All Outputs (27)

Performance metrics outperform physiological indicators in robotic teleoperation workload assessment (2024)
Journal Article
Odoh, G., Landowska, A., Crowe, E. M., Benali, K., Cobb, S., Wilson, M. L., Maior, H. A., & Kucukyilmaz, A. (2024). Performance metrics outperform physiological indicators in robotic teleoperation workload assessment. Scientific Reports, 14(1), Article 30984. https://doi.org/10.1038/s41598-024-82112-4

Robotics holds the potential to streamline the execution of repetitive and dangerous tasks, which are difficult or impossible for a human operator. However, in complex scenarios, such as nuclear waste management or disaster response, full automation... Read More about Performance metrics outperform physiological indicators in robotic teleoperation workload assessment.

Robots in Pain, Humans in Play: Soma as a Qualitative Method for Investigating Intelligent Human-Robot Configurations (2024)
Presentation / Conference Contribution
Chamberlain, A., Ngo, V., McGarry, G., Kucukyilmaz, A., Benford, S., & Higgins, A. (2025, February). Robots in Pain, Humans in Play: Soma as a Qualitative Method for Investigating Intelligent Human-Robot Configurations. Presented at Designing for Bodies: Practices, Imaginaries and Discourses, University of Southern Denmark, Kolding

In this piece we start to explore the ways in which we somatise our interaction with robots as a symbiotic system - both as human and robot, and as human-robot. We also consider the ways that we might want to take our physical nature (existence), for... Read More about Robots in Pain, Humans in Play: Soma as a Qualitative Method for Investigating Intelligent Human-Robot Configurations.

A Taxonomy of Domestic Robot Failure Outcomes: Understanding the impact of failure on trustworthiness of domestic robots (2024)
Presentation / Conference Contribution
Cameron, H. R., Castle-Green, S., Chughtai, M., Dowthwaite, L., Kucukyilmaz, A., A. Maior, H. A., Ngo, V., Schneiders, E., & C. Stahl, B. (2024, September). A Taxonomy of Domestic Robot Failure Outcomes: Understanding the impact of failure on trustworthiness of domestic robots. Presented at Trustworthy Autonomous Systems International Symposium '24, Austin, Texas, USA

Domestic robots are fast becoming an integrated part of daily life. In anticipation of increased uptake of robotic assistants in the home, researchers and designers must investigate what makes domestic robotic interventions trustworthy or untrustwort... Read More about A Taxonomy of Domestic Robot Failure Outcomes: Understanding the impact of failure on trustworthiness of domestic robots.

Understanding user needs of personalisation-based automated systems with development and application of novel ideation cards (2024)
Presentation / Conference Contribution
Duvnjak, J., Kucukyilmaz, A., & Houghton, R. (2024, July). Understanding user needs of personalisation-based automated systems with development and application of novel ideation cards. Presented at 15th International Conference on Applied Human Factors and Ergonomics (AHFE 2024), Nice, France

Personalisation is a commonly utilised technology in socially focused online platforms. It has gathered widespread usage through its ability to match a system to the needs of users through their data. This allows systems to be more user-friendly or e... Read More about Understanding user needs of personalisation-based automated systems with development and application of novel ideation cards.

Charting Ethical Tensions in Multispecies Technology Research through Beneficiary-Epistemology Space (2024)
Presentation / Conference Contribution
Benford, S. D., Mancini, C., Chamberlain, A., Schneiders, E., Castle-Green, S. D., Fischer, J. E., Kucukyilmaz, A., Salimbeni, G., Ngo, V. Z. H., Barnard, P., Adams, M., Tandavanitj, N., & Row Farr, J. (2024, May). Charting Ethical Tensions in Multispecies Technology Research through Beneficiary-Epistemology Space. Presented at CHI '24 CHI Conference on Human Factors in Computing Systems, Hawaii, USA

While ethical challenges are widely discussed in HCI, far less is reported about the ethical processes that researchers routinely navigate. We reflect on a multispecies project that negotiated an especially complex ethical approval process. Cat Royal... Read More about Charting Ethical Tensions in Multispecies Technology Research through Beneficiary-Epistemology Space.

LABERT: A Combination of Local Aggregation and Self-Supervised Speech Representation Learning for Detecting Informative Hidden Units in Low-Resource ASR Systems (2023)
Presentation / Conference Contribution
Fatehi, K., & Kucukyilmaz, A. (2023, August). LABERT: A Combination of Local Aggregation and Self-Supervised Speech Representation Learning for Detecting Informative Hidden Units in Low-Resource ASR Systems. Presented at Interspeech 2023, Dublin, Ireland

With advances in deep learning methodologies, Automatic Speech Recognition (ASR) systems have seen impressive results. However, ASR in Low-Resource Environments (LREs) are challenged by a lack of training data for the specific target domain. We propo... Read More about LABERT: A Combination of Local Aggregation and Self-Supervised Speech Representation Learning for Detecting Informative Hidden Units in Low-Resource ASR Systems.

