Thresholds for Perceiving Changes in Friction When Combined With Linear System Dynamics

Understanding human perception of haptic feedback is critical when designing and regulating these interfaces. In recent years, experiments have been conducted to determine the just-noticeable difference (JND) in mass–spring–damper dynamics, using a hydraulic admittance display in the form of a side-stick. These...

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

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...

Learning to Pick at Non-Zero-Velocity from Interactive Demonstrations

This work investigates how the intricate task of a continuous pick & place (P&P) motion may be learned from humans based on demonstrations and corrections. Due to the complexity of the task, these demonstrations are often slow and even slightly flawed, particularly at moments when multiple aspects (i.e., end-effector movement,...