机器人 / 具身智能

Passive Variable Impedance For Shared Control

被动可变阻抗用于共享控制

Maximilian Mühlbauer, Nepomuk Werner, Ribin Balachandran, Thomas Hulin, João Silvério, Freek Stulp, Alin Albu-Schäffer

机构 * German Aerospace Center (DLR), Robotics and Mechatronics Center（德国航空航天中心（DLR），机器人与机电中心） 纠错

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(comments)

AI总结 本文研究了共享控制中可变刚度和控制器仲裁的稳定性，通过加权叠加输出力矩实现整体框架，解决闭环系统中的被动性问题，验证了方法的有效性。

Comments submitted for publication at the IEEE Robotics and Automation Letters (RA-L)

Evaluation of Human-Robot Collaboration Models for Fluent Operations in Industrial Tasks

工业任务中流畅操作的人机协作模型评估

Lior Sayfeld, Ygal Peretz, Roy Someshwar, Yael Edan

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(comments)

AI总结 本文评估了人机协作模型在工业任务中的性能，比较了基于定时和传感器的模型与自适应模型，发现自适应模型在总装配时间和空闲时间上有显著提升。

Comments Robotics: Science and Systems, Human-Robot Hand-Over Workshop 2015

Remote Teleoperation of Endovascular Intervention Robots: A Systematic Review

血管内介入机器人的远程遥操作：系统综述

Xingyu Chen, Yinchao Yang, Nikola Fischer, Harry Robertshaw, Benjamin Jackson, Mohammad Shikh-Bahaei, Christos Bergeles, Thomas C Booth

机构 * School of Biomedical Engineering & Imaging Sciences, King’s College London（生物医学工程与成像科学学院，伦敦国王学院） ； Department of Engineering, King’s College London（工程系，伦敦国王学院） ； Department of Neuroradiology, King’s College Hospital（神经放射学系，伦敦国王医院） 纠错

专题命中 人机交互与遥操作 ：robotic(abstract,comments)；分类 cs.RO

AI总结 本文系统综述了远程遥操作血管内介入机器人的技术可行性、通信基础设施和临床结局，发现机械或电磁驱动的导管导丝可在7000公里内实现遥操作，网络延迟在临床可接受范围内，但多数证据来自动物或模型研究，未来需多中心临床试验验证。

Comments The manuscript has been submitted to IEEE Transaction on Medical Robotic and Bionics

Flying Together: Human-Guided Immersive Shared Control for Aerial Robot Teams in Unknown Environments

Flying Together: Human-Guided Immersive Shared Control for Aerial Robot Teams in Unknown Environments

Lou De Bel-Air, Luca Morando, Ruitao Chen, Keru Wang, Benjamin Jarvis, Charbel Toumieh, Yang Zhou, Ken Perlin, Dario Floreano, Giuseppe Loianno

机构 * New York University（纽约大学） ； Ecole Polytechnique Federale de Lausanne（洛桑联邦理工学院） ； University of California Berkeley（加州大学伯克利分校） 纠错

专题命中 人机交互与遥操作 ：navigation(abstract)；分类 cs.RO；robotics(comments)

AI总结 本文提出了一种基于虚拟现实的共享控制框架，用于在约束和未知环境中操作无人机团队，通过实时用户引导探索，提升在无结构环境中的自主导航能力。核心方法是一种基于用户引导的运动原语规划器，结合阻抗控制器，使操作员能够灵活影响团队行为并引导无人机前往自主规划器可能忽略的感兴趣区域。

Comments Accepted at IEEE International Conference in Robotics and Automation, Vienna 2026

Task-Adaptive Admittance Control for Human-Quadrotor Cooperative Load Transportation with Dynamic Cable-Length Regulation

任务自适应阻抗控制用于人机四旋翼协作负载运输与动态缆长调节

Shuai Li, Ton T. H. Duong, Damiano Zanotto

机构 * Dept. of Mechanical Engineering, Stevens Institute of Technology（机械工程系，史蒂文斯理工学院） 纠错

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(comments)

AI总结 本文提出一种任务自适应阻抗控制器，用于安全高效的四旋翼协作负载运输，通过主动控制的绞盘实现动态缆长调节，提升系统响应性和运动平滑度。

Comments Preprint of accepted manuscript to be published in IEEE Robotics and Automation Letters (RA-L)

SafeDMPs: Integrating Formal Safety with DMPs for Adaptive HRI

SafeDMPs: 将形式安全性与DMPs结合以实现适应性人机交互

Soumyodipta Nath, Pranav Tiwari, Ravi Prakash

机构 * Indian Institute of Science（印度科学研究所） 纠错

专题命中 人机交互与遥操作 ：robotics(abstract,journal_ref)；分类 cs.RO

AI总结 本文提出SafeDMPs框架，结合DMPs的高效动态鲁棒性与基于STTs的非优化控制律，实现安全、鲁棒且适应性强的人机交互。

Comments 8 pages, 8 figures and 1 table

Journal ref 2026 IEEE International Conference on Robotics and Automation

Minimal Intervention Shared Control with Guaranteed Safety under Non-Convex Constraints

