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Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to the human operator. This approach usually posits the human…
The human-robot interaction (HRI) field has recognized the importance of enabling robots to interact with teams. Human teams rely on effective communication for successful collaboration in time-sensitive environments. Robots can play a role…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
In this paper, a strategy to handle the human safety in a multi-robot scenario is devised. In the presented framework, it is foreseen that robots are in charge of performing any cooperative manipulation task which is parameterized by a…
To understand and collaborate with humans, robots must account for individual human traits, habits, and activities over time. However, most robotic assistants lack these abilities, as they primarily focus on predefined tasks in structured…
Human brain possesses the ability to effectively focus on important environmental components, which enhances perception, learning, reasoning, and decision-making. Inspired by this cognitive mechanism, we introduced a novel concept termed…
When assisting people in daily tasks, robots need to accurately interpret visual cues and respond effectively in diverse safety-critical situations, such as sharp objects on the floor. In this context, we present M-CoDAL, a…
In order for cooperative robots ("co-robots") to respond to human behaviors accurately and efficiently in human-robot collaboration, interpretation of human actions, awareness of new situations, and appropriate decision making are all…
Human computer interaction is shifting from screen-based systems to multimodal interfaces where artificial intelligence powered systems increasingly interpret user intent through speech, gesture, and gaze. Yet users rarely understand how…
As robotic products become more integrated into daily life, there is a greater need to understand authentic and real-world human-robot interactions to inform product design. Across many domestic, educational, and public settings, robots…
This paper presents a novel framework for accessible and pedagogically-grounded robot explainability, designed to support human-robot interaction (HRI) with users who have diverse cognitive, communicative, or learning needs. We combine…
In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
Integrating generative AI such as Large Language Models into social robots has improved their ability to engage in natural, human-like communication. This study presents a method to examine their persuasive capabilities. We designed an…
Robots are moving beyond industrial settings into creative, educational, and public environments where interaction is open-ended and improvisational. Yet much of human-AI-robot interaction remains framed around performance and efficiency,…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…
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…
Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…