相关论文: User-customizable Shared Control for Robot Teleope…

Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…

Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…

Embodied interaction has been introduced to human-robot interaction (HRI) as a type of teleoperation, in which users control robot arms with bodily action via handheld controllers or haptic gloves. Embodied teleoperation has made robot…

We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…

Assistive robot arms try to help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control over the robot's motion: as the robot…

Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…

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…

The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…

Virtual reality (VR) technology is commonly used in entertainment applications; however, it has also been deployed in practical applications in more serious aspects of our lives, such as safety. To support people working in dangerous…

Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…

Living a self-determined life independent of human caregivers or fully autonomous robots is a crucial factor for human dignity and the preservation of self-worth for people with motor impairments. Assistive robotic solutions - particularly…

This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…

Companies all over the world started to produce and sell telepresence robots in the last decade. Users of these robots have to plan their way to avoid collisions and control the speed of the robot to move it to destination point. This…

Teleoperation provides an effective way to collect robot data, which is crucial for learning from demonstrations. In this field, teleoperation faces several key challenges: user-friendliness for new users, safety assurance, and…

This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…

Traditional telesurgery relies on the surgeon's full control of the robot on the patient's side, which tends to increase surgeon fatigue and may reduce the efficiency of the operation. This paper introduces a Robotic Partner (RP) to…

In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…

Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…

Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the…

Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. However, existing shared control methods-based on, e.g., Model…