5 papers
A Wearable Pneumatic Device for Continuous, Closed-Loop, Bidirectional Tactile Interaction
Cosima du Pasquier, Aliyah Smith, Serin Huber +5
We present a system of two wearable pneumatic haptic devices that supports continuous, closed-loop, bidirectional tactile interaction at perceptually relevant force and temporal sc…
The Role of Consequential and Functional Sound in Human-Robot Interaction: Toward Audio Augmented Reality Interfaces
Aliyah Smith, Monroe Kennedy
Robot sound, encompassing both consequential operational noise and intentionally designed auditory cues, plays an important role in human-robot interaction (HRI). Developing a deep…
A Study of Perceived Safety for Soft Robotics in Caregiving Tasks
Cosima du Pasquier, Jennifer Grannen, Chuer Pan +6
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because forc…
Towards Accessible Robot Control: Comparing Kinesthetic Teaching, SpaceMouse Teleoperation, and a Mixed Reality Interface
Aliyah Smith, Monroe Kennedy
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between…
Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting
Ola Shorinwa, Johnathan Tucker, Aliyah Smith +5
We present Splat-MOVER, a modular robotics stack for open-vocabulary robotic manipulation, which leverages the editability of Gaussian Splatting (GSplat) scene representations to e…