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Internet-scaled datasets are a luxury for human-robot interaction (HRI) researchers, as collecting natural interaction data in the wild is time-consuming and logistically challenging. The problem is exacerbated by robots' different form…

As collaborative robots enter industrial shop floors, logistics, and manufacturing, rapid and flexible evaluation of human-machine interaction has become more important. The availability of consumer headsets for virtual and augmented…

Interpreting human intent accurately is a central challenge in human-robot interaction (HRI) and a key requirement for achieving more natural and intuitive collaboration between humans and machines. This work presents a novel multimodal HRI…

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…

When a human dyad jointly manipulates an object, they must communicate about their intended motion plans. Some of that collaboration is achieved through the motion of the manipulated object itself, which we call "haptic communication." In…

Humans often assume that robots are rational. We believe robots take optimal actions given their objective; hence, when we are uncertain about what the robot's objective is, we interpret the robot's actions as optimal with respect to our…

Voice is an essential modality for human-robot interaction (HRI). The way a robot sounds plays a central role in shaping how humans perceive and engage with it, influencing factors such as intelligibility, understandability, and likability.…

To facilitate natural and intuitive interactions with diverse user groups in real-world settings, social robots must be capable of addressing the varying requirements and expectations of these groups while adapting their behavior based on…

Humans often work closely together and relay a wealth of information through physical interaction. Robots, on the other hand, are not yet able to work similarly closely with humans and to effectively convey information when engaging in…

With the advancements in human-robot interaction (HRI), robots are now capable of operating in close proximity and engaging in physical interactions with humans (pHRI). Likewise, contact-based pHRI is becoming increasingly common as robots…

This paper presents a novel human-robot interaction (HRI) framework that enables intuitive gesture-driven control through a capacitance-based woven tactile skin. Unlike conventional interfaces that rely on panels or handheld devices, the…

As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…

Conventional robot programming methods are complex and time-consuming for users. In recent years, alternative approaches such as mixed reality have been explored to address these challenges and optimize robot programming. While the findings…

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…

How can we train an assistive human-machine interface (e.g., an electromyography-based limb prosthesis) to translate a user's raw command signals into the actions of a robot or computer when there is no prior mapping, we cannot ask the user…

Robots learn as they interact with humans. Consider a human teleoperating an assistive robot arm: as the human guides and corrects the arm's motion, the robot gathers information about the human's desired task. But how does the human know…

In chronic diseases, obtaining a correct diagnosis and providing the most appropriate treatments often is not enough to guarantee an improvement of the clinical condition of a patient. Poor adherence to medical prescriptions constitutes one…

To address the global challenge of population aging, our goal is to enhance successful aging through the introduction of robots capable of assisting in daily physical activities and promoting light exercises, which would enhance the…

Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…

For social robots to be brought more into widespread use in the fields of companionship, care taking and domestic help, they must be capable of demonstrating social intelligence. In order to be acceptable, they must exhibit…