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Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…

To facilitate natural and intuitive interactions with diverse user groups in real-world settings, social robots must be capable of addressing the varying requirements and expectations of these groups while adapting their behavior based on…

Robots are becoming increasingly integrated into our lives, assisting us in various tasks. To ensure effective collaboration between humans and robots, it is essential that they understand our intentions and anticipate our actions. In this…

This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which,…

Understanding and synthesizing realistic 3D hand-object interactions (HOI) is critical for applications ranging from immersive AR/VR to dexterous robotics. Existing methods struggle with generalization, performing well on closed-set objects…

This paper describes the development of a real-time Human-Robot Interaction (HRI) system for a service robot based on 3D human activity recognition and human-like decision mechanism. The Human-Robot Interactive (HRI) system, which allows…

Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…

Close human-robot interaction (HRI), especially in industrial scenarios, has been vastly investigated for the advantages of combining human and robot skills. For an effective HRI, the validity of currently available human-machine…

The study of Human-Robot Interaction (HRI) aims to create close and friendly communication between humans and robots. In the human-center HRI, an essential aspect of implementing a successful and effective HRI is building a natural and…

This paper presents a novel human-robot interaction (HRI) framework that enables intuitive gesture-driven control through a capacitance-based woven tactile skin. Unlike conventional interfaces that rely on panels or handheld devices, the…

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 article presents a method for learning well-coordinated Human-Robot Interaction (HRI) from Human-Human Interactions (HHI). We devise a hybrid approach using Hidden Markov Models (HMMs) as the latent space priors for a Variational…

Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…

We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables…

Generating realistic 3D human-object interactions (HOIs) from text descriptions is a active research topic with potential applications in virtual and augmented reality, robotics, and animation. However, creating high-quality 3D HOIs remains…

Recent advances in 3D human-aware generation have made significant progress. However, existing methods still struggle with generating novel Human Object Interaction (HOI) from text, particularly for open-set objects. We identify three main…

Recently, human-robot interaction (HRI) is an extensive research topic and theme which gained importance and significance. HRI aims at the complementary combination between the robot capabilities and human skills. The robots assist humans…

There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…

Executing reliable Humanoid-Object Interaction (HOI) tasks for humanoid robots is hindered by the lack of generalized control interfaces and robust closed-loop perception mechanisms. In this work, we introduce Perceptive Root-guided…

Recent vision-language-action (VLA) models can generate plausible end-effector motions, yet they often fail in long-horizon, contact-rich tasks because the underlying hand-object interaction (HOI) structure is not explicitly represented. An…