Related papers: Dual-Variable Force Characterisation method for Hu…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…
We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors. While various sensing approaches with single sensors have…
The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
Human tactile perception of materials relies on complex multisensory touch cues, yet the relationship between low-level tactile signals and perceptual representations remains poorly understood. This knowledge gap hinders the integration of…
This work presents novel robot-mediated immersive experiences enabled by an encountered-type haptic display (ETHD) that introduces direct physical contact in virtual environments. We focus on social-physical interactions, a class of…
In many systems motion occurs on deformed and deformable surfaces, setting up the possibility for dynamical interactions solely mediated by the coupling of the entities with their environment. Here we study the "two-body" dynamics of robot…
Soft pneumatic actuators are widely used in soft robotics because they can produce large motions while remaining compliant enough to interact safely with objects, environments, and the human body. However, their performance is not solely…
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…
When walking on loose terrains, possibly covered with vegetation, the ground and grass should deform, but the character's gait should also change accordingly. We propose a method for modeling such two-ways interactions in real-time. We…
Haptic interfaces that can simultaneously modulate multiple physical properties remain a fundamental challenge in human-robot interaction. Existing systems typically allow the rendering of either geometric features or mechanical properties,…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dynamic model-based control strategies tailored for…
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…
Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation modes and interactions…
Hand impairment following neurological disorders substantially limits independence in activities of daily living, motivating the development of effective assistive and rehabilitation strategies. Soft robotic gloves have attracted growing…
Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…
Torque and continuous rotation are fundamental methods of actuation and manipulation in rigid robots. Soft robot arms use soft materials and structures to mimic the passive compliance of biological arms that bend and extend. This use of…
For robotic systems to interact with objects in dynamic environments, it is essential to perceive the physical properties of the objects such as shape, friction coefficient, mass, center of mass, and inertia. This not only eases selecting…