Related papers: Haptic Communication in Human-Human and Human-Robo…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
Robots are becoming increasingly omnipresent in our daily lives, supporting us and carrying out autonomous tasks. In Human-Robot Interaction, human actors benefit from understanding the robot's motion intent to avoid task failures and…
With the advances in robotic technology, research in human-robot collaboration (HRC) has gained in importance. For robots to interact with humans autonomously they need active decision making that takes human partners into account. However,…
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we…
Human-robot collaboration (HRC) relies on accurate and timely recognition of human intentions to ensure seamless interactions. Among common HRC tasks, human-to-robot object handovers have been studied extensively for planning the robot's…
Owing to the recent success of Large Language Models, Modern A.I has been much focused on linguistic interactions with humans but less focused on non-linguistic forms of communication between man and machine. In the present paper, we test…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
One of the first and foremost non-verbal interactions that humans perform is a handshake. It has an impact on first impressions as touch can convey complex emotions. This makes handshaking an important skill for the repertoire of a social…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…
Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The robot can reduce the number of human inputs -- and how precise…
Robots can use auditory, visual, or haptic interfaces to convey information to human users. The way these interfaces select signals is typically pre-defined by the designer: for instance, a haptic wristband might vibrate when the robot is…
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…
Collaboration between human and robot requires effective modes of communication to assign robot tasks and coordinate activities. As communication can utilize different modalities, a multi-modal approach can be more expressive than single…
Augmented and mixed-reality techniques harbor a great potential for improving human-robot collaboration. Visual signals and cues may be projected to a human partner in order to explicitly communicate robot intentions and goals. However, it…
Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…
In this paper, we present a number of robust methodologies for an underwater robot to visually detect, follow, and interact with a diver for collaborative task execution. We design and develop two autonomous diver-following algorithms, the…
Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…