相关论文: CoVR: A Large-Scale Force-Feedback Robotic Interfa…
Virtual reality (VR) interfaces for robots provide a three-dimensional (3D) view of the robot in its environment, which allows people to better plan complex robot movements in tight or cluttered spaces. In our prior work, we created a VR…
Virtual locomotion remains a challenge in VR, especially in space-limited environments where room-scale walking is impractical. We present LocoScooter, a low-cost, deployable locomotion interface combining foot-sliding on a compact…
Effective Human-Robot Interaction (HRI) is crucial for future service robots in aging societies. Existing solutions are biased toward only well-trained objects, creating a gap when dealing with new objects. Currently, HRI systems using…
We propose VRGym, a virtual reality testbed for realistic human-robot interaction. Different from existing toolkits and virtual reality environments, the VRGym emphasizes on building and training both physical and interactive agents for…
\textbf{BEAVR} is an open-source, bimanual, multi-embodiment Virtual Reality (VR) teleoperation system for robots, designed to unify real-time control, data recording, and policy learning across heterogeneous robotic platforms. BEAVR…
Virtual environments provide a rich and controlled setting for collecting detailed data on human behavior, offering unique opportunities for predicting human trajectories in dynamic scenes. However, most existing approaches have overlooked…
HapticBots introduces a novel encountered-type haptic approach for Virtual Reality (VR) based on multiple tabletop-size shape-changing robots. These robots move on a tabletop and change their height and orientation to haptically render…
Certain wheeled mobile robots e.g., electric wheelchairs, can operate through indirect joystick controls from users. Correct steering angle becomes essential when the user should determine the vehicle direction and velocity, in particular…
This perspective reframes human-robot interaction (HRI) through extended reality (XR), arguing that virtual robots powered by large foundation models (FMs) can serve as cognitively grounded, empathic agents. Unlike physical robots,…
Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitated by an augmented reality interface. Our system provides…
Volume Rendering applications require sophisticated user interaction for the definition and refinement of transfer functions. Traditional 2D desktop user interface elements have been developed to solve this task, but such concepts do not…
While Large Language Models (LLMs) and Vision-Language Models (VLMs) demonstrate remarkable capabilities in high-level reasoning and semantic understanding, applying them directly to contact-rich manipulation remains a challenge due to…
This paper studies real-time collaborative robot (cobot) handling, where the cobot maneuvers an object under human dynamic gesture commands. Enabling dynamic gesture commands is useful when the human needs to avoid direct contact with the…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
The operation of telerobotic systems can be a challenging task, requiring intuitive and efficient interfaces to enable inexperienced users to attain a high level of proficiency. Body-Machine Interfaces (BoMI) represent a promising…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…
This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
Research in virtual reality and haptic technologies has consistently aimed to enhance immersion. While advanced head-mounted displays are now commercially available, kinesthetic haptic interfaces still face challenges such as limited…
This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challenging to reproduce and reuse due to their specificity to…