11 accepted papers
Robotic telemanipulation—the human-guided manipulation of remote objects—plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable information to the human operator, haptic feedback is essential for acce…
Robotic telemanipulation is central in many applications, from healthcare to harsh environments. While visual feedback from cameras can provide valuable information to the human operator, haptic feedback offers insight into certain object properties - such as stiffness - that vision alone cannot pro
Effective execution of long-horizon tasks with dexterous robotic hands remains a significant challenge in real-world problems. While learning from human demonstrations has shown encouraging results, they require extensive data collection for training. Hence, decomposing long-horizon tasks into reusa…
Soft robotic gloves are designed to assist individuals with daily tasks that involve grasping. Such devices are however often hampered by an inability to generate enough force to enable them to perform the tasks for which they were designed. This study evaluates the grasping capabilities of a novel
Neural control is paramount in maintaining upright stance of a human; however, the associated time delay affects stability. In the design and control of wearable robots to augment human stance, the neural delay dynamics are often overly simplified or ignored leading to over specified systems. In thi
Robotic bimanual training can benefit from understanding how to modify human motor effort in bimanual tasks. We addressed this issue by carrying out a study to investigate whether and how penalizing the use of one hand could alter the hands’ effort distribution. Actuated haptic perturbations and alt
This work presents a method for tactile classification of materials for virtual reality (VR) based robot teleoperation. In our system, a human-operator uses a remotely controlled robot-manipulator with an optical fibre-based tactile and proximity sensor to scan surfaces of objects in a remote enviro…
Remote characterisation of the environment during physical robot-environment interaction is an important task commonly accomplished in telerobotics. This paper demonstrates how tactile and proximity sensing can be efficiently used to perform automatic crack detection. A custom-designed integrated ta…
This letter presents an experimental study on balance recovery control with a lower limb exoskeleton robot. Four participants were subjected to a perturbation during standing, a forward force impulse applied to their pelvis that forced them to step forward with the right leg for balance recovery. Tr
The knowledge of the gravitational vertical is fundamental for the autonomous control of humanoids and other free-moving robotic systems such as rovers and drones. This letter deals with the hypothesis that the so-called “head stabilization strategy” observed in humans and animals facilitates the es
The knowledge of the gravitational vertical is fundamental for the autonomous control of humanoids and other free-moving robotic systems such as rovers and drones. This article deals with the hypothesis that the so-called `head stabilization strategy' observed in humans and animals facilitates the e…