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Goal-directed movements are executed under the permanent supervision of the central nervous system, which continuously processes sensory afferents and triggers on-line corrections if movement accuracy seems to be compromised. For arm reaching movements, visual information about the hand plays an important role in this supervision, notably improving reaching(More)
Emotion recognition from EEG signals allows the direct assessment of the “inner” state of a user, which is considered an important factor in human-machine-interaction. Many methods for feature extraction have been studied and the selection of both appropriate features and electrode locations is usually based on neuro-scientific findings. Their(More)
A brain-computer interface (BCI) translates brain activity into commands to control devices or software. Common approaches are based on visual evoked potentials (VEP), extracted from the electroencephalogram (EEG) during visual stimulation. High information transfer rates (ITR) can be achieved using (i) steady-state VEP (SSVEP) or (ii) code-modulated VEP(More)
Bilateral haptic teleoperation systems allow humans to perform complex tasks in a remote or inaccessible environment, while providing haptic feedback to the human operator. The incorporation of online gained environment-, operator-, or task-specific (EOT) information in the controller structure can lead to significant improvements in robustness, task(More)
— Recent research focuses on developing robots that are meant to be partners of humans instead of pure machines. This makes enhanced communication necessary. Especially in scenarios embedding physical interaction between the two partners dominance is an urgent matter. To overcome one-sided dominance as in passive following or trajectory replay in favor of(More)
In order to enable intuitive physical interaction with autonomous robots as well as in collaborative multiuser virtual reality and tele-operation systems a deep understanding of human-human haptic interaction is required. In this paper the effect of haptic interaction in single and dyadic conditions is investigated. Furthermore, an energy-based framework(More)
— If a teleoperation scenario foresees complex and fine manipulation tasks a multi-fingered telemanipulation system is required. In this paper a multi-fingered telemanipulation system is presented, whereby the human hand controls a three-finger robotic gripper and force feedback is provided by using an exoskeleton. Since the human hand and robotic grippers(More)
Recent developments strive for realizing robotic systems that not only interact, but closely collaborate with humans in performing everyday manipulation tasks. Successful collaboration requires the integration of the individual partner's intentions into a shared action plan, which may involve continuous negotiation of intentions. We focus on collaboration(More)
Despite the great diversity of teleoperator designs and applications, their underlying control systems have many similarities. These similarities can be exploited to enable inter-operability between heterogeneous systems. We have developed a network data specification, the Interoperable Telerobotics Protocol, that can be used for Internet based control of a(More)