We present a framework for the acquisition and parametrization of object material properties. The introduced acquisition device, denoted as Texplorer2, is able to extract surface material properties while a human operator is performing exploratory pr...
Absolute stability analysis of bilateral teleoperation systems are typically model-based. Under borderline conditions of absolute stability, depending on the degree of uncertainty in the dynamic model of the teleoperator and existing noise, the syste...
This paper describes a prototype guidance system, "FingerSight," to help people without vision locate and reach to objects in peripersonal space. It consists of four evenly spaced tactors embedded into a ring worn on the index finger, with a small ca...
With the introduction of variable friction displays, either based on ultrasonic or electrovibration technology, new possibilities have emerged in haptic texture rendering on flat surfaces. In this work, we propose a data-driven method for realistic t...
To achieve a smooth and safe guiding of a drone formation by a human operator, we propose a novel interaction strategy for a human-swarm communication, which combines impedance control and vibrotactile feedback. The presented approach takes into acco...
Robotics teleoperation enables human operators to control the movements of distally located robots. The development of new wearable interfaces as alternatives to hand-held controllers has created new modalities of control, which are more intuitive to...
The interaction of robot teams and single human in teleoperation scenarios is beneficial in cooperative tasks, for example, the manipulation of heavy and large objects in remote or dangerous environments. The main control challenge of the interaction...
Although robotic telemanipulation has always been a key technology for the nuclear industry, little advancement has been seen over the last decades. Despite complex remote handling requirements, simple mechanically linked master-slave manipulators st...
Robotic walkers are a promising solution for physical and cognitive support to older adults. This paper proposes a low cost path following strategy combining the advantages of a simple mechanical braking guidance, such as safety, passivity, and a low...
Controlling contact with arbitrary, unknown objects defines a fundamental problem for robotic grasping and in-hand manipulation. In real-world scenarios, where robots interact with a variety of objects, the sheer number of possible contact interactio...