1 citations · 1 across the 3 of their papers we have counts for
5 papers · 1 filter
J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators
Shivani Guptasarma, Matthew Strong, Honghao Zhen +1
J-PARSE is an algorithm for smooth first-order inverse kinematic control of a serial manipulator near kinematic singularities. The commanded end-effector velocity is interpreted co…
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…
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…
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…
ProACT: An Augmented Reality Testbed for Intelligent Prosthetic Arms
Shivani Guptasarma, Monroe D. Kennedy
Upper-limb amputees face tremendous difficulty in operating dexterous powered prostheses. Previous work has shown that aspects of prosthetic hand, wrist, or elbow control can be im…