TAS for Cats: An Artist-led Exploration of Trustworthy Autonomous Systems for Companion Animals (2023)
Presentation / Conference Contribution
Schneiders, E., Chamberlain, A., Fischer, J. E., Benford, S., Castle-Green, S., Ngo, V., Kucukyilmaz, A., Barnard, P., Row Farr, J., Adams, M., Tandavanitj, N., Devlin, K., Mancini, C., & Mills, D. (2023, July). TAS for Cats: An Artist-led Exploration of Trustworthy Autonomous Systems for Companion Animals. Presented at First International Symposium on Trustworthy Autonomous Systems (TAS 23), Edinburgh, UK

Cat Royale is an artist-led exploration of trustworthy autonomous systems (TAS) created by the TAS Hub's creative ambassadors Blast Theory. A small community of cats inhabits a purpose built 'cat utopia' at the centre of which a robot arm tries to en... Read More about TAS for Cats: An Artist-led Exploration of Trustworthy Autonomous Systems for Companion Animals.

Somabotics Toolkit for Rapid Prototyping Human-Robot Interaction Experiences using Wearable Haptics (2023)
Presentation / Conference Contribution
Zhou, F., Price, D., Pacchierotti, C., & Kucukyilmaz, A. (2023, July). Somabotics Toolkit for Rapid Prototyping Human-Robot Interaction Experiences using Wearable Haptics. Poster presented at IEEE World Haptics Conference, Delft, Netherlands

This work-in-progress paper presents a prototyping toolkit developed to design haptic interaction experiences. With developments in wearable and sensor technologies, new opportunities arise everyday to create rich haptic interaction experiences actin... Read More about Somabotics Toolkit for Rapid Prototyping Human-Robot Interaction Experiences using Wearable Haptics.

Somabotics Toolkit for Rapid Prototyping Human-Robot Interaction Experiences using Wearable Haptics (2023)
Presentation / Conference Contribution
Zhou, F., Price, D., Pacchierotti, C., & Kucukyilmaz, A. (2023, July). Somabotics Toolkit for Rapid Prototyping Human-Robot Interaction Experiences using Wearable Haptics. Poster presented at IEEE World Haptics Conference, Delft, Netherlands

This work-in-progress paper presents a prototyping toolkit developed to design haptic interaction experiences. With developments in wearable and sensor technologies, new opportunities arise everyday to create rich haptic interaction experiences acti... Read More about Somabotics Toolkit for Rapid Prototyping Human-Robot Interaction Experiences using Wearable Haptics.

In-the-Wild Failures in a Long-Term HRI Deployment (2023)
Presentation / Conference Contribution
Del Duchetto, F., Kucukyilmaz, A., & Hanheide, M. (2023, May). In-the-Wild Failures in a Long-Term HRI Deployment. Poster presented at International Conference on Robotics and Automation (ICRA), London, UK

Failures are typical in robotics deployments "in-the-wild", especially when robots perform their functions within social human spaces. This paper reports on the failures of an autonomous social robot called Lindsey, which has been used in a public mu... Read More about In-the-Wild Failures in a Long-Term HRI Deployment.

Resolving conflicts during human-robot co-manipulation (2023)
Presentation / Conference Contribution
Al-Saadi, Z., Hamad, Y. M., Aydin, Y., Kucukyilmaz, A., & Basdogan, C. (2023, March). Resolving conflicts during human-robot co-manipulation. Presented at ACM/IEEE International Conference on Human-Robot Interaction, Stockholm, Sweden

This paper proposes a machine learning (ML) approach to detect and resolve motion conflicts that occur between a human and a proactive robot during the execution of a physically collaborative task. We train a random forest classifier to distinguish b... Read More about Resolving conflicts during human-robot co-manipulation.

ScoutWav: Two-Step Fine-Tuning on Self-Supervised Automatic Speech Recognition for Low-Resource Environments (2022)
Presentation / Conference Contribution
Fatehi, K., Torres, M. T., & Kucukyilmaz, A. (2022, September). ScoutWav: Two-Step Fine-Tuning on Self-Supervised Automatic Speech Recognition for Low-Resource Environments. Presented at Interspeech 2022, Incheon, Korea

Recent improvements in Automatic Speech Recognition (ASR) systems obtain extraordinary results. However, there are specific domains where training data can be either limited or not representative enough, which are known as Low-Resource Environments (... Read More about ScoutWav: Two-Step Fine-Tuning on Self-Supervised Automatic Speech Recognition for Low-Resource Environments.

Nottingham Robotic Mobility Assistant (NoRMA): An Affordable DIY Robotic Wheelchair Platform (2022)
Presentation / Conference Contribution
Brand, L. C., & Kucukyilmaz, A. (2022, August). Nottingham Robotic Mobility Assistant (NoRMA): An Affordable DIY Robotic Wheelchair Platform. Presented at UKRAS22: The 5th UK Robotics and Autonomous Systems Conference, Aberystwyth, UK

A significant portion of the population requires a wheelchair to improve mobility, independence, and dignity but not all users are able to use a traditional manual one. Powered wheelchairs offer a more effortless experience but still present difficul... Read More about Nottingham Robotic Mobility Assistant (NoRMA): An Affordable DIY Robotic Wheelchair Platform.

