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Musculoskeletal robots that are based on pneumatic actuation have a variety of properties, such as compliance and back-drivability, that render them particularly appealing for human-robot collaboration. However, programming interactive and…

A remote robot operator's affective state can significantly impact the resulting robot's motions leading to unexpected consequences, even when the user follows protocol and performs permitted tasks. The recognition of a user operator's…

Nonverbal behaviors such as posture, gestures, and gaze are essential for conveying internal states, both consciously and unconsciously, in human interaction. For robots to interact more naturally with humans, robot movement design should…

Emotions are very important for human intelligence. For example, emotions are closely related to the appraisal of the internal bodily state and external stimuli. This helps us to respond quickly to the environment. Another important…

Mobile robots have been widely used in various aspects of human life. When a robot moves between different positions in the working area to perform the task, controlling motion to follow a pre-defined path is the primary task of a mobile…

Strategies are necessary to mitigate the impact of unexpected behavior in collaborative robotics, and research to develop solutions is lacking. Our aim here was to explore the benefits of an affective interaction, as opposed to a more…

This paper proposes FABG (Facial Affective Behavior Generation), an end-to-end imitation learning system for human-robot interaction, designed to generate natural and fluid facial affective behaviors. In interaction, effectively obtaining…

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…

The increasing labor shortage and aging population underline the need for assistive robots to support human care recipients. To enable safe and responsive assistance, robots require accurate human motion prediction in physical interaction…

The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human…

Socially assistive robots provide physical and mental assistance for humans via cognitive human-machine interactions. These robots should sustain long-term engaging interactions with humans in a similar way humans interact with each other.…

There is a growing need for social robots and intelligent agents that can effectively interact with and support users. For the interactions to be seamless, the agents need to analyse social scenes and behavioural cues from their (robot's)…

With robots becoming increasingly prevalent in various domains, it has become crucial to equip them with tools to achieve greater fluency in interactions with humans. One of the promising areas for further exploration lies in human trust. A…

Over the past decades, research in cognitive and affective neuroscience has emphasized that emotion is crucial for human intelligence and in fact inseparable from cognition. Concurrently, there has been growing interest in simulating and…

Hugs are complex affective interactions that often include gestures like squeezes. We present six new guidelines for designing interactive hugging robots, which we validate through two studies with our custom robot. To achieve autonomy, we…

Collaborative manipulation is inherently multimodal, with haptic communication playing a central role. When performed by humans, it involves back-and-forth force exchanges between the participants through which they resolve possible…

Collaboration between human and robot requires effective modes of communication to assign robot tasks and coordinate activities. As communication can utilize different modalities, a multi-modal approach can be more expressive than single…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…

Human-Robot Social Interaction became one of active research fields in which researchers from different areas propose solutions and directives leading robots to improve their interactions with humans. In this paper we propose to introduce…

This paper presents our first attempt to integrate user modeling features in social and affective robots. We propose a cloud-based architecture for modeling the user-robot interaction in order to re-use the approach with different kind of…