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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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Lupetti, M.L. (author), Cavalcante Siebert, L. (author), Abbink, D.A. (author)
In this paper, we problematize popular narratives of driving automation. Whether positive or negative, these propagate simplistic assumptions about human abilities and reinforce technocratic approaches to mobility innovation. We build on narrative approaches to participatory research and adversarial design, to explore how design-led...
conference paper 2023
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Kuitert, S. (author), Hofland, Jelle (author), Heemskerk, Cock J.M. (author), Abbink, D.A. (author), Peternel, L. (author)
Robotic teleoperation is used in various applications, including the nuclear industry, where the experience and intelligence of a human operator are necessary for making complex decisions that are beyond the autonomy of robots. Human-robot interfaces that help strengthen an operators situational awareness without inducing excessive cognitive...
conference paper 2023
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George, A. (author), Cavalcante Siebert, L. (author), Abbink, D.A. (author), Zgonnikov, A. (author)
Modelling causal responsibility in multi-agent spatial interactions is crucial for safety and efficiency of interactions of humans with autonomous agents. However, current formal metrics and models of responsibility either lack grounding in ethical and philosophical concepts of responsibility, or cannot be applied to spatial interactions. In...
conference paper 2023
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Meccanici, Floris (author), Karageorgos, Dimitrios (author), Heemskerk, Cock J.M. (author), Abbink, D.A. (author), Peternel, L. (author)
Daily household tasks involve manipulation in cluttered and unpredictable environments and service robots require complex skills and adaptability to perform such tasks. To this end, we developed a teleoperated online learning approach with a novel skill refinement method, where the operator can make refinements to the initially trained skill...
conference paper 2023
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van Zoelen, E.M. (author), van den Bosch, Karel (author), Abbink, D.A. (author), Neerincx, M.A. (author)
When humans and AI-agents collaborate, they need to continuously learn about each other and the task. We propose a Team Design Pattern that utilizes adaptivity in the behavior of human and agent team partners, causing new Collaboration Patterns to emerge. Human-AI Co-Learning takes place when partners can formalize recognized patterns of...
conference paper 2023
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Thirani, Kushal (author), Abbink, D.A. (author), Peternel, L. (author)
This paper studies non-physical feedback mechanisms to guide human workers toward ergonomic body postures. Specifically, the focus is to solve the tasks that involve no direct physical interaction between the human and the robotic system, therefore tactile guidance by the robot body is not feasible. We propose a multi-modal ergonomic posture...
conference paper 2023
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Siebinga, O. (author), Zgonnikov, A. (author), Abbink, D.A. (author)
Recently, multiple naturalistic traffic datasets of human-driven trajectories have been published (e.g., highD, NGSim, and pNEUMA). These datasets have been used in studies that investigate variability in human driving behavior, for example for scenario-based validation of autonomous vehicle (AV) behavior, modeling driver behavior, or...
conference paper 2023
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Siebinga, O. (author), Zgonnikov, A. (author), Abbink, D.A. (author)
Human highway-merging behavior is an important aspect when developing autonomous vehicles (AVs) that can safely and successfully interact with other road users. To design safe and acceptable human-AV interactions, the underlying mechanisms in human-human interactive behavior need to be understood. Exposing and understanding these mechanisms can...
conference paper 2022
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Klevering, S. (author), Mugge, W. (author), Abbink, D.A. (author), Peternel, L. (author)
Tele-impedance increases interaction performance between a robotic tool and unstructured/unpredictable en-vironments during teleoperation. However, the existing tele-impedance interfaces have several ongoing issues, such as long calibration times and various obstructions for the human operator. In addition, they are all designed to be controlled...
conference paper 2022
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Andres, Alvaro Gil (author), Beckers, N.W.M. (author), Abbink, D.A. (author), Peternel, L. (author)
We present a method for arbitration between human and robot involvement in a collaborative physical task execution based on ergonomic metrics. The existing methods for ergonomic control of physical human-robot collaboration perform the real-Time arbitration primarily based on a single type of ergonomic metric. The novelty of our approach is...
