Teleoperated assistive robots with compliant arms may be well-suited to tasks that require contact with people and operation within human environments. However, little is known about the effects of force feedback and ...

Many assistive tasks involve manipulation near the care-receiver's body, including self-care tasks such as dressing, feeding, and personal hygiene. A robot can provide assistance with these tasks by moving its end effector ...

Moving a robot arm quickly in cluttered and unmodeled workspaces can be difficult because of the inherent risk of high impact forces. Additionally, compliance by itself is not enough to limit contact forces due to ...

Clutter creates challenges for robot manipulation, including a lack of non-contact trajectories and reduced visibility for line-of-sight sensors. We demonstrate that robots can use whole-arm tactile sensing to perceive ...

An omnidirectional Mecanum base allows for more flexible mobile manipulation. However, slipping of the Mecanum wheels results in poor dead-reckoning estimates from wheel encoders, limiting the accuracy and overall utility ...

Biological organisms benefit from tactile sensing across the entire surfaces of their bodies. Robots may also be able to benefit from this type of sensing, but fully covering a robot with robust and capable tactile sensors ...