相关论文: Haptic-Assisted Collaborative Robot Framework for …
Clinical myoelectric prostheses lack the sensory feedback and sufficient dexterity required to complete activities of daily living efficiently and accurately. Providing haptic feedback of relevant environmental cues to the user or imbuing…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…
Minimally invasive surgery (MIS) procedures benefit significantly from robotic systems due to their improved precision and dexterity. However, ensuring safety in these dynamic and cluttered environments is an ongoing challenge. This paper…
An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…
In response to the increasing demand for cardiocerebrovascular interventional surgeries, precise control of interventional robots has become increasingly important. Within these complex vascular scenarios, the accurate and reliable…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the manufacturing process of companies, improved surgical…
Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…
Recent advances in machine learning models allowed robots to identify objects on a perceptual nonsymbolic level (e.g., through sensor fusion and natural language understanding). However, these primarily black-box learning models still lack…
In this study, we introduce a novel shared-control system for key-hole docking operations, combining a commercial camera with occlusion-robust pose estimation and a hand-eye information fusion technique. This system is used to enhance…
We investigate how vibrotactile wrist feedback can enhance spatial guidance for handheld tool movement in optical see-through augmented reality (AR). While AR overlays are widely used to support surgical tasks, visual occlusion, lighting…
Haptic feedback provides an essential sensory stimulus crucial for interaction and analyzing three-dimensional spatio-temporal phenomena on surface visualizations. Given its ability to provide enhanced spatial perception and scene…
Understanding surgical tasks represents an important challenge for autonomy in surgical robotic systems. To achieve this, we propose an online task segmentation framework that uses hierarchical transition state clustering to activate…
Haptic teleoperations play a key role in extending human capabilities to perform complex tasks remotely, employing a robotic system. The impact of haptics is far-reaching and can improve the sensory awareness and motor accuracy of the…
Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
This paper explores the use of a body-worn vibrotactile vest to convey real-time information from robot to operator. Vibrotactile communication could be useful in providing information without compropmising or loading a person's visual or…