document

Coactive Design: Designing Support for Interdependence in Joint Activity

Johnson, M. (author), Bradshaw, J.M. (author), Feltovich, P.J. (author), Jonker, C.M. (author), Van Riemsdijk, M.B. (author), Sierhuis, M. (author)

Coactive Design is a new approach to address the increasingly sophisticated roles that people and robots play as the use of robots expands into new, complex domains. The approach is motivated by the desire for robots to perform less like teleoperated tools or independent automatons and more like interdependent teammates. In this article, we...

journal article 2014

document

Mood contagion of robot body language in human robot interaction

Xu, J. (author), Broekens, D.J. (author), Hindriks, K.V. (author), Neerincx, M.A. (author)

The aim of our work is to design bodily mood expressions of humanoid robots for interactive settings that can be recognized by users and have (positive) effects on people who interact with the robots. To this end, we develop a parameterized behavior model for humanoid robots to express mood through body language. Different settings of the...

journal article 2015

document

Dialogues on Architecture

Bier, H.H. (author), Chan, P.W.C. (author), Makaya, Advenit (author), Cervone, A. (author)

Dialogues on Architecture is a series of dialogues between researchers and practitioners, who are embracing the intellectual model of high technology and are involved in its advancement and application in architecture. Dialogue #4 focuses on the technology transfer between on-and off-Earth research and its impact on society, and in particular...

journal article 2021

document

Getting acquainted: First steps for child-robot relationship formation

Ligthart, Mike E.U. (author), Neerincx, M.A. (author), Hindriks, K.V. (author)

In this article we discuss two studies of children getting acquainted with an autonomous socially assistive robot. The success of the first encounter is key for a sustainable long-term supportive relationship. We provide four validated behavior design elements that enable the robot to robustly get acquainted with the child. The first are five...

journal article 2022

document

A capability-aware role allocation approach to industrial assembly tasks

Lamon, Edoardo (author), De Franco, Alessandro (author), Peternel, L. (author), Ajoudani, Arash (author)

The deployment of industrial robotic cells based on lean manufacturing principles enables the development of fast-reconfigurable assembly lines in which human and robotic agents collaborate to achieve a shared task. To ensure the effective coordination of the shared effort, each task must be decomposed into a sequence of atomic actions that can...

journal article 2019

document

Shared control versus traded control in driving: a debate around automation pitfalls

de Winter, J.C.F. (author), Petermeijer, S.M. (author), Abbink, D.A. (author)

A major question in human-automation interaction is whether tasks should be traded or shared between human and automation. This work presents reflections—which have evolved through classroom debates between the authors over the past 10 years—on these two forms of human-automation interaction, with a focus on the automated driving domain. As...

journal article 2022

document

Biomechanics Aware Collaborative Robot System for Delivery of Safe Physical Therapy in Shoulder Rehabilitation

Prendergast, J.M. (author), Balvert, Stephan (author), Driessen, Tom (author), Seth, A. (author), Peternel, L. (author)

In this work, we explore using computational musculoskeletal modeling to equip an industrial collaborative robot with awareness of the internal state of a patient to safely deliver physical therapy. A major concern of robot-mediated physical therapy is that robots may unwittingly injure patients. For patients with shoulder injuries this...

journal article 2021

document

Towards an Engagement-Aware Attentive Artificial Listener for Multi-Party Interactions

Oertel, Catharine (author), Jonell, Patrik (author), Kontogiorgos, Dimosthenis (author), Mora, Kenneth Funes (author), Odobez, Jean Marc (author), Gustafson, Joakim (author)

Listening to one another is essential to human-human interaction. In fact, we humans spend a substantial part of our day listening to other people, in private as well as in work settings. Attentive listening serves the function to gather information for oneself, but at the same time, it also signals to the speaker that he/she is being heard....

journal article 2021

document

An Incremental Inverse Reinforcement Learning Approach for Motion Planning with Separated Path and Velocity Preferences

Avaei, S. (author), van der Spaa, L.F. (author), Peternel, L. (author), Kober, J. (author)

Humans often demonstrate diverse behaviors due to their personal preferences, for instance, related to their individual execution style or personal margin for safety. In this paper, we consider the problem of integrating both path and velocity preferences into trajectory planning for robotic manipulators. We first learn reward functions that...

journal article 2023

document

What Attention Regulation Behaviors Tell Us About Learners in E-Reading?: Adaptive Data-Driven Persona Development and Application Based on Unsupervised Learning

Lee, Y. (author), Migut, M.A. (author), Specht, M.M. (author)

Different individual features of the learner data often work as essential indicators of learning and intervention needs. This work exploits the personas in the design thinking process as the theoretical basis to analyze and cluster learners’ learning behavior patterns as groups. To adapt to the learning practice, we develop data-driven personas...

journal article 2023

document

Augmented reality-based telepresence in a robotic manipulation task: An experimental evaluation

de Boer, T.A.B. (author), de Winter, J.C.F. (author), Eisma, Y.B. (author)

