Related papers: Integrating Ergonomics and Manipulability for Uppe…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…
The robust balancing capability of humanoids is essential for mobility in real environments. Many studies focus on implementing human-inspired ankle, hip, and stepping strategies to achieve human-level balance. In this paper, a robust…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…
Currently, lower limb robotic rehabilitation is widely developed, However, the devices used so far seem to not have a uniform criteria for their design, because, on the contrary, each developed mechanism is often presented as if it does not…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
Fluent human-robot collaboration requires a robot teammate to understand, learn, and adapt to the human's psycho-physiological state. Such collaborations require a computing system that monitors human physiological signals during…
The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their…
Collaboration is central to human behavior, enabling tasks beyond individual capability. This ability arises from coordinating actions through internal representations of others, a concept known as shared intelligence. Additionally, humans…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
High absolute accuracy is an essential prerequisite for a humanoid robot to autonomously and robustly perform manipulation tasks while avoiding obstacles. We present for the first time a kinematic model for a humanoid upper body…
A robot's ability to complete a task is heavily dependent on its physical design. However, identifying an optimal physical design and its corresponding control policy is inherently challenging. The freedom to choose the number of links,…
This paper aims to develop a new human-machine interface to improve rehabilitation performance from the perspective of both the user (patient) and the machine (robot) by introducing the co-adaption techniques via model-based reinforcement…
Synergies have been adopted in prosthetic limb applications to reduce complexity of design, but typically involve a single synergy setting for a population and ignore individual preference or adaptation capacity. However, personalization of…
In order to be effective teammates, robots need to be able to understand high-level human behavior to recognize, anticipate, and adapt to human motion. We have designed a new approach to enable robots to perceive human group motion in…
In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a…
This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the…
Symmetric bi-manual manipulation is an essential skill in on-orbit operations due to its potent load capacity. Previous works have applied compliant control to maintain the stability of manipulations. However, traditional methods have…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…