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Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…
Guide dogs offer independence to Blind and Low-Vision (BLV) individuals, yet their limited availability leaves the vast majority of BLV users without access. Quadruped robotic guide dogs present a promising alternative, but existing systems…
Brain-computer interface (BCI) systems have potential as assistive technologies for individuals with severe motor impairments. Nevertheless, individuals must first participate in many training sessions to obtain adequate data for optimizing…
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic…
In this paper, we present a novel multi-modal attention guidance method designed to address the challenges of turn-taking dynamics in meetings and enhance group conversations within virtual reality (VR) environments. Recognizing the…
In contemporary training for industrial manufacturing, reconciling theoretical knowledge with practical experience continues to be a significant difficulty. As companies transition to more intricate and technology-oriented settings,…
People use videos to learn new recipes, exercises, and crafts. Such videos remain difficult for blind and low vision (BLV) people to follow as they rely on visual comparison. Our observations of visual rehabilitation therapists (VRTs)…
A quadruped robot is a promising system that can offer assistance comparable to that of dog guides due to its similar form factor. However, various challenges remain in making these robots a reliable option for blind and low-vision (BLV)…
Visually impaired individuals often require a guide runner to safely participate in outdoor running. However, maintaining synchronized pacing with verbal cues or tethers can be mentally taxing and physically restrictive. Existing solutions…
Navigating peripersonal space requires reaching targets in both horizontal (e.g., desks) and vertical (e.g., shelves) layouts with high precision. We developed a haptic glove to aid peri-personal target navigation and investigated the…
Functional upper-limb prosthetic training can improve users performance in controlling prostheses and has been incorporated into occupational therapy for individuals in need. In recent years, virtual reality (VR) and augmented reality (AR)…
Animating an avatar that reflects a user's action in the VR world enables natural interactions with the virtual environment. It has the potential to allow remote users to communicate and collaborate in a way as if they met in person.…
The rapid growth of virtual reality (VR) has led to increased use of social VR platforms for interaction. However, these platforms lack adequate features to support blind and low vision (BLV) users, posing significant challenges in…
Guidance robots that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guidance robots for the visually impaired ignored the human response…
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address…
Haptic feedback is an important component of creating an immersive mixed reality experience. Traditionally, haptic forces are rendered in response to the user's interactions with the virtual environment. In this work, we explore the idea of…
While there is no replacement for the learned expertise, devotion, and social benefits of a guide dog, there are cases in which a robot navigation assistant could be helpful for individuals with blindness or low vision (BLV). This study…
We investigate how vibrotactile wrist feedback can enhance spatial guidance for handheld tool movement in optical see-through augmented reality (AR). While AR overlays are widely used to support surgical tasks, visual occlusion, lighting…
Visually impaired individuals face significant challenges navigating and interacting with unknown situations, particularly in tasks requiring spatial awareness and semantic scene understanding. To accelerate the development and evaluate the…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…