A spectrum of control methods in human–robot interaction was investigated, ranging from direct control to telepresence with a virtual representation of the robot arm. A total of 24 participants used a setup that included a Franka Emika Panda robot arm, Varjo XR-3 head-mounted display, and Leap Motion Controller. Participants performed a box...

journal article 2023

document

The Effects of Different Motor Teaching Strategies on Learning a Complex Motor Task

Kunavar, Tjasa (author), Jamšek, Marko (author), Avila-Mireles, Edwin Johnatan (author), Rueckert, Elmar (author), Peternel, L. (author), Babič, Jan (author)

During the learning of a new sensorimotor task, individuals are usually provided with instructional stimuli and relevant information about the target task. The inclusion of haptic devices in the study of this kind of learning has greatly helped in the understanding of how an individual can improve or acquire new skills. However, the way in...

journal article 2024

document

Model predictive impedance control with Gaussian processes for human and environment interaction

Haninger, Kevin (author), Hegeler, Christian (author), Peternel, L. (author)

Robotic tasks which involve uncertainty – due to variation in goal, environment configuration, or confidence in task model – may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for adapting robot trajectory or impedance according to individual uncertainties have been proposed, e.g.,...

journal article 2023

document

Robotic Skill Mutation in Robot-to-Robot Propagation During a Physically Collaborative Sawing Task

Maessen, Rosa E.S. (author), Prendergast, J.M. (author), Peternel, L. (author)

Skill propagation among robots without human involvement can be crucial in quickly spreading new physical skills to many robots. In this respect, it is a good alternative to pure reinforcement learning, which can be time-consuming, or learning from human demonstration, which requires human involvement. In the latter case, there may not be...

journal article 2023

document

Cooperative ankle-exoskeleton control can reduce effort to recover balance after unexpected disturbances during walking

Bayón, Cristina (author), Keemink, Arvid Q.L. (author), van Mierlo, Michelle (author), Rampeltshammer, Wolfgang (author), van der Kooij, H. (author), van Asseldonk, Edwin H.F. (author)

BACKGROUND: In the last two decades, lower-limb exoskeletons have been developed to assist human standing and locomotion. One of the ongoing challenges is the cooperation between the exoskeleton balance support and the wearer control. Here we present a cooperative ankle-exoskeleton control strategy to assist in balance recovery after...

journal article 2022

document

Learning sequential force interaction skills

Manschitz, Simon (author), Gienger, Michael (author), Kober, J. (author), Peters, Jan (author)

Learning skills from kinesthetic demonstrations is a promising way of minimizing the gap between human manipulation abilities and those of robots. We propose an approach to learn sequential force interaction skills from such demonstrations. The demonstrations are decomposed into a set of movement primitives by inferring the underlying...

journal article 2020

document

A Cloud-based Robot System for Long-term Interaction: Principles, Implementation, Lessons Learned

Kaptein, F.C.A. (author), Kiefer, Bernd (author), Cully, Antoine (author), Celiktutan, Oya (author), Bierman, Bert (author), Rijgersberg-Peters, Rifca (author), Broekens, D.J. (author), Van Vught, Willeke (author), Van Bekkum, Michael (author), Demiris, Yiannis (author), Neerincx, M.A. (author)

Making the transition to long-term interaction with social-robot systems has been identified as one of the main challenges in human-robot interaction. This article identifies four design principles to address this challenge and applies them in a real-world implementation: cloud-based robot control, a modular design, one common knowledge base...

journal article 2022

document

Meaningful human control as reason-responsiveness: the case of dual-mode vehicles

Mecacci, G. (author), Santoni De Sio, F. (author)

In this paper, in line with the general framework of value-sensitive design, we aim to operationalize the general concept of “Meaningful Human Control” (MHC) in order to pave the way for its translation into more specific design requirements. In particular, we focus on the operationalization of the first of the two conditions (Santoni de Sio...

journal article 2019

document

Assistive arm-exoskeleton control based on human muscular manipulability

Petrič, Tadej (author), Peternel, L. (author), Morimoto, Jun (author), Babič, Jan (author)

This paper introduces a novel control framework for an arm exoskeleton that takes into account force of the human arm. In contrast to the conventional exoskeleton controllers where the assistance is provided without considering the human arm biomechanical force manipulability properties, we propose a control approach based on the arm muscular...

journal article 2019

document

Bonding with a Couchsurfing Robot: The Impact of Common Locus on Human-Robot Bonding In-the-Wild

Mollen, J.K. (author), Van Der Putten, Peter (author), Darling, Kate (author)

Due to an increased presence of robots in human-inhabited environments, we observe a growing body of examples in which humans show behavior that is indicative of strong social engagement towards robots that do not possess any life-like realism in appearance or behavior. In response, we focus on the under-explored concept of a common locus as a...

journal article 2023