conference paper 2022
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Huang, Yu-Chih (author), Abbink, D.A. (author), Peternel, L. (author)
In tele-impedance the human can control the impedance of the remote robot through various interfaces, in addition to controlling the motion. While this can improve the performance of the remote robot in unpredictable and unstructured environments, it can add more workload to the human operator compared to the classic teleoperation. This paper...
conference paper 2021
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Peternel, L. (author), Beckers, N.W.M. (author), Abbink, D.A. (author)
The existing state-of-the-art interfaces for commanding a remote robot's endpoint stiffness ellipsoid in tele-impedance lack the ability to independently control its size, shape and orientation or they are not easily to implement due to the use of physiological signals, such as electromyography, to control the endpoint stiffness. We propose a...
conference paper 2021
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Schol, Jasper (author), Hofland, Jelle (author), Heemskerk, Cock J.M. (author), Abbink, D.A. (author), Peternel, L. (author)
Unlike many traditional stiff position-controlled robots, new collaborative robots interact with humans and operate in an environment that is often unpredictable and unknown. For safe and effective executions of manipulation tasks within such an environment, the robot requires to modulate its compliance. Therefore, the human operator must have a...
conference paper 2021
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van Baelen, D. (author), van Paassen, M.M. (author), Ellerbroek, Joost (author), Abbink, D.A. (author), Mulder, Max (author)
Modern aircraft use a variety of fly-by-wire control devices and combine these with a flight envelope protection system to limit pilot control inputs when approaching the aircraft limits. The current research project aims to increase pilot awareness of such a protection system through the use of force feedback on the control device, i.e.,...
conference paper 2021
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van Baelen, D. (author), Ellerbroek, Joost (author), van Paassen, M.M. (author), Abbink, D.A. (author), Mulder, Max (author)
Modern aircraft use a variety of fly-by-wire control devices and combine these with a flight envelope protection system to limit pilot control inputs when approaching the aircraft limits. The current research project aims to increase pilot awareness of such a protection system through the use of force feedback on the control device, i.e.,...
conference paper 2020
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Rozendaal, M.C. (author), van Beek, E. (author), Haselager, Pim (author), Abbink, D.A. (author), Jonker, C.M. (author)
In the context of human-agent interaction, we see the emergence of computational artefacts that display hybridity because they can be experienced as tools and agents. In this paper we propose a tool-agent spectrum as an analytical lens that uses ‘intention’ as a central concept. This spectrum aims to clarify how a computational object can change...
conference paper 2020
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Doornebosch, Luuk M. (author), Abbink, D.A. (author), Peternel, L. (author)
In this paper, we introduce and explore a concept called coupling effect, which pertains to the influence of force feedback on the commanded stiffness that is voluntarily controlled by the operator through the stiffness interface during bilateral tele-impedance. The degree of coupling effect depends on the type of interface used to control...
conference paper 2020
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Schmidt, Annika (author), Pereira, Aaron (author), Baker, Thomas (author), Pleintinger, Benedikt (author), Hulin, Thomas (author), Chen, Zhaopeng (author), Abbink, D.A. (author), Lii, Neal Y. (author)
Advances in exoskeleton technology now enable interacting with rigid objects in a virtual or remote environment using one's hand and fingertips. However, interaction with non-solid materials - such as liquids, sediments and regolith - alongside solids, can greatly extend the versatility of this technology. Rendering rigid objects adequately...
conference paper 2020
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Melman, T. (author), Kolekar, S.B. (author), Hogerwerf, Ellen (author), Abbink, D.A. (author)
When drivers encounter a road narrowing two potential adaptation strategies come into play that may increase safety margins: decreasing speed and increasing neuromuscular stiffness of the arms. These two adaption strategies have so far been studied in isolation. We expect that there is a trade-off between these two strategies, and that risk...
conference paper 2020
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