A Minimum-Jerk Approach to Handle Singularities in Virtual Fixtures

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A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation of algorithms t ...

Industrial robots have been programmed to optimize mass production by executing predefined trajectories with their high speed, precision, and repeatability over long production cycles. However, the rise of Industry 4.0 and the increasing demand for diverse ...

To make social robots effective in education, they need to be autonomous both in terms of assessing the student's engagement state as well as intervening effectively in soft real-time when necessary. Hidden Markov Model (HMM) is an interpretable machine le ...

This paper describes the first steps of an ongoing participatory design with teachers from Switzerland to co-create Human-Robot Interaction setups for integrating children with migration history. The herein presented phase had two main goals: (i) initially ...

Robotics and neuroscience are sister disciplines that both aim to understand how agile, efficient, and robust locomotion can be achieved in autonomous agents. Robotics has already benefitted from neuromechanical principles discovered by investigating anima ...

Task-specific training constitutes a core element for evidence-based rehabilitation strategies targeted at improving upper extremity activity after stroke. Its combination with additional treatment strategies and neurotechnologybased solutions could furthe ...

Ultrasound can non-invasively detect muscle deformations, which has great potential applications in prosthetic hand control. This research developed a miniaturized ultrasound device that could be integrated into a prosthetic hand socket. This compact syste ...

This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...

When the question of who should get access to a communal resource first is uncertain, people often negotiate via nonverbal communication to resolve the conflict. What should a robot be programmed to do when such conflicts arise in Human-Robot Interaction? ...

The articles in this special section focus on long term human motion prediction. This represents a key ability for advanced autonomous systems, especially if they operate in densely crowded and highly dynamic environments. In those settings understanding a ...

Understanding the external environment depends heavily on vision, audition, and touch. Like vision and audition, the human sense of touch is complex. Tactile perception is composed of multiple fundamental and physical experiences felt as changes in stiffne ...

The dielectric elastomer actuator (DEA) is a technology known to potentially provide high energy density (0.3 - 0.4 J.cm(-3)). However, in the literature, few demonstrations have been done to evaluate this figure. To well understand the ability of this tec ...

Propulsion of swimming robots at the surface and underwater is largely dominated by rotary propellers due to high thrust, but at the cost of low efficiency. Due to their inherently high speed turning motion, sharp propeller blades and generated noise, they ...

The Robots for Learning workshop series aims at advancing the research topics related to the use of social robots in educational contexts. This year's half-day workshop follows on previous events in Human-Robot Interaction conferences focusing on efforts t ...

The goal of this work is to enable robots to intelligently and compliantly adapt their motions to the intention of a human during physical Human-Robot Interaction (pHRI) in a multi-task setting. We employ a class of parameterized dynamical systems that all ...

We present a new framework to generate humanlike lower-limb trajectories in periodic and non-periodic walking. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to simulate falling, swing, and torso ba ...

Exercising is strongly recommended for prevention and treatment of pathologies with high prevalence such as cardiovascular diseases, cancer, and diabetes. The World Health Organization (WHO) states that insufficient physical activity is one of the leading ...

This thesis contributes to the field of Dielectric Elastomer Actuators (DEAs). DEAs are electrostatically driven soft actuators that are fast, capable of generating large actuation strains, high forces, and present high power density. A wide range of appli ...

Modular self-folding robots are versatile systems that can change their own shape from two-dimensional patterns at instant commands. This reconfigurability is commonly restrained by power limitation in autonomous environments. The robotic systems with insu ...

A Minimum-Jerk Approach to Handle Singularities in Virtual Fixtures

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Principles and Guidelines for Evaluating Social RobotNavigation Algorithms

An augmented reality-based wearable system for handheld-free and intuitive robot programming

An HMM-based Real-time Intervention Methodology for a Social Robot Supporting Learning

Teacher's Perception on Social Robots to Promote the Integration of Children with Migration Background

The neuromechanics of animal locomotion: From biology to robotics and back

The effect of gamified robot-enhanced training on motor performance in chronic stroke survivors

Wearable Ultrasound Interface for Prosthetic Hand Manipulation

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

Design of Hesitation Gestures for Nonverbal Human-Robot Negotiation of Conflicts

Guest Editorial: Introduction to the Special Issue on Long-Term Human Motion Prediction

Soft Touch using Soft Pneumatic Actuator-Skin as a Wearable Haptic Feedback Device

Redefining Energy Density for an uniaxial Dielectric Elastomer Actuator

Design and development of the efficient anguilliform swimming robot- MAR

Robots for Learning - R4L: Adaptive Learning

A Dynamical System Approach to Task-Adaptation in Physical Human-Robot Interaction

Scalable closed-form trajectories for periodic and non-periodic human-like walking

PREC 2019: Personal Robots for Exercising and Coaching

Low voltage fast dielectric elastomer actuators

Guest editorial: Special issue on distributed robotics - from fundamentals to applications

Towards Peak Torque Minimization for Modular Self-folding Robots