Related papers: Enhancing Physical Human-Robot Interaction: Recogn…
In this work, we present preliminary work on a novel method for Human-Swarm Interaction (HSI) that can be used to change the macroscopic behavior of a swarm of robots with decentralized sensing and control. By integrating a small yet…
In Human-Robot Interaction (HRI) systems, a challenging task is sharing the representation of the operational environment, fusing symbolic knowledge and perceptions, between users and robots. With the existing HRI pipelines, users can teach…
As robots become increasingly prevalent in work-oriented collaborations, trust has emerged as a critical factor in their acceptance and effectiveness. However, trust is dynamic and can erode when mistakes are made. Despite emerging research…
This study investigates the integration of individual human traits into an empathetically adaptive educational robot tutor system designed to improve student engagement and learning outcomes with corresponding Engagement Vector measurement.…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile-sensing skin designed for physical human-robot…
In the human hand, high-density contact information provided by afferent neurons is essential for many human grasping and manipulation capabilities. In contrast, robotic tactile sensors, including the state-of-the-art SynTouch BioTac, are…
The role of robots is expanding from tool to collaborator. Socially assistive robots (SARs) are an example of collaborative robots that assist humans in the real world. As robots enter our social sphere, unforeseen risks occur during…
Tactile sensing is an essential modality for smart robots as it enables them to interact flexibly with physical objects in their environment. Recent advancements in electronic skins have led to the development of data-driven machine…
In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during…
Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is…
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,…
High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…
Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
Physical human-robot interaction (pHRI) requires robots to adapt to individual contact preferences, such as where and how much force is applied. Identifying preferences is difficult for a single contact; with whole-arm interaction involving…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
The human-robot interaction (HRI) is a growing area of research. In HRI, complex command (action) classification is still an open problem that usually prevents the real applicability of such a technique. The literature presents some works…
This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for…
Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…