相关论文: An Agile Large-Workspace Teleoperation Interface B…
In robotic surgery, the surgeon controls robotic instruments using dedicated interfaces. One critical limitation of current interfaces is that they are designed to be operated by only the hands. This means that the surgeon can only control…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
Validating Augmented Reality (AR) tracking and interaction models requires precise, repeatable ground-truth motion. However, human users cannot reliably perform consistent motion due to biomechanical variability. Robotic manipulators are…
This paper presents a teleoperation system for controlling a redundant degree of freedom robot manipulator using human arm gestures. We propose a GRU-based Variational Autoencoder to learn a latent representation of the manipulator's…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…
When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…
Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…
This paper builds on our previous work by exploiting Artificial Intelligence to predict individual grip force variability in manual robot control. Grip forces were recorded from various loci in the dominant and non dominant hands of…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…
There is a large population of wheelchair users. Most of the wheelchair users need help with daily tasks. However, according to recent reports, their needs are not properly satisfied due to the lack of caregivers. Therefore, in this…
We present a robot-to-human object handover algorithm and implement it on a 7-DOF arm equipped with a 3-finger mechanical hand. The system performs a fully autonomous and robust object handover to a human receiver in real-time. Our…
Most of industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. In this paper is proposed an accelerometer-based system to control an industrial robot using two low-cost and…
Assistive robotic arms often have more degrees-of-freedom than a human teleoperator can control with a low-dimensional input, like a joystick. To overcome this challenge, existing approaches use data-driven methods to learn a mapping from…
This paper presents a novel fabric-based thermal-haptic interface for virtual reality and teleoperation. It integrates pneumatic actuation and conductive fabric with an innovative ultra-lightweight design, achieving only 2~g for each finger…
Vision-based teleoperation offers the possibility to endow robots with human-level intelligence to physically interact with the environment, while only requiring low-cost camera sensors. However, current vision-based teleoperation systems…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…
The paper deals with the well-known problem of teleoperating a robotic arm along six degrees of freedom. The prevailing and most effective approach to this problem involves a direct position-to-position mapping, imposing robotic…