Related papers: Adaptive Motion Planning via Contact-Based Intent …
In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…
The letter focuses on Haptic Glove (HG) based control of a Robotic Hand (RH) executing in-hand manipulation of certain objects of interest. The high dimensional motion signals in HG and RH possess intrinsic variability of kinematics…
Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…
Intention prediction has become a relevant field of research in Human-Machine and Human-Robot Interaction. Indeed, any artificial system (co)-operating with and along humans, designed to assist and coordinate its actions with a human…
Human-Robot Interfaces (HRIs) represent a crucial component in telerobotic systems. Body-Machine Interfaces (BoMIs) based on body motion can feel more intuitive than standard HRIs for naive users as they leverage humans' natural control…
Industrial human-robot collaboration requires motion planning that is collision-free, responsive, and ergonomically safe to reduce fatigue and musculoskeletal risk. We propose the Configuration Space Ergonomic Field (CSEF), a continuous and…
The Industry 4.0 paradigm emphasizes the crucial benefits that collaborative robots, i.e., robots able to work alongside and together with humans, could bring to the whole production process. In this context, an enabling technology yet…
This work aims to tackle the intent recognition problem in Human-Robot Collaborative assembly scenarios. Precisely, we consider an interactive assembly of a wooden stool where the robot fetches the pieces in the correct order and the human…
Motion planning involves determining a sequence of robot configurations to reach a desired pose, subject to movement and safety constraints. Traditional motion planning finds collision-free paths, but this is overly restrictive in clutter,…
In a Human-Robot Cooperation (HRC) environment, safety and efficiency are the two core properties to evaluate robot performance. However, safety mechanisms usually hinder task efficiency since human intervention will cause backup motions…
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…
Translating human intent into robot commands is crucial for the future of service robots in an aging society. Existing Human-Robot Interaction (HRI) systems relying on gestures or verbal commands are impractical for the elderly due to…
Stochastic human motion prediction is critical for safe and effective human-robot collaboration (HRC) in industrial remanufacturing, as it captures human motion uncertainties and multi-modal behaviors that deterministic methods cannot…
Implicit communication plays such a crucial role during social exchanges that it must be considered for a good experience in human-robot interaction. This work addresses implicit communication associated with the detection of physical…
To enable safe and effective human-robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critical for real-time awareness, response, and communication…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
In this work we argue that in Human-Robot Collaboration (HRC) tasks, the Perception-Action cycle in HRC tasks can not fully explain the collaborative behaviour of the human and robot and it has to be extended to Perception-Intention-Action…
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…