38 citations · 66 across the 16 of their papers we have counts for
16 papers
HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction
Zhonghao Shi, Enyu Zhao, Nathaniel Dennler +6
Real-time human perception is crucial for effective human-robot interaction (HRI). Large vision-language models (VLMs) offer promising generalizable perceptual capabilities but oft…
Modeling Personalized Difficulty of Rehabilitation Exercises Using Causal Trees
Nathaniel Dennler, Zhonghao Shi, Uksang Yoo +2
Rehabilitation robots are often used in game-like interactions for rehabilitation to increase a person's motivation to complete rehabilitation exercises. By adjusting exercise diff…
Contrastive Learning from Exploratory Actions: Leveraging Natural Interactions for Preference Elicitation
Nathaniel Dennler, Stefanos Nikolaidis, Maja Matarić
People have a variety of preferences for how robots behave. To understand and reason about these preferences, robots aim to learn a reward function that describes how aligned robot…
Soft and Compliant Contact-Rich Hair Manipulation and Care
Uksang Yoo, Nathaniel Dennler, Eliot Xing +4
Hair care robots can help address labor shortages in elderly care while enabling those with limited mobility to maintain their hair-related identity. We present MOE-Hair, a soft ro…
Improving User Experience in Preference-Based Optimization of Reward Functions for Assistive Robots
Nathaniel Dennler, Zhonghao Shi, Stefanos Nikolaidis +1
Assistive robots interact with humans and must adapt to different users' preferences to be effective. An easy and effective technique to learn non-expert users' preferences is thro…
Inclusion in Assistive Haircare Robotics: Practical and Ethical Considerations in Hair Manipulation
Uksang Yoo, Nathaniel Dennler, Sarvesh Patil +2
Robot haircare systems could provide a controlled and personalized environment that is respectful of an individual's sensitivities and may offer a comfortable experience. We argue…
Designing Robot Identity: The Role of Voice, Clothing, and Task on Robot Gender Perception
Nathaniel S. Dennler, Mina Kian, Stefanos Nikolaidis +1
Perceptions of gender are a significant aspect of human-human interaction, and gender has wide-reaching social implications for robots deployed in contexts where they are expected…
Using Causal Trees to Estimate Personalized Task Difficulty in Post-Stroke Individuals
Nathaniel Dennler, Stefanos Nikolaidis, Maja Matarić
Adaptive training programs are crucial for recovery post stroke. However, developing programs that automatically adapt depends on quantifying how difficult a task is for a specific…
Singing the Body Electric: The Impact of Robot Embodiment on User Expectations
Nathaniel Dennler, Stefanos Nikolaidis, Maja Matarić
Users develop mental models of robots to conceptualize what kind of interactions they can have with those robots. The conceptualizations are often formed before interactions with t…
A metric for characterizing the arm nonuse workspace in poststroke individuals using a robot arm
Nathaniel Dennler, Amelia Cain, Erica De Guzman +4
An over-reliance on the less-affected limb for functional tasks at the expense of the paretic limb and in spite of recovered capacity is an often-observed phenomenon in survivors o…
Evaluating and Personalizing User-Perceived Quality of Text-to-Speech Voices for Delivering Mindfulness Meditation with Different Physical Embodiments
Zhonghao Shi, Han Chen, Anna-Maria Velentza +4
Mindfulness-based therapies have been shown to be effective in improving mental health, and technology-based methods have the potential to expand the accessibility of these therapi…
The RoSiD Tool: Empowering Users to Design Multimodal Signals for Human-Robot Collaboration
Nathaniel Dennler, David Delgado, Daniel Zeng +2
Robots that cooperate with humans must be effective at communicating with them. However, people have varied preferences for communication based on many contextual factors, such as…
pyribs: A Bare-Bones Python Library for Quality Diversity Optimization
Bryon Tjanaka, Matthew C. Fontaine, David H. Lee +6
Recent years have seen a rise in the popularity of quality diversity (QD) optimization, a branch of optimization that seeks to find a collection of diverse, high-performing solutio…
Using Design Metaphors to Understand User Expectations of Socially Interactive Robot Embodiments
Nathaniel Dennler, Changxiao Ruan, Jessica Hadiwijoyo +3
The physical design of a robot suggests expectations of that robot's functionality for human users and collaborators. When those expectations align with the true capabilities of th…
Design and Evaluation of a Hair Combing System Using a General-Purpose Robotic Arm
Nathaniel Dennler, Eura Shin, Maja Matarić +1
This work introduces an approach for automatic hair combing by a lightweight robot. For people living with limited mobility, dexterity, or chronic fatigue, combing hair is often a…
Personalizing User Engagement Dynamics in a Non-Verbal Communication Game for Cerebral Palsy
Nathaniel Dennler, Catherine Yunis, Jonathan Realmuto +3
Children and adults with cerebral palsy (CP) can have involuntary upper limb movements as a consequence of the symptoms that characterize their motor disability, leading to difficu…