Related papers: Visualizing Impedance Control in Augmented Reality…
This study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…
Interventional C-arm imaging is crucial to percutaneous orthopedic procedures as it enables the surgeon to monitor the progress of surgery on the anatomy level. Minimally invasive interventions require repeated acquisition of X-ray images…
In human-robot collaboration domains, augmented reality (AR) technologies have enabled people to visualize the state of robots. Current AR-based visualization policies are designed manually, which requires a lot of human efforts and domain…
Immersive Virtual Reality typically requires a head-mounted display (HMD) to visualize the environment and hand-held controllers to interact with the virtual objects. Recently, many applications display full-body avatars to represent the…
Augmented reality (AR) has great potential for use in healthcare applications, especially remote medical training and supervision. In this paper, we analyze the usage of an AR communication system to teach a medical procedure, the placement…
We investigate how vibrotactile wrist feedback can enhance spatial guidance for handheld tool movement in optical see-through augmented reality (AR). While AR overlays are widely used to support surgical tasks, visual occlusion, lighting…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
Virtual Reality (VR) is increasingly used for training and demonstration purposes including a variety of applications ranging from robot learning to rehabilitation. However, the choice of input device and its visualization might influence…
We propose unwinding the rotations experienced by the user of an immersive telepresence robot to improve comfort and reduce VR sickness of the user. By immersive telepresence we refer to a situation where a 360\textdegree~camera on top of a…
Multi-agent human-robot teaming allows for the potential to gather information about various environments more efficiently by exploiting and combining the strengths of humans and robots. In industries like defense, search and rescue,…
Robotic avatars promise immersive teleoperation with human-like manipulation and communication capabilities. We present such an avatar system, based on the key components of immersive 3D visualization and transparent force-feedback…
The integration of augmented reality (AR), extended reality (XR), and virtual reality (VR) technologies in agriculture has shown significant promise in enhancing various agricultural practices. Mobile robots have also been adopted as…
Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the manufacturing process of companies, improved surgical…
In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff to remain responsive and to apply force when needed. In this…
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…
This paper presents a novel framework enabling end-users to perform the management of complex robotic workplaces using a tablet and augmented reality. The framework allows users to commission the workplace comprising different types of…
In this paper, we present the implementation details of a Virtual Reality (VR)-based teleoperation interface for moving a robotic manipulator. We propose an iterative human-in-the-loop design where the user sets the next task-space waypoint…
Augmented Reality (AR) provides a safe and low-cost option for hazardous safety training that allows for the visualization of aspects that may be invisible, such as radiation. Effectively visually communicating such threats in the…
Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic…
Reinforcement Learning (RL) of contact-rich manipulation tasks has yielded impressive results in recent years. While many studies in RL focus on varying the observation space or reward model, few efforts focused on the choice of action…