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"Magic" is referred to here and there in the robotics literature, from "magical moments" afforded by a mobile bubble machine, to "spells" intended to entertain and motivate children--but what exactly could this concept mean for designers?…

Collaboration is built on trust, and establishing trust with a creative Artificial Intelligence is difficult when the decision process or internal state driving its behaviour isn't exposed. When human musicians improvise together, a number…

As general purpose robots become more capable, pre-programming of all tasks at the factory will become less practical. We would like for non-technical human owners to be able to communicate, through interaction with their robot, the details…

Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation,…

Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…

Robots are moving beyond industrial settings into creative, educational, and public environments where interaction is open-ended and improvisational. Yet much of human-AI-robot interaction remains framed around performance and efficiency,…

We present a method for teaching dexterous manipulation tasks to robots from human hand motion demonstrations. Unlike existing approaches that solely rely on kinematics information without taking into account the plausibility of robot and…

Delivering groceries or cleaning airports, mobile robots exist in public spaces. While these examples showcase robots that execute tasks, this paper explores mobile robots that encourage posthuman collaboration rather than managing…

This paper explores the concept of engagement, the process by which individuals in an interaction start, maintain and end their perceived connection to one another. The paper reports on one aspect of engagement among human interactors--the…

What we appreciate in dance is the ability of people to sponta- neously improvise new movements and choreographies, sur- rendering to the music rhythm, being inspired by the cur- rent perceptions and sensations and by previous experiences,…

In this paper, we investigated how the choice of a Wizard-of-Oz (WoZ) interface affects communication with a robot from both the user's and the wizard's perspective. In a conversational setting, we used three WoZ interfaces with varying…

Socially assistive robots provide physical and mental assistance for humans via cognitive human-machine interactions. These robots should sustain long-term engaging interactions with humans in a similar way humans interact with each other.…

Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…

People who need robots are often not the same as people who can program them. This key observation in human-robot interaction (HRI) has lead to a number of challenges when developing robotic applications, since developers must understand…

Wizard of Oz (WoZ) as a prototyping method has been used to simulate intelligent user interfaces, particularly for speech-based systems. However, as our societies' expectations on artificial intelligence (AI) grows, the question remains…

Interacting with data visualizations without an instrument or touch surface is typically characterized by the use of mid-air hand gestures. While mid-air expressions can be quite intuitive for interacting with digital content at a distance,…

Assistive robots offer agency to humans with severe motor impairments. Often, these users control high-DoF robots through low-dimensional interfaces, such as using a 1-D sip-and-puff interface to operate a 6-DoF robotic arm. This mismatch…

To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner.…

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…

This paper explores the design of an expressive visual instrument that embraces the unique movement style of a dancer living with physical disability. Through a collaboration between the dancer and an interaction designer/visual artist, the…