Related papers: TASC: Task-Aware Shared Control for Teleoperated M…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
In human-robot collaboration (HRC), robots must adapt online to dynamic task constraints and evolving human intent. While physical corrections provide a natural, low-latency channel for operators to convey motion-level adjustments,…
The synthetic control (SC) framework is widely used for observational causal inference with time-series panel data. SC has been successful in diverse applications, but existing methods typically treat the ordering of pre-intervention time…
Recent years have shown a growing interest in using haptic shared control (HSC) in teleoperated systems. In HSC, the application of virtual guiding forces decreases the user's control effort and improves execution time in various tasks,…
Humans commonly work with multiple objects in daily life and can intuitively transfer manipulation skills to novel objects by understanding object functional regularities. However, existing technical approaches for analyzing and…
Assistive teleoperation, where control is shared between a human and a robot, enables efficient and intuitive human-robot collaboration in diverse and unstructured environments. A central challenge in real-world assistive teleoperation is…
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…
Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. However, existing shared control methods-based on, e.g., Model…
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 control, advances in autonomous robotics are applied to help empower a human user in operating a robotic system. While these systems have been shown to improve efficiency and operation success, users are not always accepting of…
When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…
While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…
Haptic shared control (HSC) is effective in teleoperation when full autonomy is limited by uncertainty or sensing constraints. However, autonomous control performance achieved by maximizing HSC strength is limited because the dynamics of…
Assistive robot arms try to help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control over the robot's motion: as the robot…
A fundamental challenge of shared autonomy is to use high-DoF robots to assist, rather than hinder, humans by first inferring user intent and then empowering the user to achieve their intent. Although successful, prior methods either rely…
Shared control fuses operator inputs and autonomy inputs into a single command. However, if environmental or operator predictions are multimodal, state of the art approaches are suboptimal with respect to safety, efficiency, and…
Teleoperated avatar robots allow people to transport their manipulation skills to environments that may be difficult or dangerous to work in. Current systems are able to give operators direct control of many components of the robot to…
Shared control improves Human-Robot Interaction by reducing the user's workload and increasing the robot's autonomy. It allows robots to perform tasks under the user's supervision. Current eye-tracking-driven approaches face several…
Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…
Humans directly completing tasks in dangerous or hazardous conditions is not always possible where these tasks are increasingly be performed remotely by teleoperated robots. However, teleoperation is difficult since the operator feels a…