最小干预共享控制与非凸约束下的安全保证

Shivam Chaubey, Francesco Verdoja, Shankar Deka, Ville Kyrki

机构 * Aalto University（阿alto大学） 纠错

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(comments)

AI总结 本文提出了一种考虑约束的辅助控制器，通过在线计算控制动作，确保递归可行性、严格约束满足和最小偏离用户意图，适用于非凸约束的现实场景。

Comments Accepted for publication at the 2026 IEEE International Conference on Robotics and Automation (ICRA)

Indicating Robot Vision Capabilities with Augmented Reality

通过增强现实指示机器人视觉能力

Hong Wang, Ridhima Phatak, James Ocampo, Zhao Han

专题命中 人机交互与遥操作 ：world model(abstract)；分类 cs.RO；robotics(journal_ref)

AI总结 通过增强现实指示器提升人机协作中对机器人视觉能力的理解

Journal ref International Journal of Social Robotics (2026)

Audio-Based Tactile Human-Robot Interaction Recognition

基于音频的触觉人机交互识别

Antonia Yepes, Marie Charbonneau

专题命中 人机交互与遥操作 ：robotics(abstract,journal_ref)；分类 cs.RO

AI总结 本研究提出通过麦克风采集声音信号来识别机器人触觉交互，利用卷积神经网络实现高准确率的触碰分类。

Comments 1 page, 1 figure, 1 table

Journal ref Alberta Robotics & Intelligent Systems Expo (ARISE 2024)

Long-Term Human Motion Prediction Using Spatio-Temporal Maps of Dynamics

Yufei Zhu, Andrey Rudenko, Tomasz P. Kucner, Achim J. Lilienthal, Martin Magnusson

机构 * Centre for Applied Autonomous Sensor Systems (AASS), Örebro University（应用自主传感器系统中心（AASS），奥雷布罗大学） ； Technical University of Munich（慕尼黑技术大学） ； department of electrical engineering and automation, school of electrical engineering, Aalto University（电气工程与自动化系，艾尔沃斯大学） 纠错

专题命中 人机交互与遥操作 ：robotics(abstract,comments)；分类 cs.RO

Comments IEEE Robotics and Automation Letters

Coordinated Motion Planning of a Wearable Multi-Limb System for Enhanced Human-Robot Interaction

Chaerim Moon, Joohyung Kim

机构 * University of Illinois, Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校） 纠错

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(comments)

Comments Presented in IROS 2023 Workshop (Multilimb Coordination in Human Neuroscience and Robotics: Classical and Learning Perspectives)

Dancing with a Robot: An Experimental Study of Child-Robot Interaction in a Performative Art Setting

Victor Ngo, Rachel, Ramchurn, Roma Patel, Alan Chamberlain, Ayse Kucukyilmaz

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(journal_ref)

Comments published by Springer

Journal ref Social Robotics. ICSR + AI 2024. Lecture Notes in Computer Science, vol 15563

A General Control Method for Human-Robot Integration

Maddalena Feder, Giorgio Grioli, Manuel G. Catalano, Antonio Bicchi

机构 * Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia（意大利技术研究院软机器人合作与康复中心） 纠错

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(comments)

Comments Submitted to the International Journal of Robotics Research (IJRR), under review since October 2024, 16 pages, 30 figures

Hector UI: A Flexible Human-Robot User Interface for (Semi-)Autonomous Rescue and Inspection Robots

Stefan Fabian, Oskar von Stryk

机构 * Technical University of Darmstadt（德累斯顿技术大学） 纠错

专题命中 人机交互与遥操作 ：robotics(abstract,journal_ref)；分类 cs.RO

Journal ref 2023 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Naraha, Fukushima, Japan, 2023, pp. 91-98

Motion Priority Optimization Framework towards Automated and Teleoperated Robot Cooperation in Industrial Recovery Scenarios

Shunki Itadera, Yukiyasu Domae

机构 * Industrial Cyber-Physical Systems Research Center at National Institute of Advanced Industrial Science and Technology (AIST)（日本国家先进工业科学技术研究院工业闭环系统研究中心） 纠错

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(journal_ref)

Journal ref Robotics and Autonomous Systems 184 (2025): 104833

REALM: Real-Time Estimates of Assistance for Learned Models in Human-Robot Interaction

Michael Hagenow, Julie A. Shah

专题命中 人机交互与遥操作 ：robot policy(abstract)；分类 cs.RO；robotics(comments)

Comments IEEE Robotics and Automation Letters

Learning and planning for optimal synergistic human-robot coordination in manufacturing contexts

Samuele Sandrini, Marco Faroni, Nicola Pedrocchi

专题命中 人机交互与遥操作 ：robotics(abstract,comments)；分类 cs.RO

Comments Accepted for publication in Robotics and Computer-Integrated Manufacturing (2025)

