相关论文: A Methodology to Assess the Human Factors Associat…

Manufacturing assembly tasks can vary in complexity and level of automation. Yet, achieving full automation can be challenging and inefficient, particularly due to the complexity of certain assembly operations. Human-robot collaborative…

This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize…

Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…

Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices. However, this is non-intuitive and makes achieving desired…

As human space exploration evolves toward longer voyages farther from our home planet, in-situ resource utilization (ISRU) becomes increasingly important. Haptic teleoperations are one of the technologies by which such activities can be…

This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The method involves using high-level specifications expressed as…

Satellite operations are a subset of remote operations that draw similarities with remotely piloted aircraft (RPA) and uncrewed aerial vehicle (UAV) operations. Increased research into boredom, complacency, habituation, and vigilance as…

Human factors and ergonomics are the essential constituents of teleoperation interfaces, which can significantly affect the human operator's performance. Thus, a quantitative evaluation of these elements and the ability to establish…

This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…

NASA's SLS and Orion crew vehicle will launch humans to cislunar space to begin the new era of space exploration. NASA plans to use the Orion crew vehicle to transport humans between Earth and cislunar space where there will be a stationed…

Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…

Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…

Human multi-robot system (MRS) collaboration is demonstrating potentials in wide application scenarios due to the integration of human cognitive skills and a robot team's powerful capability introduced by its multi-member structure.…

Calculating the effort required to complete a task has always been somewhat difficult, as it depends on each person and becomes very subjective. For this reason, different methodologies were developed to try to standardize these procedures.…

Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…

Joint human-AI inference holds immense potential to improve outcomes in human-supervised robot missions. Current day missions are generally in the AI-assisted setting, where the human operator makes the final inference based on the AI…

We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…

Human-robot collaboration enables highly adaptive co-working. The variety of resulting workflows makes it difficult to measure metrics as, e.g. makespans or idle times for multiple systems and tasks in a comparable manner. This issue can be…

Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…

This study presents an advanced approach to enhance robotic manipulation in uncertain and challenging environments, with a focus on autonomous operations augmented by human-in-the-loop (HITL) control for lunar missions. By integrating human…