Related papers: Bidirectional Human-Robot Communication for Physic…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who are unable to complete activities of daily living. Speech…
The need for customizable properties in autonomous robotic platforms, such as in-home nursing care for the elderly and parallel implementations of human-to-machine control interfaces creates an opportunity to introduce methods deploying…
This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for…
Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the…
Supporting real-time interactions between human controllers and remote devices remains a challenging goal in the Metaverse due to the stringent requirements on computing workload, communication throughput, and round-trip latency. In this…
Many people suffer from the loss of a limb. Learning to get by without an arm or hand can be very challenging, and existing prostheses do not yet fulfil the needs of individuals with amputations. One promising solution is to provide greater…
We aim to control a robot to physically behave in the real world following any high-level language command like "cartwheel" or "kick". Although human motion datasets exist, this task remains particularly challenging since generative models…
Humanoid robots are capable of performing various actions such as greeting, dancing and even backflipping. However, these motions are often hard-coded or specifically trained, which limits their versatility. In this work, we present…
Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…
The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human…
Sign language is a natural and visual form of language that uses movements and expressions to convey meaning, serving as a crucial means of communication for individuals who are deaf or hard-of-hearing (DHH). However, the number of people…
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…
Physical Human-Human Interaction (pHHI) involves the use of multiple sensory modalities. Studies of communication through spoken utterances and gestures are well established, but communication through force signals is not well understood.…
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…
Artificial agents, particularly humanoid robots, interact with their environment, objects, and people using cameras, actuators, and physical presence. Their communication methods are often pre-programmed, limiting their actions and…
This paper contributes a first study into how different human users deliver simultaneous control and feedback signals during human-robot interaction. As part of this work, we formalize and present a general interactive learning framework…
We propose augmenting the empathetic capacities of social robots by integrating non-verbal cues. Our primary contribution is the design and labeling of four types of empathetic non-verbal cues, abbreviated as SAFE: Speech, Action (gesture),…
For social robots to maintain long-term engagement as exercise instructors, rapport-building is essential. Motor mimicry--imitating one's physical actions--during social interaction has long been recognized as a powerful tool for fostering…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…