相关论文: A Framework for Active Haptic Guidance Using Robot…

Vision guided navigation requires processing complex visual information to inform task-orientated decisions. Applications include autonomous robots, self-driving cars, and assistive vision for humans. A key element is the extraction and…

Assistive robots have growing potential to support physical wellbeing in home and healthcare settings, for example, by guiding users through stretching or rehabilitation routines. However, existing systems remain largely scripted, which…

There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…

Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The…

Human-Machine Interaction (HMI) systems have gained huge interest in recent years, with reference expression comprehension being one of the main challenges. Traditionally human-machine interaction has been mostly limited to speech and…

In this work, we develop a multi-modal rendering framework comprising of hapto-visual and auditory data. The prime focus is to haptically render point cloud data representing virtual 3-D models of cultural significance and also to handle…

This paper explores the challenges faced by assistive robots in effectively cooperating with humans, requiring them to anticipate human behavior, predict their actions' impact, and generate understandable robot actions. The study focuses on…

Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…

Physical touch, a fundamental aspect of human social interaction, remains largely absent in real-time virtual communication. We present a haptic-enabled multi-user Virtual Reality (VR) system that facilitates real-time, bi-directional…

HapticLever is a new kinematic approach for VR haptics which uses a 3D pantograph to stiffly render large-scale surfaces using small-scale proxies. The HapticLever approach does not consume power to render forces, but rather puts a…

Haptic signals, from smartphone vibrations to virtual reality touch feedback, can effectively convey information and enhance realism, but designing signals that resonate meaningfully with users is challenging. To facilitate this, we…

Authoring realistic haptic textures typically requires low-level parameter tuning and repeated trial-and-error, limiting speed, transparency, and creative reach. We present a language-driven authoring system that turns natural-language…

Current Virtual Reality (VR) environments lack the rich haptic signals that humans experience during real-life interactions, such as the sensation of texture during lateral movement on a surface. Adding realistic haptic textures to VR…

Humanoid Reaction Synthesis is pivotal for creating highly interactive and empathetic robots that can seamlessly integrate into human environments, enhancing the way we live, work, and communicate. However, it is difficult to learn the…

This research investigates whether the interaction methods of XR headsets can be improved by using haptic feedback. As a first and most common technique, indirect interactions are considered. Indirect interactions correspond to…

Despite growing interest in active inference for robotic control, its application to complex, long-horizon tasks remains untested. We address this gap by introducing a fully hierarchical active inference architecture for goal-directed…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…

A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…

Collaborative robots became a popular tool for increasing productivity in partly automated manufacturing plants. Intuitive robot teaching methods are required to quickly and flexibly adapt the robot programs to new tasks. Gestures have an…

To interact seamlessly with robots, users must infer the causes of a robot's behavior and be confident about that inference. Hence, trust is a necessary condition for human-robot collaboration (HRC). Despite its crucial role, it is largely…