相关论文: Brain-Robot Interface for Exercise Mimicry

The development of autonomous robotic systems that can learn from human demonstrations to imitate a desired behavior - rather than being manually programmed - has huge technological potential. One major challenge in imitation learning is…

Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…

There is increasing interest in the use of animal-like robots in applications such as companionship and pet therapy. However, in the majority of cases it is only the robot's physical appearance that mimics a given animal. In contrast, MiRo…

Mindfulness is the state of paying attention to the present moment on purpose and meditation is the technique to obtain this state. This study aims to develop a robot assistant that facilitates mindfulness training by means of a Brain…

BCI systems are able to communicate directly between the brain and computer using neural activity measurements without the involvement of muscle movements. For BCI systems to be widely used by people with severe disabilities, long-term…

In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…

Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning. Imitation learning solves this problem by using a…

In this project, and through an understanding of neuronal system communication, A novel model serves as an assistive technology for locked-in people suffering from Motor neuronal disease (MND) is proposed. Work was done upon the potential…

Social-physical human-robot interaction (spHRI) is difficult to study: building and programming robots that integrate multiple interaction modalities is costly and slow, while VR-based prototypes often lack physical contact, breaking users'…

In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation exercises remotely via RGB-D video. Our system encodes demonstrations as 6-DoF body-centric trajectories using Cartesian Dynamic…

Optimizing the body and brain of a robot is a coupled challenge: the morphology determines what control strategies are effective, while the control parameters influence how well the morphology performs. This joint optimization can be done…

This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…

This paper investigates users' preferred interaction modalities when playing an imitation game with KASPAR, a small child-sized humanoid robot. The study involved 16 adult participants teaching the robot to mime a nursery rhyme via one of…

Robot-assisted therapy is an emerging form of therapy for autistic children, although designing effective robot behaviors is a challenge for effective implementation of such therapy. A series of usability tests assessed trends in the…

An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…

Imitation learning techniques have been shown to be highly effective in real-world control scenarios, such as robotics. However, these approaches not only suffer from compounding error issues but also require human experts to provide…

Physiological signals are increasingly relevant to estimate the mental states of users in human-robot interaction (HRI), yet ROS 2-based HRI frameworks still lack reusable support to integrate such data streams in a standardized way.…

In Human-Robot Interaction (HRI) systems, a challenging task is sharing the representation of the operational environment, fusing symbolic knowledge and perceptions, between users and robots. With the existing HRI pipelines, users can teach…

The use of social, anthropomorphic robots to support humans in various industries has been on the rise. During Human-Robot Interaction (HRI), physically interactive non-verbal behaviour is key for more natural interactions. Handshaking is…

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…