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Dancers often prototype movements themselves or with each other during improvisation and choreography. How are these interactions altered when physically manipulable technologies are introduced into the creative process? To understand how…
This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for…
As robots increasingly become part of shared human spaces, their movements must transcend basic functionality by incorporating expressive qualities to enhance engagement and communication. This paper introduces a movement-centered design…
Artistic creation is often seen as a uniquely human endeavor, yet robots bring distinct advantages to music-making, such as precise tempo control, unpredictable rhythmic complexities, and the ability to coordinate intricate human and robot…
Humanoid robots have seen remarkable advances in dexterity, balance, and locomotion, yet their role in expressive domains such as music performance remains largely unexplored. Musical tasks, like drumming, present unique challenges,…
Collaborative robots or cobots interact with humans in a common work environment. In cobots, one under investigated but important issue is related to their movement and how it is perceived by humans. This paper tries to analyze whether…
With increased applications of collaborative robots (cobots) in industrial workplaces, behavioural effects of human-cobot interactions need to be further investigated. This is of particular importance as nonverbal behaviours of…
Expressivity--the use of multiple modalities to convey internal state and intent of a robot--is critical for interaction. Yet, due to cost, safety, and other constraints, many robots lack high degrees of physical expressivity. This paper…
Successful human-robot collaboration depends on cohesive communication and a precise understanding of the robot's abilities, goals, and constraints. While robotic manipulators offer high precision, versatility, and productivity, they…
The six-degree-of-freedom (6-DOF) robotic arm has gained widespread application in human-coexisting environments. While previous research has predominantly focused on functional motion generation, the critical aspect of expressive motion in…
Embodiment of users within robotic systems has been explored in human-robot interaction, most often in telepresence and teleoperation. In these applications, synchronized visuomotor feedback can evoke a sense of body ownership and agency,…
In this work we present AURA, a framework for synergistic human-artist painting. We developed a robot arm that collaboratively paints with a human artist. The robot has an awareness of the artist's heartbeat through the EmotiBit sensor,…
Affective tactile interaction constitutes a fundamental component of human communication. In natural human-human encounters, touch is seldom experienced in isolation; rather, it is inherently multisensory. Individuals not only perceive the…
Humans often work closely together and relay a wealth of information through physical interaction. Robots, on the other hand, are not yet able to work similarly closely with humans and to effectively convey information when engaging in…
Nonverbal behaviors such as posture, gestures, and gaze are essential for conveying internal states, both consciously and unconsciously, in human interaction. For robots to interact more naturally with humans, robot movement design should…
This paper provides an analysis of a mixed-media experimental musical work that explores the integration of human musical interaction with a newly developed interface for the violin, manipulated by an improvising violinist, interactive…
Real-time robot actuation is one of the main challenges to overcome in human-robot interaction. Most visual sensors are either too slow or their data are too complex to provide meaningful information and low latency input to a robotic…
BALLU, the Buoyancy Assisted Lightweight Legged Unit, is a unique legged robot with a helium balloon body and articulated legs \fig{fig:fig1}. Since it is buoyant-assisted, BALLU is inherently stable, never falling over, while being able to…
This paper introduces a framework, called EMOTION, for generating expressive motion sequences in humanoid robots, enhancing their ability to engage in humanlike non-verbal communication. Non-verbal cues such as facial expressions, gestures,…
In order to be effective teammates, robots need to be able to understand high-level human behavior to recognize, anticipate, and adapt to human motion. We have designed a new approach to enable robots to perceive human group motion in…