For gaining proficiency in physical human-robot interactions, it is crucial for engineering students to be provided with the opportunity to gain hands-on experience with robotic devices that feature kinesthetic feedback. In this article, we propose H...
The goal of this article is to design an admittance controller for a robot to adaptively change its contribution to a collaborative manipulation task executed with a human partner to improve the task performance. This has been achieved by adaptive sc...
Integrating tactile feedback for lump localization in Robot-assisted Minimally Invasive Surgery (RMIS) represents an open research issue, which is still far to be solved. Main reasons for this are related e.g. to the need for a transparent connection...
Haptic communication, the exchange of force and tactile information during dancing or moving a table together, has been shown to benefit the performance of human partners. Similarly, it could also be used to improve the performance of robots working ...
We present a neural network-based compression artifact removal technique for vibrotactile signals. The proposed decoder-side quality enhancement approach is based on recurrent neural networks (RNNs) and the principle of residual learning. We use a to...
Recent studies on the physical interaction between humans have revealed their ability to read the partner's motion plan and use it to improve one's own control. Inspired by these results, we develop an intention assimilation controller (IAC) that ena...
Bone milling is one of the most widely used and high-risk procedures in various types of surgeries, and it is important to be noted that the experienced surgeon can perform such an operation safely. The objective of this article is to enhance the saf...
The handle design of telemanipulation master devices has not been extensively studied so far. However, the master device handle is an integral part of the robotic system through which the user interacts with the system. Previous work showed that the ...
Supernumerary Robotics Limbs, or SuperLimbs for short, are wearable extra limbs for augmenting the wearer. SuperLimbs are attached directly to a human and, thereby, transmit a force from the environment to the human body. This inherent haptic feedbac...
Tactile perception is a rich source of information for robotic grasping: it allows a robot to identify a grasped object and assess the stability of a grasp, among other things. However, the tactile sensor must come into contact with the target object...