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Coggins, T.N. (author)In the introduction of this thesis, I contend that robot ethics, as a research field, generally treats privacy as the appropriate distribution of information, and therefore overlooks privacy concerns raised by robots beyond this conceptualization’s purview. I illustrate this contention by evaluating a hypothetical case involving a household...doctoral thesis 2024
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Lee, Y. (author)E-learning has shifted the traditional learning paradigms in higher education, offering more flexible, ubiquitous, and personalized learning experiences. The previous years COVID-19 pandemic required a re-calibration of education to accommodate virtual learning environments from the traditional classroom-based education. Widespread learning...doctoral thesis 2024
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van der Spaa, L.F. (author)Physical human-robot cooperation (pHRC) has the potential to combine human and robot strengths in a team that can achieve more than a human and a robot working on the task separately. However, how much of the potential can be realized depends on the quality of cooperation, in which awarenes of the partner’s intention and preferences plays an...doctoral thesis 2024
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Stella, F. (author), Della Santina, C. (author), Hughes, Josie (author)The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter proposes a method to eliminate this limitation by leveraging the Piecewise Constant...journal article 2024
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Pinskier, Josh (author), Wang, Xing (author), Liow, Lois (author), Xie, Yue (author), Kumar, Prabhat (author), Langelaar, Matthijs (author), Howard, David (author)Soft grippers are ideal for grasping delicate, deformable objects with complex geometries. Universal soft grippers have proven effective for grasping common objects, however complex objects or environments require bespoke gripper designs. Multi-material printing presents a vast design-space which, when coupled with an expressive computational...journal article 2024
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Schrijvershof, Pim (author), Rahimi, A. Masie (author), Leone, Nicola (author), Bloemendaal, Alexander (author), Daams, Freek (author), Arezzo, Alberto (author), Mintz, Yoav (author), Horeman, T. (author)Surgeons performing robotic-assisted laparoscopic surgery experience physical stress and overuse of shoulder muscles due to sub-optimal arm support during surgery. The objective is to present a novel design and prototype of a dynamic arm support for robotic laparoscopic surgery to evaluate its ergonomics and performance on the AdLap-VR...journal article 2024
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Postema, R.R. (author), Hardon, Hidde (author), Rahimi, A. Masie (author), Horeman, Roel (author), Nickel, Felix (author), Dankelman, J. (author), Bloemendaal, A.L.A. (author), van der Elst, M. (author), van der Peet, Donald L. (author), Daams, Freek (author), Hardon, S.F. (author), Horeman, T. (author)Collision feedback about instrument and environment interaction is often lacking in robotic surgery training devices. The PoLaRS virtual reality simulator is a newly developed desk trainer that overcomes drawbacks of existing robot trainers for advanced laparoscopy. This study aimed to assess the effect of haptic and visual feedback during...journal article 2024
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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
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Peters, L. (author), Bajcsy, Andrea (author), Chiu, Chih Yuan (author), Fridovich-Keil, David (author), Laine, Forrest (author), Ferranti, L. (author), Alonso-Mora, J. (author)Contingency planning, wherein an agent generates a set of possible plans conditioned on the outcome of an uncertain event, is an increasingly popular way for robots to act under uncertainty. In this work we take a game-theoretic perspective on contingency planning, tailored to multi-agent scenarios in which a robot's actions impact the...journal article 2024
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Zhu, J. (author), Gienger, Michael (author), Franzese, G. (author), Kober, J. (author)Developing physically assistive robots capable of dressing assistance has the potential to significantly improve the lives of the elderly and disabled population. However, most robotics dressing strategies considered a single robot only, which greatly limited the performance of the dressing assistance. In fact, healthcare professionals...journal article 2024
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Burzyński, Piotr (author), Pawłuszewicz, Ewa (author), Ambroziak, Leszek (author), Sharma, Suryansh (author)This study explores the kinematic model of the popular RHex hexapod robots which have garnered considerable interest for their locomotion capabilities. We study the influence of tripod trajectory parameters on the RHex robot’s movement, aiming to craft a precise kinematic model that enhances walking mechanisms. This model serves as a cornerstone...journal article 2024
