Living with Assistive and Interactive Robots (LAIR) Lab

Example Event

Sat, 01 Jun 2030 13:00:00 +0000

Slides can be added in a few ways:

Create slides using Wowchemy’s Slides feature and link using slides parameter in the front matter of the talk file
Upload an existing slide deck to static/ and link using url_slides parameter in the front matter of the talk file
Embed your slides (e.g. Google Slides) or presentation video on this page using shortcodes.

Further event details, including page elements such as image galleries, can be added to the body of this page.

Research Projects

Mon, 19 May 2025 00:00:00 +0000

Variable Stiffness Robotic Finger

Thu, 01 May 2025 00:00:00 +0000

Virtual reality and psHRI

Wed, 01 Jan 2025 00:00:00 +0000

The goal is to use virtual reality as a tool for studying psHRI by achieving contextually-rich but low-cost interactions.

Sensor Observability Analysis for Maximizing Task-Space Observability of Articulated Robots

Thu, 01 Aug 2024 00:00:00 +0000

Vision- and Tactile-Based Continuous Multimodal Intention and Attention Recognition for Safer Physical Human-Robot Interaction

Mon, 01 Jul 2024 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Perspectives on Robotic Systems for the Visually Impaired

Mon, 01 Jan 2024 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Roboethics for everyone - a hands-on teaching module for K-12 and beyond

Mon, 01 Jan 2024 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Stigma and Service Robots

Mon, 01 Jan 2024 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Robot-to-Human (R2H) Grasping

Tue, 30 May 2023 00:00:00 +0000

During interactions between a human and a robot, there may be a time when a robot must purposefully come into contact or grasp human (e.g., a robot grasps a human’s hand to physically guide them to perform a task, to teach a motion, or to provide stability and support). Depending on how the robot grasps the human (e.g., grasp location, orientation, force, and open/closed grip), different grasp types may elicit different emotional responses from the human. The goal of the project is to investigate what robot-to-human (R2H) contact/grasp factors affect the perceived safety and comfort of the interaction and how it differs from the similar human-to-human (H2H) contact/grasping.

Contact

Mon, 24 Oct 2022 00:00:00 +0000

People

Mon, 24 Oct 2022 00:00:00 +0000

Tour

Mon, 24 Oct 2022 00:00:00 +0000

Sensor Observability Index: Evaluating Sensor Alignment for Task-Space Observability in Robotic Manipulators

Sat, 01 Oct 2022 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Human-Humanoid Robot Cooperative Load Transportation: Model-based Control Approach

Sat, 01 Jan 2022 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Sensor Observability Analysis

Sat, 01 Jan 2022 00:00:00 +0000

Sensor Observability Analysis, akin to the kinematic manipulability index, is a novel performance metric for articulated robotic mechanisms. The goal is to analyse and evaluate the performance of robot-mounted distributed directional or axial-based sensors to observe specific axes in task space as a function of joint configuration. For example, joint torque sensors are often used in serial robot manipulators and assumed to be perfectly capable of estimating end effector forces, but certain joint configurations may cause one or more task-space axes to be unobservable as a result of how the joint torque sensors are aligned. The proposed sensor observability analysis provides a method to analyse the cumulative quality of a robot configuration to observe the task space. The resultant metrics can then be used in optimization and in null-space control to avoid sensor observability singular configurations or to maximize sensor observability in particular directions. Parallels are drawn between sensor observability and the traditional kinematic Jacobian for the particular case of joint torque sensors in serial robot manipulators. Compared to kinematic analysis using the Jacobian in serial manipulators, sensor observability analysis is shown to be more generalizable in terms of analysing non-joint-mounted sensors and can potentially be applied to sensor types other than for force sensing, e.g., link-mounted proximity sensors. We demonstrate the utility and importance of sensor observability in physical interactions using simulations and experiments of a custom 3-DOF robot and the Baxter robot.

Related Research Items:

C. Y. Wong and W. Suleiman, “Sensor Observability Analysis for Maximizing Task-Space Observability of Articulated Robots,” in IEEE Transactions on Robotics, 2024. (Accepted)
- ResearchGate Link
C. Y. Wong and W. Suleiman, “Sensor Observability Index: Evaluating Sensor Alignment for Task-Space Observability in Robotic Manipulators,” 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 1276-1282.

