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SAPHARI

Project reference: 287513
Funded under

Safe and Autonomous Physical Human-Aware Robot Interaction

From 2011-11-01 to 2015-10-31, closed project

Project details

Total cost:

EUR 11 568 420

EU contribution:

EUR 8 297 474

Coordinated in:

Italy

Call for proposal:

FP7-ICT-2011-7See other projects for this call

Funding scheme:

CP - Collaborative project (generic)
Recent progress in physical Human-Robot Interaction showed that active and safe workspace sharing becomes possible in principle. SAPHARI will perform a fundamental paradigm shift in robot development in the sense that the human will be the centre of the entire design. The project will enable robots to track, understand and predict human motions in a weakly structured dynamic environment in real-time. The project will focus on industrial use cases that require contacts and force exchange in human-robot co-work, as well as on professional service scenarios in hospitals, in which a medical staff and an assisting robot interact closely during daily work. Results of this project will impact all applications where interactive robots can assist humans and release them from dangerous or routine tasks.

Objective

Recent progress in physical Human-Robot Interaction (pHRI) showed that active and safe workspace sharing becomes possible in principle. Inspired by these results, SAPHARI will perform a fundamental paradigm shift in robot development in the sense that we place the human as the centre of the entire design. We address all essential aspects of safe, intuitive physical interaction between humans and complex, human-like robotic systems in a strongly interconnected manner. While encompassing safety issues based on biomechanical analysis, human-friendly hardware design, and interaction control strategies, the project will develop and validate perceptive and cognitive key components that enable robots to track, understand and predict human motions in a weakly structured dynamic environment in real-time. Apart from developing the necessary capabilities for interactive autonomy, we will tightly incorporate the human safety also at the cognitive level. This will enable the robots to react or physically interact with humans in a safe and autonomous way. Biomechanical knowledge and biologically motivated variable compliance actuators will be used to design bimanual manipulation systems close to human properties and performance. Planning motions and tasks of such complex systems in real-time require new concepts, including tight coupling of control and planning, that lead to new reactive action generation behaviours. Moreover, self explaining interaction and communication frameworks will be developed to enhance the system usability. The project focuses on two industrial use cases that explicitly require contacts and force exchange in human-robot co-work, as well as on professional service scenarios in hospitals, in which a medical staff and an assisting robot interact closely during daily work. Results of this project are expected to strongly impact all applications where interactive robots can assist humans and release them from dangerous or routine tasks.

Related information

Open Access

Coordinator

UNIVERSITA DEGLI STUDI DI ROMA LA SAPIENZA
Italy

EU contribution: EUR 815 392


Via Ariosto 25
00185 Roma
Italy
Administrative contact: Alessandro De Luca
Tel.: +39 0677274052
Fax: +39 0677274131
E-mail

Participants

KUKA Laboratories GmbH
Participation ended
Germany

EU contribution: EUR 336 172


Zugspitzstrasse 140
86165 Augsburg
Germany
Administrative contact: Tim Guhl
Tel.: +49 821 797 3270
Fax: +49 821 797 41 3270
E-mail
KUKA ROBOTER GMBH
Germany

EU contribution: EUR 500 541


ZUGSPITZSTRASSE 140
86165 AUGSBURG
Germany
Administrative contact: Tim Guhl
Tel.: +49 821 797 3270
Fax: +49 821 797 41 3270
E-mail
FRAUNHOFER GESELLSCHAFT ZUR FORDERUNG DER ANGEWANDTEN FORSCHUNG EV
Germany

EU contribution: EUR 925 122


HANSASTRASSE 27C
80686 MUNCHEN
Germany
Administrative contact: Christoph Schulte
Tel.: +49 89 1205 2728
Fax: +49 89 1205 7534
E-mail
DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV
Germany

EU contribution: EUR 1 097 088


Linder Hoehe
51147 KOELN
Germany
Administrative contact: Nicole Laqua-Feller
Tel.: +49 8153 28 2427
Fax: +49 8153 28 1972
E-mail
UNIVERSITAET BREMEN
Germany

EU contribution: EUR 332 744


Bibliothekstrasse 1
28359 BREMEN
Germany
Administrative contact: Thomas Flink
Tel.: +49 421218 60550
Fax: +49 4212189860550
E-mail
TECHNISCHE UNIVERSITAET MUENCHEN
Germany

EU contribution: EUR 526 142


Arcisstrasse 21
80333 MUENCHEN
Germany
Administrative contact: Ulrike Ronchetti
Tel.: +49 89 289 22616
Fax: +49 89 289 22620
E-mail
AIRBUS GROUP SAS
France

EU contribution: EUR 448 163


2 ROND-POINT EMILE DEWOITINE
31700 BLAGNAC
France
Administrative contact: Julie FOSSE
Tel.: +33 0 146 97 30 79
E-mail
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE
France

EU contribution: EUR 828 384


Rue Michel -Ange 3
75794 PARIS
France
Administrative contact: Aline DUYNSLAEGER
Tel.: +33 5 61336006
Fax: +33 5 62172901
E-mail
FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italy

EU contribution: EUR 736 040


VIA MOREGO 30
16163 GENOVA
Italy
Administrative contact: Darwin CALDWELL
Tel.: +39 010 71781 427
E-mail
UNIVERSITA DEGLI STUDI DI NAPOLI FEDERICO II.
Italy

EU contribution: EUR 614 712


Corso Umberto I 40
80138 NAPOLI
Italy
Administrative contact: CINZIA CANNIZZARO
Tel.: +39 0817683830
Fax: +39 0817683816
E-mail
UNIVERSITA DI PISA
Italy

EU contribution: EUR 945 450


LUNGARNO PACINOTTI 43/44
56126 PISA
Italy
Administrative contact: Immacolata Viva
Tel.: +39 050 2217833
Fax: +39 050 2217051
E-mail
UNIVERSITE PAUL SABATIER TOULOUSE III
France

EU contribution: EUR 51 284


ROUTE DE NARBONNE 118
31062 TOULOUSE CEDEX 9
France
Administrative contact: Michel RUFFAT
Tel.: +33 5 61 55 72 61
Fax: +33 5 61 33 73 13
E-mail
SECONDA UNIVERSITÀ DEGLI STUDI DI NAPOLI
Italy

EU contribution: EUR 140 240


VIALE BENEDUCE 10
81100 CASERTA
Italy
Administrative contact: Ciro Natale
Tel.: +39 081 5010343
Fax: +39 081 5037042
E-mail
Record Number: 100739 / Last updated on: 2016-04-11