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Wilde, N. (author), Alonso-Mora, J. (author)We study the problem of finding statistically distinct plans for stochastic task assignment problems such as online multi-robot pickup and delivery (MRPD) when facing multiple competing objectives. In many real-world settings robot fleets do not only need to fulfil delivery requests, but also have to consider auxiliary objectives such as...journal article 2024
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Rätz, R. (author), Ratschat, A.L. (author), Cividanes Garcia, N. (author), Ribbers, G.M. (author), Marchal Crespo, L. (author)In stroke rehabilitation, simple robotic devices hold the potential to increase the training dosage in group therapies and to enable continued therapy at home after hospital discharge. However, we identified a lack of portable and cost-effective devices that not only focus on improving motor functions but also address sensory deficits. Thus, we...journal article 2024
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Timperley, Christopher S. (author), van der Hoorn, G.A. (author), Santos, André (author), Deshpande, Harshavardhan (author), Wąsowski, Andrzej (author)As robotic systems such as autonomous cars and delivery drones assume greater roles and responsibilities within society, the likelihood and impact of catastrophic software failure within those systems is increased. To aid researchers in the development of new methods to measure and assure the safety and quality of robotics software, we...journal article 2024
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Zaga, Cristina (author), Lupetti, M.L. (author), Forster, D. (author), Murray-Rust, D.S. (author), Prendergast, J.M. (author), Abbink, D.A. (author)In Industry 5.0, cognitive robots and workers will engage in evolving and reciprocal relations, which we call worker-robot relationships (WRRs). To enable evidence-based work futures with workers, we must co-develop WRRs and understand their impact on work, workers, management, and society. To this end, we posit that the HRI field should work...conference paper 2024
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Murray-Rust, D.S. (author), Gorbet, Matt (author), Filthaut, L. (author), Lupetti, M.L. (author), van der Helm, A.J.C. (author), Chiu, Adrian (author), Ianniello, A. (author), Beesley, Philip (author)This work illustrates how artistic robotic systems can provide a reservoir of unfamiliarity and a basis for speculation, to open the field toward new ways of thinking about HRI. We reflect on a collaborative project between design students, a media art studio, and design researchers working with the baggage handling department of the Schiphol...conference paper 2024
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Wu, D. (author), Zhang, R. (author), Pore, Ameya (author), Ha, Xuan Thao (author), Li, Z. (author), Herrera, Fernando (author), Kowalczyk, Wojtek (author), De Momi, Elena (author), Dankelman, J. (author), Kober, J. (author)Minimally Invasive Procedures (MIPs) emerged as an alternative to more invasive surgical approaches, offering patient benefits such as smaller incisions, less pain, and shorter hospital stay. In one class of MIPs, where natural body lumens or small incisions are used to access deeper anatomical locations, Flexible Surgical and Interventional...review 2024
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Cila, N. (author), Gonzalez Gonzalez, I. (author), Jacobs, Jan (author), Rozendaal, M.C. (author)Using HRI theory to inform robot development is an important, but difficult, endeavor. This paper explores the relationship between HRI theory and HRI practice through a design project on the development of design guidelines for human-robot communication together with a dairy farming robot manufacturer. The design guidelines, a type of...conference paper 2024
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Pustina, P. (author), Della Santina, C. (author), Boyer, Frederic (author), De Luca, Alessandro (author), Renda, Federico (author)Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this article aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators directly perform work on a subset of the configuration variables be found? We not only show that the...journal article 2024
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Vasey, Lauren (author), Aejmelaeus-Lindström, Petrus (author), Jenny, David (author), Johns, Ryan Luke (author), Hurkxkens, Ilmar (author), Ming, Coralie (author), Hutter, Marco (author), Gramazio, Fabio (author), Kohler, Matthias (author)In situ robotic construction is a type of construction where mobile robotic systems build directly on the building site. To enable on-site navigation, industrial robots can be integrated with mobile bases, while mobile, high-payload construction machines can be adapted for autonomous operation. With parallel advances in sensor processing, these...book chapter 2024