相关论文: Efficient and Safe Contact-rich pHRI via Subtask D…

One of the challenges of human-swarm interaction (HSI) is how to manage the operator's workload. In order to do this, we propose a novel neurofeedback technique for the real-time measurement of workload using functional near-infrared…

Ensuring safety in human-robot interaction (HRI) is essential to foster user trust and enable the broader adoption of robotic systems. Traditional safety models primarily rely on sensor-based measures, such as relative distance and…

In recent years, industrial robots have been installed in various industries to handle advanced manufacturing and high precision tasks. However, further integration of industrial robots is hampered by their limited flexibility, adaptability…

In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance controller with auto-tuning that can be applied for these…

Reinforcement Learning AI commonly uses reward/penalty signals that are objective and explicit in an environment -- e.g. game score, completion time, etc. -- in order to learn the optimal strategy for task performance. However, Human-AI…

Human-Robot Collaboration (HRC) is vital in Industry 4.0, using sensors, digital twins, collaborative robots (cobots), and intention-recognition models to have efficient manufacturing processes. However, Concept Drift is a significant…

Effective close-proximity human-robot interaction (CP-HRI) requires robots to be able to both efficiently perform tasks as well as adapt to human behavior and preferences. However, this ability is mediated by many, sometimes competing,…

Robots for physical Human-Robot Collaboration (pHRC) systems need to change their behavior and how they operate in consideration of several factors, such as the performance and intention of a human co-worker and the capabilities of…

This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to…

We present a two-stage framework that integrates a learning-based estimator and a controller, designed to address contact-intensive tasks. The estimator leverages a Bayesian particle filter with a mixture density network (MDN) structure,…

Human-in-the-loop approaches are of great importance for robot applications. In the presented study, we implemented a multimodal human-robot interaction (HRI) scenario, in which a simulated robot communicates with its human partner through…

To facilitate human--robot interaction (HRI) tasks in real-world scenarios, service robots must adapt to dynamic environments and understand the required tasks while effectively communicating with humans. To accomplish HRI in practice, we…

Sensor-based human activity recognition is a key technology for many human-centered intelligent applications. However, this research is still in its infancy and faces many unresolved challenges. To address these, we propose a comprehensive…

Intent inferral, the process by which a robotic device predicts a user's intent from biosignals, offers an effective and intuitive way to control wearable robots. Classical intent inferral methods treat biosignal inputs as unidirectional…

The collaborative robot market is flourishing as there is a trend towards simplification, modularity, and increased flexibility on the production line. But when humans and robots are collaborating in a shared environment, the safety of…

In this paper, we aim at improving human motion prediction during human-robot collaboration in industrial facilities by exploiting contributions from both physical and physiological signals. Improved human-machine collaboration could prove…

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…

The letter focuses on Haptic Glove (HG) based control of a Robotic Hand (RH) executing in-hand manipulation of certain objects of interest. The high dimensional motion signals in HG and RH possess intrinsic variability of kinematics…

Physical Human-Human Interaction (pHHI) involves the use of multiple sensory modalities. Studies of communication through spoken utterances and gestures are well established, but communication through force signals is not well understood.…

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…