相关论文: Evaluating Customization of Remote Tele-operation …

In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks to compensate for environmental uncertainties and imprecise motion execution. Although many…

We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…

This paper shows and evaluates a novel approach to integrate a non-invasive Brain-Computer Interface (BCI) with the Robot Operating System (ROS) to mentally drive a telepresence robot. Controlling a mobile device by using human brain…

It is intractable for assistive robots to have all functionalities pre-programmed prior to deployment. Rather, it is more realistic for robots to perform supplemental, on-site learning about user's needs and preferences, and particularities…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

Robot teleoperation enables human control over robotic systems in environments where full autonomy is challenging. Recent advancements in low-cost teleoperation devices and VR/AR technologies have expanded accessibility, particularly for…

There is a growing need to deliver rehabilitation care to patients remotely. Long term demographic changes, geographic shortages of care providers, and now a global pandemic contribute to this need. Telepresence provides an option for…

Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…

Caregivers in eldercare can benefit from telepresence robots that allow them to perform a variety of tasks remotely. In order for such robots to be operated effectively and efficiently by non-technical users, it is important to examine if…

While the promise of autonomous vehicles has led to significant scientific and industrial progress, fully automated, SAE level 5 conform cars will likely not see mass adoption anytime soon. Instead, in many applications, human supervision,…

It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…

Teleoperation emerged as a promising fallback for situations beyond the capabilities of automated vehicles. Nevertheless, teleoperation still faces challenges, such as reduced situational awareness. Since situational awareness is primarily…

The operation of humanoid robotics is an essential field of research with many practical and competitive applications. Many of these systems, however, do not invest heavily in developing a non-expert-centered graphical user interface (GUI)…

Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks, considerations for how the technology can still preserve…

Remote robotic-assisted endovascular intervention offers a promising approach to reduce clinician radiation exposure and physical strain, while extending specialized vascular care to geographically distant regions. Despite advancements,…

This paper presents some early work and future plans regarding how the autonomous motions of a telepresence robot affect a person embodied in the robot through a head-mounted display. We consider the preferences, comfort, and the perceived…

Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…

The increasing number of robots in home environments leads to an emerging coexistence between humans and robots. Robots undertake common tasks and support the residents in their everyday life. People appreciate the presence of robots in…

Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…

While teleoperated robots continue to proliferate in domains including search and rescue, field exploration, or the military, human error remains a primary cause for accidents or mistakes. One challenge is that teleoperating a remote robot…