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Virtual reality (VR) teleoperation has emerged as a promising approach for controlling humanoid robots in complex manipulation tasks. However, traditional teleoperation systems rely on inverse kinematics (IK) solvers and hand-tuned PD…
This paper presents a wearable electrotactile feedback system to enhance contact information for mid-air interactions with virtual objects. In particular, we propose the use of electrotactile feedback to render the interpenetration distance…
Augmented Reality (AR) enriches a user's real environment by adding spatially aligned virtual objects (3D models, 2D textures, textual annotations, etc) by means of special display technologies. These are either worn on the body or placed…
Many teleoperation tasks require three or more tools working together, which need the cooperation of multiple operators. The effectiveness of such schemes may be limited by communication. Trimanipulation by a single operator using an…
Although telepresence assistive robots have made significant progress, they still lack the sense of realism and physical presence of the remote operator. This results in a lack of trust and adoption of such robots. In this paper, we…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
During the last years, the emerging field of Augmented and Virtual Reality (AR-VR) has seen tremendous growth. An interface that has also become very popular for the AR systems is the tangible interface or passive-haptic interface.…
The integration of haptics within Augmented Reality may help to deliver an enriched experience, while facilitating the performance of specific actions (e.g. repositioning or resizin ) that are still dependent on the user's skills. This…
While the promise of autonomous vehicles has led to significant scientific and industrial progress, fully automated, SAE level 5 conform cars will likely not see mass adoption anytime soon. Instead, in many applications, human supervision,…
Recent research advance has significantly improved the visual realism of immersive 3D video communication. In this work we present a method to further enhance this immersive experience by adding the hand touch capability ("remote hand…
Virtual reality enables users to experience real-life situations in immersive environments. Interaction methods significantly shape user experience, particularly in high fidelity simulations mimicking real world tasks. This study evaluates…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…
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…
Telepresence VR systems allow for face-to-face communication, promoting the feeling of presence and understanding of nonverbal cues. However, when discussing virtual 3D objects, limitations to presence and communication cause deictic…
When using reinforcement learning (RL) for contact-rich robotic manipulation, vision can provide task-relevant information that accelerates learning beyond what proprioception alone can achieve. However, vision-enabled policies tend to…
Effective human-robot collaboration (HRC) requires extensive communication among the human and robot teammates, because their actions can potentially produce conflicts, synergies, or both. We develop a novel augmented reality (AR) interface…
Virtual Reality (VR) interfaces are increasingly used as remote visualization media in telerobotics. Remote environments captured through RGB-D cameras and visualized using VR interfaces can enhance operators' situational awareness and…
Humans directly completing tasks in dangerous or hazardous conditions is not always possible where these tasks are increasingly be performed remotely by teleoperated robots. However, teleoperation is difficult since the operator feels a…
Most existing 6-DoF robot grasping solutions depend on strong supervision on grasp pose to ensure satisfactory performance, which could be laborious and impractical when the robot works in some restricted area. To this end, we propose a…
This paper proposes a novel operation for controlling a mobile robot using a head-mounted device. Conventionally, robots are operated using computers or a joystick, which creates limitations in usability and flexibility because control…