Touch Semantics for Intuitive Physical Manipulation of Humanoids

Sat, 01 Jan 2022 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Dynamic modelling, simulation and experiments of a micro-cutter with applications to cell perforation

Fri, 01 Jan 2021 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Placeholder News 1

Wed, 02 Dec 2020 00:00:00 +0000

Placeholder News 1

Lorem ipsum dolor sit amet, consectetur adipiscing elit. Integer tempus augue non tempor egestas. Proin nisl nunc, dignissim in accumsan dapibus, auctor ullamcorper neque. Quisque at elit felis. Vestibulum ante ipsum primis in faucibus orci luctus et ultrices posuere cubilia curae; Aenean eget elementum odio. Cras interdum eget risus sit amet aliquet. In volutpat, nisl ut fringilla dignissim, arcu nisl suscipit ante, at accumsan sapien nisl eu eros.

Sed eu dui nec ligula bibendum dapibus. Nullam imperdiet auctor tortor, vel cursus mauris malesuada non. Quisque ultrices euismod dapibus. Aenean sed gravida risus. Sed nisi tortor, vulputate nec quam non, placerat porta nisl. Nunc varius lobortis urna, condimentum facilisis ipsum molestie eu. Ut molestie eleifend ligula sed dignissim. Duis ut tellus turpis. Praesent tincidunt, nunc sed congue malesuada, mauris enim maximus massa, eget interdum turpis urna et ante. Morbi sem nisl, cursus quis mollis et, interdum luctus augue. Aliquam laoreet, leo et accumsan tincidunt, libero neque aliquet lectus, a ultricies lorem mi a orci.

Mauris dapibus sem vel magna convallis laoreet. Donec in venenatis urna, vitae sodales odio. Praesent tortor diam, varius non luctus nec, bibendum vel est. Quisque id sem enim. Maecenas at est leo. Vestibulum tristique pellentesque ex, blandit placerat nunc eleifend sit amet. Fusce eget lectus bibendum, accumsan mi quis, luctus sem. Etiam vitae nulla scelerisque, eleifend odio in, euismod quam. Etiam porta ullamcorper massa, vitae gravida turpis euismod quis. Mauris sodales sem ac ultrices viverra. In placerat ultrices sapien. Suspendisse eu arcu hendrerit, luctus tortor cursus, maximus dolor. Proin et velit et quam gravida dapibus. Donec blandit justo ut consequat tristique.

Placeholder News 2

Tue, 01 Dec 2020 00:00:00 +0000

Placeholder News 2

Cell extraction automation in single cell surgery using the displacement method

Tue, 01 Jan 2019 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Gravity Compensation for Impedance Control of Legged Robots Using Optimizationless Proportional Contact Force Estimation

Mon, 01 Jan 2018 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Theory of series inductance matching to transducer at premechanical resonance zone in ultrasonic vibration cutting

Mon, 01 Jan 2018 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Automation of Single Cell Manipulation for Embryo Biopsy

Sun, 01 Jan 2017 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Dynamic modelling and embryo zona pellucida perforation experiments with piezoelectric actuated micro-needles

Sun, 01 Jan 2017 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Automation and optimization of multipulse laser zona drilling of mouse embryos during embryo biopsy

Fri, 01 Jan 2016 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Cleavage-stage embryo rotation tracking and automated micropipette control: Towards automated single cell manipulation

Fri, 01 Jan 2016 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Multi-Pulse laser ablation modeling with applications to automated zona removal

Thu, 01 Jan 2015 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Posture Reconfiguration and Navigation Maneuvers on a Wheel-Legged Hydraulic Robot

Thu, 01 Jan 2015 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Posture reconfiguration and step climbing maneuvers for a wheel-legged robot

Wed, 01 Jan 2014 00:00:00 +0000

Add the full text or supplementary notes for the publication here using Markdown formatting.

Mon, 01 Jan 0001 00:00:00 +0000