Related papers: Observer Design for Augmented Reality-based Teleop…
Providing an accurate and efficient assessment of operative difficulty is important for designing robot-assisted teleoperation interfaces that are easy and natural for human operators to use. In this paper, we aim to develop a data-driven…
High-end components that conduct complicated tasks automatically are a part of modern industrial systems. However, in order for these parts to function at the desired level, they need to be maintained by qualified experts. Solutions based…
The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
Human interaction is essential for issuing personalized instructions and assisting robots when failure is likely. However, robots remain largely black boxes, offering users little insight into their evolving capabilities and limitations. To…
The field of Augmented Reality (AR) based Human Robot Interaction (HRI) has progressed significantly since its inception more than two decades ago. With more advanced devices, particularly head-mounted displays (HMD), freely available…
Augmented-reality (AR) glasses that will have access to onboard sensors and an ability to display relevant information to the user present an opportunity to provide user assistance in quotidian tasks. Many such tasks can be characterized as…
A human-in-the-loop system is proposed to enable collaborative manipulation tasks for person with physical disabilities. Studies show that the cognitive burden of subject reduces with increased autonomy of assistive system. Our framework…
Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitated by an augmented reality interface. Our system provides…
Recent advances in augmented reality (AR) have enabled interactive systems that assist users in physical assembly tasks. In this paper, we present an AR-assisted assembly workflow that leverages object recognition and hand tracking to (1)…
Teleoperation can transfer human perception and cognition to a slave robot to cope with some complex tasks, in which the agility and flexibility of the interface play an important role in mapping human intention to the robot. In this paper,…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
Sharing autonomy between robots and human operators could facilitate data collection of robotic task demonstrations to continuously improve learned models. Yet, the means to communicate intent and reason about the future are disparate…
The current spread of social and assistive robotics applications is increasingly highlighting the need for robots that can be easily taught and interacted with, even by users with no technical background. Still, it is often difficult to…
Teleoperation is a cornerstone of embodied-robot learning, and bimanual dexterous teleoperation in particular provides rich demonstrations that are difficult to obtain with fully autonomous systems. While recent studies have proposed…
The HoloLens (Microsoft Corp., Redmond, WA), a head-worn, optically see-through augmented reality display, is the main player in the recent boost in medical augmented reality research. In medical settings, the HoloLens enables the physician…
Augmented reality has the potential to improve operating room workflow by allowing physicians to "see" inside a patient through the projection of imaging directly onto the surgical field. For this to be useful the acquired imaging must be…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
Soft robots have drawn great interest due to their ability to take on a rich range of shapes and motions, compared to traditional rigid robots. However, the motions, and underlying statics and dynamics, pose significant challenges to…
This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…