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Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
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…
Addressing the global caregiver shortage through socially assistive robots necessitates a deep understanding of their psychological and physiological impacts on older adults during human-robot interaction (HRI). This study addresses whether…
The interdisciplinary nature of Child-Robot Interaction (CRI) fosters incorporating measures and methodologies from many established domains. However, when employing CRI approaches to sensitive avenues of health and wellbeing, caution is…
As high-speed, agile robots become more commonplace, these robots will have the potential to better aid and collaborate with humans. However, due to the increased agility and functionality of these robots, close collaboration with humans…
An outstanding challenge with safety methods for human-robot interaction is reducing their conservatism while maintaining robustness to variations in human behavior. In this work, we propose that robots use confidence-aware game-theoretic…
Cognitive behavioral therapy (CBT) is a widely used therapeutic method for guiding individuals toward restructuring their thinking patterns as a means of addressing anxiety, depression, and other challenges. We developed a large language…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Safety in human-robot interaction can be divided into physical safety and perceived safety, where the latter is still under-addressed in the literature. Investigating perceived safety in human-robot interaction requires a multidisciplinary…
As robotic arms become prevalent in industry it is crucial to improve levels of trust from human collaborators. Low levels of trust in human-robot interaction can reduce overall performance and prevent full robot utilization. We…
There are many different ways a robot can move in Human-Robot Interaction. One way is to use techniques from film animation to instruct the robot to move. This article is a systematic literature review of human-robot trials, pilots, and…
Touch is an important channel for human-robot interaction, while it is challenging for robots to recognize human touch accurately and make appropriate responses. In this paper, we design and implement a set of large-format distributed…
Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…
Hugs are complex affective interactions that often include gestures like squeezes. We present six new guidelines for designing interactive hugging robots, which we validate through two studies with our custom robot. To achieve autonomy, we…
Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other…
In the next decade, social robots will be implemented in many public spaces to provide services to humans. We question the properties of these social robots to afford acceptance and spontaneous emotional interactions. More specifically, in…
Facial expressiveness plays a crucial role in a robot's ability to engage and interact with children. Prior research has shown that expressive robots can enhance child engagement during human-robot interactions. However, many robots used in…
As social robots become increasingly prevalent in day-to-day environments, they will participate in conversations and appropriately manage the information shared with them. However, little is known about how robots might appropriately…
A significant number of college students suffer from mental health issues that impact their physical, social, and occupational outcomes. Various scalable technologies have been proposed in order to mitigate the negative impact of mental…
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…