The physical appearance and behavior of a robot is an important asset in terms of Human-Computer Interaction. Multimodality is also fundamental, as we humans usually expect to interact in a natural way with voice, gestures, etc. People approach complex interaction devices with stances similar to those used in their interaction with other people. In this paper we describe a robot head, currently...

The physical actions performed by any robot can be used to convey meaning to a user in human-robot interaction. For example, successfully performing an action following a request may be viewed as an acceptance, while performing the wrong action may be construed as a mis-understanding. Even hesitating to perform a requested physical action may be viewed as a signal of non-understanding. Thus, un...

As robotic devices are applied to problems beyond traditional manufacturing and industrial settings, we find that interaction between robots and humans, especially physical interaction, has become a fast developing field. Consider the application of robotics in healthcare, where we find telerobotic devices in the operating room facilitating dexterous surgical procedures, exoskeletons in the reh...

Abstract Safety is a fundamental prerequisite that must be addressed before any interaction of robots with humans. has been generally understood and studied as the physical safety in human–robot interaction, whereas how humans perceive these received less attention. Physical necessary condition for safe interaction. However, it not sufficient condition. A robot by hardware software design can s...

This paper details the Social Robot Architecture, a framework for explicit human-robot and robot-robot social interaction. The core mechanisms for realizing a robust robot control architecture involving a synthesis of reactive, deliberative, and social reasoning mechanisms are presented and discussed. In addition, the Virtual Robotic Workbench is briefly described which demonstrates the coheren...

Human safety is the main concern which prevents performing some tasks requiring physical interaction between human and robot. Therefore, the safety concept was previously based on eliminating contact between human and robots. This paper will propose a robot system which integrates different types of sensors to ensure human safety during the physical human robot interaction. The implemented sens...

Physical human-robot interaction (pHRI) is an interesting topic for small-scale industrial robotics, where a user may need to share the workspace with a robot, as well as for service robotics. In the elderly-dominated scenario of most industrialized countries, service robotics is a solution for automatizing common daily tasks, also due to the lack or high cost of human expertise. The size of an...

Compliance control is highly relevant to human safety in human–robot interaction (HRI). This paper presents a review of various compliance control techniques. The paper is aimed to provide a good background knowledge for new researchers and highlight the current hot issues in compliance control research. Active compliance, passive compliance, adaptive and reinforcement learning-based compliance...