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Physical Human-Human Interaction (pHHI) involves the use of multiple sensory modalities. Studies of communication through spoken utterances and gestures are well established, but communication through force signals is not well understood.…
Cooperation among humans makes it easy to execute tasks and navigate seamlessly even in unknown scenarios. With our individual knowledge and collective cognition skills, we can reason about and perform well in unforeseen situations and…
Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…
Mobile robots are increasingly being deployed in public spaces such as shopping malls, airports, and urban sidewalks. Most of these robots are designed with human-aware motion planning capabilities but are not designed to communicate with…
Effective communication is essential in collaborative tasks, so AI-equipped robots working alongside humans need to be able to explain their behaviour in order to cooperate effectively and earn trust. We analyse and classify communications…
Robots that interact with humans in a physical space or application need to think about the person's posture, which typically comes from visual sensors like cameras and infra-red. Artificial intelligence and machine learning algorithms use…
Recently the field of Human-Robot Interaction gained popularity, due to the wide range of possibilities of how robots can support humans during daily tasks. One form of supportive robots are socially assistive robots which are specifically…
Humans have the fascinating capacity of processing non-verbal visual cues to understand and anticipate the actions of other humans. This "intention reading" ability is underpinned by shared motor-repertoires and action-models, which we use…
Autonomous robots must communicate about their decisions to gain trust and acceptance. When doing so, robots must determine which actions are causal, i.e., which directly give rise to the desired outcome, so that these actions can be…
Human-robot interaction often occurs in the form of instructions given from a human to a robot. For a robot to successfully follow instructions, a common representation of the world and objects in it should be shared between humans and the…
This paper explores the challenges faced by assistive robots in effectively cooperating with humans, requiring them to anticipate human behavior, predict their actions' impact, and generate understandable robot actions. The study focuses on…
Text-writing robots have been used in assistive writing and drawing applications. However, robots do not convey emotional tones in the writing process due to the lack of behaviors humans typically adopt. To examine how people interpret…
In this paper we investigate the influence interfaces and feedback have on human-robot trust levels when operating in a shared physical space. The task we use is specifying a "no-go" region for a robot in an indoor environment. We evaluate…
Embodied robots which can interact with their environment and neighbours are increasingly being used as a test case to develop Artificial Intelligence. This creates a need for multimodal robot controllers that can operate across different…
In human-robot collaborative interaction scenarios, nonverbal communication plays an important role. Both, signals sent by a human collaborator need to be identified and interpreted by the robotic system, and the signals sent by the robot…
Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…
Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…
In human-robot interaction (HRI), we study how humans interact with robots, but also the effects of robot behavior on human perception and well-being. Especially, the influence on humans by tandem robots with one human controlled and one…
When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…
People are proficient at communicating their intentions in order to avoid conflicts when navigating in narrow, crowded environments. In many situations mobile robots lack both the ability to interpret human intentions and the ability to…