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An intelligent human-robot interaction (HRI) system with adjustable robot behavior is presented. The proposed HRI system assists the human operator to perform a given task with minimum workload demands and optimizes the overall human-robot system performance. Motivated by human factor studies, the presented control structure consists of two control loops.(More)
Robotic skin with embedded pressure, temperature, and distance sensors are increasingly useful in safe and intuitive human-robot collaboration scenarios. Design problems for distributed arrays of skin sensors. Such as placement, optimizing resolution, networking, and use in feedback loops are difficult to solve, and highly dependent on the application. In(More)
In this paper, we describe control algorithms accomplishing human-robot interaction through mimicking behaviors between the humanoid robot Zeno and humans. Specifically, arm and torso motions of the robot follow closely those of the human, this mimicking behavior, can be used for clinical treatment and diagnosis during robot therapy of subjects suffering(More)
Safety is an important consideration during physical Human-Robot Interaction (pHRI). Recently the community has tested numerous new safety features for robots, including accurate joint torque sensing, gravity compensation, reduced robot mass, and joint torque limits. Although these methods have reduced the risk of high energy collisions, they rely on(More)
Effective physical Human-Robot Interaction (pHRI) needs to account for variable human dynamics and also predict human intent. Recently, there has been a lot of progress in adaptive impedance and admittance control for human-robot interaction. Not as many contributions have been reported on online adaptation schemes that can accommodate users with varying(More)
This paper presents an intelligent wheelchair designed to be used as a development and evaluation platform for alternative, non-tactile power wheelchair controls. The system is designed to be highly modular such that new human-computer interface devices and methods can be quickly integrated and evaluated as necessary. The current configuration provides full(More)
Social robotics has emerged as a new research area in recent years. One of the reasons behind this emergence is the rapid pace of improvements in sensor, actuator and processing capabilities in modern hardware enabling robots to interact with humans more effectively than ever before. The motivation for the work presented in this paper is to use advanced(More)
This paper describes Neptune, a mobile manipulator designed as an assistive device for the rehabilitation of children with special needs, such as those suffering from Cerebral-Palsy. Neptune consists of a mobile robot base and a 6DOF robotic arm, and it is interfaced to users via Wii Remote, iPad, Neural Headset, a camera, and pressure sensors. These(More)