Distributed Virtual Model Control for Scalable Human-Robot Collaboration in Shared Workspace

We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and robots are embedded in the same virtual-component-shaped workspace, where motion is the result of the interaction with virtual springs and dampers rather than explicit trajectory planning. A decentralized, force-based stall detector identifies deadlocks, which are resolved through negotiation. This reduces the probability of robots getting stuck in the block placement task from up to 61.2% to zero in our experiments. The framework scales without structural changes thanks to the distributed implementation: in experiments we demonstrate safe collaboration with up to two robots and two humans, and in simulation up to four robots, maintaining inter-agent separation at around 20 cm. Results show that the method shapes robot behavior intuitively by adjusting control parameters and achieves deadlock-free operation across team sizes in all tested scenarios.

Human Emotion-Mediated Soft Robotic Arts: Exploring the Intersection of Human Emotions, Soft Robotics and Arts

Soft robotics has emerged as a versatile field with applications across various domains, from healthcare to industrial automation, and more recently, art and interactive installations. The inherent flexibility, adaptability, and safety of soft robots make them ideal for applications that require delicate, organic, and lifelike movement, allowing for immersive and responsive interactions. This study explores the intersection of human emotions, soft robotics, and art to establish and create new forms of human emotion-mediated soft robotic art. In this paper, we introduce two soft embodiments: a soft character and a soft flower as an art display that dynamically responds to brain signals based on alpha waves, reflecting different emotion levels. We present how human emotions can be measured as alpha waves based on brain/EEG signals, how we map the alpha waves to the dynamic movements of the two soft embodiments, and demonstrate our proposed concept using experiments. The findings of this study highlight how soft robotics can embody human emotional states, offering a new medium for insightful artistic expression and interaction, and demonstrating how art displays can be embodied.

Palpation Alters Auditory Pain Expressions with Gender-Specific Variations in Robopatients

Diagnostic errors remain a major cause of preventable deaths, particularly in resource-limited regions. Medical training simulators, including robopatients, play a vital role in reducing these errors by mimicking real patients for procedural training such as palpation. However, generating multimodal feedback, especially auditory pain expressions, remains challenging due to the complex relationship between palpation behavior and sound. The high-dimensional nature of pain sounds makes exploration challenging with conventional methods. This study introduces a novel experimental paradigm for pain expressivity in robopatients where they dynamically generate auditory pain expressions in response to palpation force, by co-optimizing human feedback using machine learning. Using Proximal Policy Optimization (PPO), a reinforcement learning (RL) technique optimized for continuous adaptation, our robot iteratively refines pain sounds based on real-time human feedback. This robot initializes randomized pain responses to palpation forces, and the RL agent learns to adjust these sounds to align with human preferences. The results demonstrated that the system adapts to an individual's palpation forces and sound preferences and captures a broad spectrum of pain intensity, from mild discomfort to acute distress, through RL-guided exploration of the auditory pain space. The study further showed that pain sound perception exhibits saturation at lower forces with gender specific thresholds. These findings highlight the system's potential to enhance abdominal palpation training by offering a controllable and immersive simulation platform.

Auditory-Tactile Congruence for Synthesis of Adaptive Pain Expressions in RoboPatients

Misdiagnosis can lead to delayed treatments and harm. Robotic patients offer a controlled way to train and evaluate clinicians in rare, subtle, or complex cases, reducing diagnostic errors. We present RoboPatient, a medical robotic simulator aimed at multimodal pain synthesis based on haptic and auditory feedback during palpation-based training scenarios. The robopatient functions as an adaptive intermediary, capable of synthesizing plausible pain expressions vocal and facial in response to tactile stimuli generated during palpation. Using an abdominal phantom, robopatient captures and processes haptic input via an internal palpation-to-pain mapping model. To evaluate perceptual congruence between palpation and the corresponding auditory output, we conducted a study involving 7680 trials across 20 participants, where they evaluated pain intensity through sound. Results show that amplitude and pitch significantly influence agreement with the robot's pain expressions, irrespective of pain sounds. Stronger palpation forces elicited stronger agreement, aligning with psychophysical patterns. The study revealed two key dimensions: pitch and amplitude are central to how people perceive pain sounds, with pitch being the most influential cue. These acoustic features shape how well the sound matches the applied force during palpation, impacting perceived realism. This approach lays the groundwork for high-fidelity robotic patients in clinical education and diagnostic simulation.

Embodied Manipulation with Past and Future Morphologies through an Open Parametric Hand Design

A human-shaped robotic hand offers unparalleled versatility and fine motor skills, enabling it to perform a broad spectrum of tasks with precision, power and robustness. Across the paleontological record and animal kingdom we see a wide range of alternative hand and actuation designs. Understanding the morphological design space and the resulting emergent behaviors can not only aid our understanding of dexterous manipulation and its evolution, but also assist design optimization, achieving, and eventually surpassing human capabilities. Exploration of hand embodiment has to date been limited by inaccessibility of customizable hands in the real-world, and by the reality gap in simulation of complex interactions. We introduce an open parametric design which integrates techniques for simplified customization, fabrication, and control with design features to maximize behavioral diversity. Non-linear rolling joints, anatomical tendon routing, and a low degree-of-freedom, modulating, actuation system, enable rapid production of single-piece 3D printable hands without compromising dexterous behaviors. To demonstrate this, we evaluated the design's low-level behavior range and stability, showing variable stiffness over two orders of magnitude. Additionally, we fabricated three hand designs: human, mirrored human with two thumbs, and aye-aye hands. Manipulation tests evaluate the variation in each hand's proficiency at handling diverse objects, and demonstrate emergent behaviors unique to each design. Overall, we shed light on new possible designs for robotic hands, provide a design space to compare and contrast different hand morphologies and structures, and share a practical and open-source design for exploring embodied manipulation.