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People with visual impairments perceive their environment non-visually and often use AI-powered assistive tools to obtain textual descriptions of visual information. Recent large vision-language model-based AI-powered tools like Be My AI…
This paper introduces a novel solution to the manual control challenge for indoor blimps. The problem's complexity arises from the conflicting demands of executing human commands while maintaining stability through automatic control for…
Recent works explore collaboration between humans and teams of robots. These approaches make sense if the human is already working with the robot team; but how should robots encourage nearby humans to join their teams in the first place?…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
We study partially observable assistance games (POAGs), a model of the human-AI value alignment problem which allows the human and the AI assistant to have partial observations. Motivated by concerns of AI deception, we study a…
Assistive and Wearable Robotics have the potential to support humans with different types of motor impairments to become independent and fulfil their activities of daily living successfully. The success of these robot systems, however,…
In shared control, advances in autonomous robotics are applied to help empower a human user in operating a robotic system. While these systems have been shown to improve efficiency and operation success, users are not always accepting of…
Community participation is an important aspect of an individuals physical and mental well-being. This participation is often limited for persons with disabilities, especially those with ambulatory impairments due to the inability to…
This paper outlines the development and evaluation of a wearable haptic game interface. The device differs from many traditional haptic feedback implementation in that it combines vibrotactile feedback with gesture based input, thus…
Prior to realizing fully autonomous driving, human intervention will be required periodically to guarantee vehicle safety. This fact poses a new challenge in human-machine interaction, particularly during control authority transition from…
Augmented Reality (AR) solutions are providing tools that could improve applications in the medical and industrial fields. Augmentation can provide additional information in training, visualization, and work scenarios, to increase…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
Current research on collaborative robots (cobots) in physical rehabilitation largely focuses on repeated motion training for people undergoing physical therapy (PuPT), even though these sessions include phases that could benefit from…
Most digital bodily games focus on the body as they use movement as input. However, they also draw the player's focus away from the body as the output occurs on visual displays, creating a divide between the physical body and the virtual…
Collaboration is an integral part of human dialogue. Typical task-oriented dialogue games assign asymmetric roles to the participants, which limits their ability to elicit naturalistic role-taking in collaboration and its negotiation. We…
This paper presents a quantitative method to construct voluntary manual control and sensor-based reactive control in human-robot collaboration based on Lipschitz conditions. To collaborate with a human, the robot observes the human's…
Augmented, virtual and mixed reality technologies offer new ways of interacting with digital media. However, such technologies are not well explored for people with different ranges of abilities beyond a few specific navigation and gaming…
Intelligent behaviour in the physical world exhibits structure at multiple spatial and temporal scales. Although movements are ultimately executed at the level of instantaneous muscle tensions or joint torques, they must be selected to…
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…
The fast pace of advances in AI promises to revolutionize various aspects of knowledge work, extending its influence to daily life and professional fields alike. We advocate for a paradigm where AI is seen as a collaborative co-pilot,…