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The confluence of soft robotics and fluidic logic have sparked innovations in integrated robots with superior flexibility and potential machine intelligence. However, current fluidically driven soft robots suffer from either a large number…
Recent vision-language-action (VLA) models can generate plausible end-effector motions, yet they often fail in long-horizon, contact-rich tasks because the underlying hand-object interaction (HOI) structure is not explicitly represented. An…
Translating human intent into robot commands is crucial for the future of service robots in an aging society. Existing Human-Robot Interaction (HRI) systems relying on gestures or verbal commands are impractical for the elderly due to…
To achieve natural and intuitive interaction with people, HRI frameworks combine a wide array of methods for human perception, intention communication, human-aware navigation and collaborative action. In practice, when encountering…
This paper describes an initiation of interaction(IoI) detection framework without keywords for human-robot interaction(HRI) based on audio and vision sensor fusion in a domestic environment. In the proposed framework, the robot has its own…
In recent years, an increasing number of Human-Robot Interaction (HRI) approaches have been implemented and evaluated in Virtual Reality (VR), as it allows to speed-up design iterations and makes it safer for the final user to evaluate and…
Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…
Confusion is a mental state triggered by cognitive disequilibrium that can occur in many types of task-oriented interaction, including Human-Robot Interaction (HRI). People may become confused while interacting with robots due to…
Robots have become ubiquitous tools in various industries and households, highlighting the importance of human-robot interaction (HRI). This has increased the need for easy and accessible communication between humans and robots. Recent…
Fluency is an important metric in Human-Robot Interaction (HRI) that describes the coordination with which humans and robots collaborate on a task. Fluency is inherently linked to the timing of the task, making temporal constraint networks…
We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control policies. We motivate the approach by presenting two…
This paper describes the development of a real-time Human-Robot Interaction (HRI) system for a service robot based on 3D human activity recognition and human-like decision mechanism. The Human-Robot Interactive (HRI) system, which allows…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Human interaction is essential for issuing personalized instructions and assisting robots when failure is likely. However, robots remain largely black boxes, offering users little insight into their evolving capabilities and limitations. To…
Human-robot interaction can be regarded as a flow between users and robots. Designing good interaction flows takes a lot of effort and needs to be field tested. Unfortunately, the interaction flow design process is often very disjointed,…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…
Active communication between robots and humans is essential for effective human-robot interaction. To accomplish this objective, Cloud Robotics (CR) was introduced to make robots enhance their capabilities. It enables robots to perform…
With the presence of robots increasing in the society, the need for interacting with robots is becoming necessary. The field of Human-Robot Interaction (HRI) has emerged important since more repetitive and tiresome jobs are being done by…
Participatory Design (PD) in Human-Robot Interaction (HRI) typically remains limited to the early phases of development, with subsequent robot behaviours then being hardcoded by engineers or utilised in Wizard-of-Oz (WoZ) systems that…
Humans manipulate various kinds of fluids in their everyday life: creating latte art, scooping floating objects from water, rolling an ice cream cone, etc. Using robots to augment or replace human labors in these daily settings remain as a…