Model-based optimisation for the personalisation of robot-assisted gait training

Andreas Christou, Daniel F. N. Gordon, Theodoros Stouraitis, Juan C. Moreno, Sethu Vijayakumar

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(comments)

Comments Accepted for publication at IEEE Transactions on Medical Robotics and Bionics

Human Arm Pose Estimation with a Shoulder-worn Force-Myography Device for Human-Robot Interaction

Rotem Atari, Eran Bamani, Avishai Sintov

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(journal_ref)

Journal ref IEEE Robotics and Automation Letters, February 2025

Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context

Mehdi Benallegue, Guillaume Lorthioir, Antonin Dallard, Rafael Cisneros-Limón, Iori Kumagai, Mitsuharu Morisawa, Hiroshi Kaminaga, Masaki Murooka, Antoine Andre, Pierre Gergondet, Kenji Kaneko, Guillaume Caron, Fumio Kanehiro, Abderrahmane Kheddar, Soh Yukizaki, Junichi Karasuyama, Junichi Murakami, Masayuki Kamon

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(comments)

Comments IEEE Robotics and Automation Magazine, In press

Development and Validation of a Modular Sensor-Based System for Gait Analysis and Control in Lower-Limb Exoskeletons

Giorgos Marinou, Ibrahima Kourouma, Katja Mombaur

专题命中 人机交互与遥操作 ：robotics(abstract,comments)；分类 cs.RO

Comments 12 pages, 8 figures, submitted to IEEE Transactions in Medical Robotics and Bionics

Effects of Shared Control on Cognitive Load and Trust in Teleoperated Trajectory Tracking

Jiahe Pan, Jonathan Eden, Denny Oetomo, Wafa Johal

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(journal_ref)

Comments 8 pages, 4 figures

Journal ref in IEEE Robotics and Automation Letters, vol. 9, no. 6, pp. 5863-5870, June 2024

Adaptive Control for Triadic Human-Robot-FES Collaboration in Gait Rehabilitation: A Pilot Study

Andreas Christou, Antonio J. del-Ama, Juan C. Moreno, Sethu Vijayakumar

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(journal_ref)

Journal ref 2024 IEEE International Conference on Robotics and Automation (ICRA)

Human-Robot Collaboration System Setup for Weed Harvesting Scenarios in Aquatic Lakes

Ahmed H. Elsayed, Andrej Lejman, Frederic Stahl

专题命中 人机交互与遥操作 ：navigation(abstract)；分类 cs.RO；robotic(comments)

Comments 3 pages, 5 figures. This paper was accepted for poster presentation at IROS 2024 Workshop on Maritime Heteregenous Unmanned Robotic Systems (MHURS)

CoHRT: A Collaboration System for Human-Robot Teamwork

Sujan Sarker, Haley N. Green, Mohammad Samin Yasar, Tariq Iqbal

专题命中 人机交互与遥操作 ：manipulation(abstract)；分类 cs.RO；robotics(comments)

Comments 8 Pages, Robotics Science and Systems (RSS), Safety and Normative Behaviors in Human-Robot Interaction Workshop 2024 (accepted), accepted-papers" target="_blank" rel="noopener">https://sites.google.com/view/safe-hri/accepted-papers

Aerostack2: A Software Framework for Developing Multi-robot Aerial Systems

Miguel Fernandez-Cortizas, Martin Molina, Pedro Arias-Perez, Rafael Perez-Segui, David Perez-Saura, Pascual Campoy

专题命中 人机交互与遥操作 ：robotics(abstract,comments)；分类 cs.RO

Comments Submitted to IEEE Robotics and Automation Letters

Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction

Robin Jeanne Kirschner, Henning Mayer, Lisa Burr, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin

专题命中 人机交互与遥操作 ：robotics(abstract,journal_ref)；分类 cs.RO

Journal ref in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2993-3000, April 2022

Gaze-based Human-Robot Interaction System for Infrastructure Inspections

Sunwoong Choi, Zaid Abbas Al-Sabbag, Sriram Narasimhan, Chul Min Yeum

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(comments)

Comments 7 pages, 8 figures, 1 supplementary video; Accepted to the 2024 IEEE International Conference on Robotics and Automation (ICRA)

Enabling Team of Teams: A Trust Inference and Propagation (TIP) Model in Multi-Human Multi-Robot Teams

Yaohui Guo, X. Jessie Yang, Cong Shi

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(comments)

Comments In Proceedings of Robotics: Science and Systems, 2023, Daegu, Korea. arXiv admin note: text overlap with arXiv:2301.10928

The control architecture of a spherical robot for Minimally Invasive Surgery

Gabriela Rus, Nadim Al Hajjar, Paul Tucan, Ionut Zima, Calin Vaida, Corina Radu, Daniel Jucan, Damien Chablat, Doina Pisla

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO；robotics(journal_ref)

Journal ref 6th IFToMM Symposium on Mechanism Design for Robotics, Jun 2024, Timi{\c s}oara, Romania