Human-Robot Physical Interaction

Our work on human-robot interaction has focused on understanding, communicating, and controlling tasks that require physical interactions between robots and humans

Tactile Manipulation - Input Methods

tong3

Robotic Assistive Motor Skills Therapy

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Distributed Macro-Mini Actuation

dm2

Distributed Macro-Mini Actuation

tong3

Recent Work

  • NSF National Robotics Initiative Project Funded (Communicating Physical Interactions) A new project, entitled “Communicating Physical Interactions” has been funded through the National Science Foundation’s (NSF) National Robotics Initiative (NRI).  An overview of the project is given below: PI:     Prof. Michael Gleicher Department of Computer Science University of Wisconsin – Madison Co-PI: Prof. Bilge Mutlu Department of Computer Science University of Wisconsin – Madison Co-PI: Prof. Michael Zinn Department of Mechanical Engineering University of Wisconsin – Madison Overview: In ...
  • NSF National Robotics Initiative Project Funded (High-Power Physically Interactive Human-Robot Collaboration through Balanced Active-Passive Hybrid Actuation) A new project, entitled “High-Power Physically Interactive Human-Robot Collaboration through Balanced Active-Passive Hybrid Actuation” has been funded through the National Science Foundation’s (NSF) National Robotics Initiative (NRI).  An overview of the project is given below: PI:     Prof. Peter Adaczyk Department of Mechanical Engineering University of Wisconsin – Madison Co-PI:   Prof. Michael Zinn Department of Mechanical Engineering University of Wisconsin – Madison Overview The research will ...
  • ICRA/RAL 2018 – Recognizing Geometric Constraints in Human Demonstrations using Force and Position Signals Abstract—This paper introduces a method for recognizing geometric constraints from human demonstrations using both position and force measurements. Our key idea is that position information alone is insufficient to determine that a constraint is active and reaction forces must also be considered to correctly distinguish constraints from movements that just happen to follow a particular ...
  • Instrumented Tongs – An input method for tactile manipulations As most interactions with everyday objects involve complicated force interactions, we design and built instrumented tongs that measure dynamic interaction with objects in the environment. This novel approach allows accurate measurement of interactions in a controlled environment while still maintaining dexterity. These tongs measure grasp forces using two optoforce force sensors. We measure the location ...
  • IROS 2017 – Recognizing Actions during Tactile Manipulations through Force Sensing Abstract—In this paper we provide a method for identifying and temporally localizing tactile force actions from measured force signals. Our key idea is to use the continuous wavelet transform (CWT) with the Complex Morlet wavelet to transform force signals into feature vectors amenable to machine learning algorithms. Our method uses these feature vectors to train ...
  • IEEE Haptics Symposium 2008: Large Workspace Haptic Devices – A New Actuation Approach Large workspace haptic devices have unique requirements, requiring increased power capabilities along with increased safety considerations. While there are numerous haptic devices available, large workspace systems are hampered by the limitations of current actuation technology. To address this, the Distributed Macro-Mini (DM2 ) actuation method has been applied to the design of a large workspace ...
  • International Journal of Robotics Research (IJRR) 2004: A New Actuation Approach for Human-friendly Robot Design In recent years, many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we present a new actuation approach that has the requisite characteristics for inherent safety while maintaining the performance expected of modern designs. ...