Related papers: Observer Design for Augmented Reality-based Teleop…
Despite the impressive progress brought by deep network in visual object recognition, robot vision is still far from being a solved problem. The most successful convolutional architectures are developed starting from ImageNet, a large scale…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Telepresence robots can be used to support users to navigate an environment remotely and share the visiting experience with their social partners. Although such systems allow users to see and hear the remote environment and communicate with…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
Augmented Reality (AR) offers powerful visualization capabilities for industrial robot training, yet current interfaces remain predominantly static, failing to account for learners' diverse cognitive profiles. In this paper, we present an…
There is a growing need to deliver rehabilitation care to patients remotely. Long term demographic changes, geographic shortages of care providers, and now a global pandemic contribute to this need. Telepresence provides an option for…
We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables…
Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in…
The development of algorithms for automation of subtasks during robotic surgery can be accelerated by the availability of realistic simulation environments. In this work, we focus on one aspect of the realism of a surgical simulator, which…
Mobile manipulators in the home can provide increased autonomy to individuals with severe motor impairments, who often cannot complete activities of daily living (ADLs) without the help of a caregiver. Teleoperation of an assistive mobile…
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…
We introduce Reality Fusion, a novel robot teleoperation system that localizes, streams, projects, and merges a typical onboard depth sensor with a photorealistic, high resolution, high framerate, and wide field of view (FoV) rendering of…
Mobile telepresence robots (MTRs) allow people to navigate and interact with a remote environment that is in a place other than the person's true location. Thanks to the recent advances in 360 degree vision, many MTRs are now equipped with…
3D posture estimation is important in analyzing and improving ergonomics in physical human-robot interaction and reducing the risk of musculoskeletal disorders. Vision-based posture estimation approaches are prone to sensor and model…
With the evolution of mobile devices, and smart-phones in particular, comes the ability to create new experiences that enhance the way we see, interact, and manipulate objects, within the world that surrounds us. It is now possible to blend…
Human-machine interaction (HMI) and human-robot interaction (HRI) can assist structural monitoring and structural dynamics testing in the laboratory and field. In vibratory experimentation, one mode of generating vibration is to use…
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…
Over the past decade, Extended Reality (XR), including Virtual, Augmented, and Mixed Reality, gained attention as a research instrument in human-robot interaction studies, but remains underexplored in empirical investigations of social…
While teleoperated robots continue to proliferate in domains including search and rescue, field exploration, or the military, human error remains a primary cause for accidents or mistakes. One challenge is that teleoperating a remote robot…
This paper presents a novel soft robotic system for a deformable mannequin that can be employed to physically realize the 3D geometry of different human bodies. The soft membrane on a mannequin is deformed by inflating several curved…