the absence of a human expert, Physical Task Guidance (PTG) systems can offer a promising alternative. These systems integrate…
The field of robotic manipulation has advanced significantly in recent years. At the sensing level, several novel tactile sensors have been developed, capable of providing accurate contact information. On a methodological level, learning…