相关论文: Embodied Supervision: Haptic Display of Automation…
The provision of robotic assistance during motor training has proven to be effective in enhancing motor learning in some healthy trainee groups as well as patients. Personalizing such robotic assistance can help further improve motor…
Navigating peripersonal space requires reaching targets in both horizontal (e.g., desks) and vertical (e.g., shelves) layouts with high precision. We developed a haptic glove to aid peri-personal target navigation and investigated the…
Human sensory processing is sensitive to the proximity of stimuli to the body. It is therefore plausible that these perceptual mechanisms also modulate the detectability of content in VR, depending on its location. We evaluate this in a…
When a human dyad jointly manipulates an object, they must communicate about their intended motion plans. Some of that collaboration is achieved through the motion of the manipulated object itself, which we call "haptic communication." In…
Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…
We present a customizable soft haptic system that integrates modular hardware with an information-theoretic algorithm to personalize feedback for different users and tasks. Our platform features modular, multi-degree-of-freedom pneumatic…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
Learning from demonstration is a proven technique to teach robots new skills. Data quality and quantity play a critical role in the performance of models trained using data collected from human demonstrations. In this paper we enhance an…
This article presents an implementation of a natural-language speech interface and a haptic feedback interface that enables a human supervisor to provide guidance to, request information, and receive status updates from a Spot robot. We…
Augmented and mixed-reality techniques harbor a great potential for improving human-robot collaboration. Visual signals and cues may be projected to a human partner in order to explicitly communicate robot intentions and goals. However, it…
In guide dog training, trainers use haptic information transmitted through the handle of the harness worn by the guide dog to understand the dog's state. They then apply appropriate force to the handle to train the dog to make correct…
For the optimum design of a driver-automation shared control system, an understanding of driver behavior based on measurements and modeling is crucial early in the development process. This paper presents a driver model through a weighting…
This paper contributes a preliminary report on the advantages and disadvantages of incorporating simultaneous human control and feedback signals in the training of a reinforcement learning robotic agent. While robotic human-machine…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
Inspired by the remarkable ability of the infant visual learning system, a recent study collected first-person images from children to analyze the `training data' that they receive. We conduct a follow-up study that investigates two…
In this research, we have developed a haptic situational awareness device that presents users with directional cues through continuous vibrotactile sensations. Using the device, we present user studies on the effectiveness of a…
It is essential to help drivers have appropriate understandings of level 2 automated driving systems for keeping driving safety. A human machine interface (HMI) was proposed to present real time results of image recognition by the automated…
Recent successes in machine learning have led to a shift in the design of autonomous systems, improving performance on existing tasks and rendering new applications possible. Data-focused approaches gain relevance across diverse, intricate…
Within the imitation learning paradigm, training generalist robots requires large-scale datasets obtainable only through diverse curation. Due to the relative ease to collect, human demonstrations constitute a valuable addition when…
Imitation learning holds the promise to address challenging robotic tasks such as autonomous navigation. It however requires a human supervisor to oversee the training process and send correct control commands to robots without feedback,…