Push-to-See: Learning Non-Prehensile Manipulation to Enhance Instance Segmentation via Deep Q-Learning (2022)
Presentation / Conference Contribution
Serhan, B., Pandya, H., Kucukyilmaz, A., & Neumann, G. (2022, May). Push-to-See: Learning Non-Prehensile Manipulation to Enhance Instance Segmentation via Deep Q-Learning. Presented at IEEE International Conference on Robotics and Automation (ICRA 2022), Philadelphia, USA

Efficient robotic manipulation of objects for sorting and searching often rely upon how well the objects are perceived and the available grasp poses. The challenge arises when the objects are irregular, have similar visual features (e.g., textureless... Read More about Push-to-See: Learning Non-Prehensile Manipulation to Enhance Instance Segmentation via Deep Q-Learning.

Patient, carer, and staff perceptions of robotics in motor rehabilitation: a systematic review and qualitative meta-synthesis (2021)
Journal Article
Laparidou, D., Curtis, F., Akanuwe, J., Goher, K., Niroshan Siriwardena, A., & Kucukyilmaz, A. (2021). Patient, carer, and staff perceptions of robotics in motor rehabilitation: a systematic review and qualitative meta-synthesis. Journal of NeuroEngineering and Rehabilitation, 18(1), Article 181. https://doi.org/10.1186/s12984-021-00976-3

Background: In recent years, robotic rehabilitation devices have often been used for motor training. However, to date, no systematic reviews of qualitative studies exploring the end-user experiences of robotic devices in motor rehabilitation have bee... Read More about Patient, carer, and staff perceptions of robotics in motor rehabilitation: a systematic review and qualitative meta-synthesis.

Intent-Aware Predictive Haptic Guidance and its Application to Shared Control Teleoperation (2021)
Presentation / Conference Contribution
Ly, K. T., Poozhiyil, M., Pandya, H., Neumann, G., & Kucukyilmaz, A. (2021, August). Intent-Aware Predictive Haptic Guidance and its Application to Shared Control Teleoperation. Presented at 2021 30th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2021, Vancouver, Canada (Online)

This paper presents a haptic shared control paradigm that modulates the level of robotic guidance, based on predictions of human motion intentions. The proposed method incorporates robot trajectories learned from human demonstrations and dynamically... Read More about Intent-Aware Predictive Haptic Guidance and its Application to Shared Control Teleoperation.

A Novel Haptic Feature Set for the Classification of Interactive Motor Behaviors in Collaborative Object Transfer (2020)
Journal Article
Al-saadi, Z., Sirintuna, D., Kucukyilmaz, A., & Basdogan, C. (2021). A Novel Haptic Feature Set for the Classification of Interactive Motor Behaviors in Collaborative Object Transfer. IEEE Transactions on Haptics, 14(2), 384-395. https://doi.org/10.1109/toh.2020.3034244

Haptics provides a natural and intuitive channel of communication during the interaction of two humans in complex physical tasks, such as joint object transportation. However, despite the utmost importance of touch in physical interactions, the use o... Read More about A Novel Haptic Feature Set for the Classification of Interactive Motor Behaviors in Collaborative Object Transfer.

Intelligent control of exoskeletons through a novel learning-from-demonstration method (2020)
Presentation / Conference Contribution
Ugur, E., Samur, E., Ugurlu, B., Erol Barkana, D., Kucukyilmaz, A., & Bebek, O. (2020, September). Intelligent control of exoskeletons through a novel learning-from-demonstration method. Poster presented at Cybathlon Symposium 2020, Zurich, Switzerland

We present a novel concept that enables the intelligent and adaptive control of exoskeletons through exploiting our state-of-the-art learning from demonstration (LfD) method, namely Conditional Neural Movement Primitives (CNMPs) [1], on our integrate... Read More about Intelligent control of exoskeletons through a novel learning-from-demonstration method.

Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm with an Identical Twin Master (2020)
Journal Article
Singh, J., Srinivasan, A. R., Neumann, G., & Kucukyilmaz, A. (2020). Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm with an Identical Twin Master. IEEE Transactions on Haptics, 13(1), 246-252. https://doi.org/10.1109/toh.2020.2971485

In this study, we describe two techniques to enable haptic-guided teleoperation using 7-DoF cobot arms as master and slave devices. A shortcoming of using cobots as master-slave systems is the lack of force feedback at the master side. However, recen... Read More about Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm with an Identical Twin Master.

VR-Fit: Walking-in-Place Locomotion with Real Time Step Detection for VR-Enabled Exercise (2019)
Presentation / Conference Contribution
Sari, S., & Kucukyilmaz, A. (2019, August). VR-Fit: Walking-in-Place Locomotion with Real Time Step Detection for VR-Enabled Exercise. Presented at 16th International Conference on Mobile Web and Intelligent Information Systems, Istanbul, Turkey

With recent advances in mobile and wearable technologies, virtual reality (VR) found many applications in daily use. Today, a mobile device can be converted into a low-cost immersive VR kit thanks to the availability of do-it-yourself viewers in the... Read More about VR-Fit: Walking-in-Place Locomotion with Real Time Step Detection for VR-Enabled Exercise.