Related papers: Prop-Based Haptic Interaction with Co-location and…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
This article presents an implementation of a natural-language speech interface and a haptic feedback interface that enables a human supervisor to provide guidance to, request information, and receive status updates from a Spot robot. We…
Moving around in the world is naturally a multisensory experience, but today's embodied agents are deaf---restricted to solely their visual perception of the environment. We introduce audio-visual navigation for complex, acoustically and…
Several animal species (e.g., bats, dolphins, and whales) and even visually impaired humans have the remarkable ability to perform echolocation: a biological sonar used to perceive spatial layout and locate objects in the world. We explore…
Recent approaches in robotics follow the insight that perception is facilitated by interaction with the environment. These approaches are subsumed under the term of Interactive Perception (IP). It provides the following benefits: (i)…
It is important to build a rigorous verification and validation (V&V) process to evaluate the safety of highly automated vehicles (HAVs) before their wide deployment on public roads. In this paper, we propose an interaction-aware framework…
The sensation of self-motion is essential in many virtual reality applications, from entertainment to training, such as flying and driving simulators. If the common approach used in amusement parks is to actuate the seats with cumbersome…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Human-Machine Interaction (HMI) systems have gained huge interest in recent years, with reference expression comprehension being one of the main challenges. Traditionally human-machine interaction has been mostly limited to speech and…
Traditional methods for visualizing dynamic human expressions, particularly in medical training, often rely on flat-screen displays or static mannequins, which have proven inefficient for realistic simulation. In response, we propose a…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
Mid-air haptic interfaces employ focused ultrasound waves to generate touchless haptic sensations on the skin. Prior studies have demonstrated the potential positive impact of mid-air haptic feedback on virtual experiences, enhancing…
Haptic feedback has been integrated into Virtual and Augmented Reality, complementing acoustic and visual information and contributing to an all-round immersive experience in multiple fields, spanning from the medical domain to…
Building 3D maps of the environment is central to robot navigation, planning, and interaction with objects in a scene. Most existing approaches that integrate semantic concepts with 3D maps largely remain confined to the closed-set setting:…
Active visual perception refers to the ability of a system to dynamically engage with its environment through sensing and action, allowing it to modify its behavior in response to specific goals or uncertainties. Unlike passive systems that…
The absence of physical interfaces creates challenges when interacting with touchscreen technology. This study aims to investigate an innovative haptic solution for interacting with graphical user interfaces. A motorized shape-changing…
This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in…
This work presents novel robot-mediated immersive experiences enabled by an encountered-type haptic display (ETHD) that introduces direct physical contact in virtual environments. We focus on social-physical interactions, a class of…