5 papers
Fitts' List Revisited: An Empirical Study on Function Allocation in a Two-Agent Physical Human-Robot Collaborative Position/Force Task
Nicky Mol, J. Micah Prendergast, David A. Abbink +1
In this letter, we investigate whether classical function allocation-the principle of assigning tasks to either a human or a machine-holds for physical Human-Robot Collaboration, w…
Achieving Meaningful Collaboration: Worker-centered Design of a Physical Human-Robot Collaborative Blending Task
Nicky Mol, Luka Peternel, Alessandro Ianniello +9
The use of robots in industrial settings continues to grow, driven by the need to address complex societal challenges such as labor shortages, aging populations, and ever-increasin…
Robotic Skill Diversification via Active Mutation of Reward Functions in Reinforcement Learning During a Liquid Pouring Task
Jannick van Buuren, Roberto Giglio, Loris Roveda +1
This paper explores how deliberate mutations of reward function in reinforcement learning can produce diversified skill variations in robotic manipulation tasks, examined with a li…
Visio-Verbal Teleimpedance Interface: Enabling Semi-Autonomous Control of Physical Interaction via Eye Tracking and Speech
Henk H. A. Jekel, Alejandro DÃaz Rosales, Luka Peternel
The paper presents a visio-verbal teleimpedance interface for commanding 3D stiffness ellipsoids to the remote robot with a combination of the operator's gaze and verbal interactio…
Biomechanics-Aware Trajectory Optimization for Online Navigation during Robotic Physiotherapy
Italo Belli, Florian van Melis, J. Micah Prendergast +2
Robotic devices provide a great opportunity to assist in delivering physical therapy and rehabilitation movements, yet current robot-assisted methods struggle to incorporate biomec…