相关论文: Ergonomically Intelligent Physical Human-Robot Int…

In this paper, we aim at improving human motion prediction during human-robot collaboration in industrial facilities by exploiting contributions from both physical and physiological signals. Improved human-machine collaboration could prove…

In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and household environments, pure collision avoidance is…

Robot-mediated human-human (dyadic) interactions enable therapists to provide physical therapy remotely, yet an accurate perception of patient stiffness remains challenging due to network-induced haptic delays. Conventional stiffness…

Robots are used by humans not only as tools but also to interactively assist and cooperate with humans, thereby forming physical human-robot interactions. In these interactions, there is a risk that a feedback loop causes unstable force…

An end-to-end hardware-software pipeline is introduced to automatize ergonomics assessment in industrial workplaces. The proposed modular solution can interoperate with commercial systems throughout the ergonomics assessment phases involved…

Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…

Robust 3D human pose estimation is crucial to ensure safe and effective human-robot collaboration. Accurate human perception,however, is particularly challenging in these scenarios due to strong occlusions and limited camera viewpoints.…

In the last two decades the scientific community has shown a great interest in understanding and shaping the interaction mechanisms between humans and robots. The interaction implies communication between two dyadic agents and, if the type…

Vision-Language-Action (VLA) models excel in static manipulation but struggle in dynamic environments with moving targets. This performance gap primarily stems from a scarcity of dynamic manipulation datasets and the reliance of mainstream…

There are a variety of mechanisms (i.e., input types) for real-time human interaction that can facilitate effective human-robot teaming. For example, previous works have shown how teleoperation, corrective, and discrete (i.e., preference…

Social robots must adjust to human proxemic norms to ensure user comfort and engagement. While prior research demonstrates that eye-tracking features reliably estimate comfort in human-human interactions, their applicability to interactions…

In human-robot collaboration, shared autonomy enhances human performance through precise, intuitive support. Effective robotic assistance requires accurately inferring human intentions and understanding task structures to determine optimal…

Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…

Accurate and physically feasible human motion prediction is crucial for safe and seamless human-robot collaboration. While recent advancements in human motion capture enable real-time pose estimation, the practical value of many existing…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

To achieve human-like behaviour during speech interactions, it is necessary for a humanoid robot to estimate the location of a human talker. Here, we present a method to optimize the parameters used for the direction of arrival (DOA)…

Human modelling and pose estimation stands at the crossroads of Computer Vision, Computer Graphics, and Machine Learning. This paper presents a thorough investigation of this interdisciplinary field, examining various algorithms,…

Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we…

When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…

Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…