Related papers: Visualizing Impedance Control in Augmented Reality…
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…
We can create Virtual Reality (VR) interactions that have no equivalent in the real world by remapping spacetime or altering users' body representation, such as stretching the user's virtual arm for manipulation of distant objects or…
Automating dexterous, contact-rich manipulation tasks using rigid robots is a significant challenge in robotics. Rigid robots, defined by their actuation through position commands, face issues of excessive contact forces due to their…
Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables…
Human-robot collaboration frequently requires extensive communication, e.g., using natural language and gestures. Augmented reality (AR) has provided an alternative way of bridging the communication gap between robots and people. However,…
Physical therapy (PT) plays a crucial role in muscle injury recovery, but people struggle to adhere to and perform PT exercises correctly from home. To support challenges faced with in-home PT, augmented reality (AR) holds promise in…
Wearable augmented reality (AR) offers new ways for supporting the interaction between autonomous vehicles (AVs) and pedestrians due to its ability to integrate timely and contextually relevant data into the user's field of view. This…
We present an experiment exploring how the controller's virtual representation impacts target acquisition performance across MR and VR contexts. Participants performed selection tasks comparing four visual configurations: a virtual…
This paper presents the development of a multi-sensor user interface to facilitate the instruction of arc welding tasks. Traditional methods to acquire hand-eye coordination skills are typically conducted through one-to-one instruction…
Suboptimal interaction with patient data and challenges in mastering 3D anatomy based on ill-posed 2D interventional images are essential concerns in image-guided therapies. Augmented reality (AR) has been introduced in the operating rooms…
The concept of augmented reality (AR) assistants has captured the human imagination for decades, becoming a staple of modern science fiction. To pursue this goal, it is necessary to develop artificial intelligence (AI)-based methods that…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
In this report, we present our work in visualization and augmented reality technologies supporting collaboration in manufacturing automation. Our approach is based on (i) analysis based on spatial models of automation environments, (ii)…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
This paper delves into various robotic manipulation control methods designed for dynamic contact tooling operations on a robotic repair platform. The explored control strategies include hybrid position-force control, admittance control,…
Augmented Reality (AR) navigation via Head-Mounted Displays (HMDs), particularly AR glasses, is revolutionizing the driving experience by integrating real-time routing information into the driver's field of view. Despite the potential of AR…
This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is difficult due to lack of sufficient situational awareness,…
Companies all over the world started to produce and sell telepresence robots in the last decade. Users of these robots have to plan their way to avoid collisions and control the speed of the robot to move it to destination point. This…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…