NurSim: Human Interaction Focused Robotic Simulation
Abstract: Human–robot interaction (HRI) research relies heavily on user studies, which are often costly, time-intensive, and difficult to iterate due to limited participant availability, complex metrics, and regulatory constraints. While robotic simulation has been widely adopted for system development and validation, existing simulators are not optimized for human-centered experimentation or rapid study deployment. This project introduces NurSim, a human-interaction-focused robotic simulation framework designed to streamline the design, execution, and analysis of HRI studies. NurSim integrates Unity-based 3D environments with ROS to support rapid creation of interactive interfaces, low- or no-code experiment configuration, and seamless portability across a wide range of hardware platforms, including VR, AR, haptics, eye tracking, and physical input devices. The system emphasizes consistent, automated data collection and supports both local and remote experimentation, enabling scalable study deployment and iterative study design. By prioritizing usability for researchers and fidelity in human factors rather than physics, NurSim aims to reduce the overhead of HRI user studies while preserving meaningful behavioral trends, particularly for early-stage evaluation and task prototyping.
Advisor: Professor Jane Li
Zoom link: https://wpi.zoom.us/j/93112299751