Cognitive robotic tools for human-centered small-scale multi-robot operations

Project Information

REGO

Grant agreement ID: 101070066

DOI

10.3030/101070066

EC signature date 22 June 2022

Start date 1 October 2022

End date 30 September 2026

Funded under

• Digital, Industry and Space

Total cost

€ 4 585 661,25

EU contribution

€ 4 585 661,00

Coordinated by

CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS
France

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Documents, reports (11)

Methods for AI-based human-to-robot mapping
Independent and formation control of small-scale robot teams
Magnetic characterization of the task-specific robotic carrier and microrobots
Ergonomic multi-functional interface
Functional prototype of the DMA system
Methods for AI-based robot-to-human mapping
Dissemination, exploitation, communication plan and material

Dissemination exploitation communication plan and material

Design and preliminary validation of task-specific robotic carrier and microrobots
Methods for controlling single small-scale robots using DMA and learning-based inverse map
Management plan, including risks, quality, gender strategy

Management plan including risks quality gender strategy

Design of a general-purpose magnetically-driven robotic carrier and microrobots

Websites, patent fillings, videos etc. (1)

Outward-facing website, social media, and logo

Outwardfacing website social media and logo

Data Management Plan (1)

Data management plan

Other (2)

Ethics and experimental procedure report
Programming interface for DMA systems and platform for continuous integration support

Publications

Peer reviewed articles (40)

A tunable room-temperature nonlinear Hall effect in elemental bismuth thin films

Author(s): Pavlo Makushko, Sergey Kovalev, Yevhen Zabila, Igor Ilyakov, Alexey Ponomaryov, Atiqa Arshad, Gulloo Lal Prajapati, Thales V. A. G. de Oliveira, Jan-Christoph Deinert, Paul Chekhonin, Igor Veremchuk, Tobias Kosub, Yurii Skourski, Fabian Ganss, Denys Makarov, Carmine Ortix
Published in: Nature Electronics, Issue 7, 2024, ISSN 2520-1131
Publisher: Springer Science and Business Media LLC
DOI: 10.1038/S41928-024-01118-Y

Flexible anisotropic magnetoresistive sensors for novel eddy current testing applications

Author(s): Alberto Nicolicea, Eduardo Sergio Oliveros-Mata, Denys Makarov, Michael Melzer, Matthias Pelkner
Published in: Measurement, Issue 253, 2025, ISSN 0263-2241
Publisher: Elsevier BV
DOI: 10.1016/J.MEASUREMENT.2025.117340

Wearable multi-sensory haptic devices

Author(s): Joshua J. Fleck, Zane A. Zook, Janelle P. Clark, Daniel J. Preston, Darren J. Lipomi, Claudio Pacchierotti, Marcia K. O’Malley
Published in: Nature Reviews Bioengineering, Issue 3, 2025, ISSN 2731-6092
Publisher: Springer Science and Business Media LLC
DOI: 10.1038/S44222-025-00274-W

Multi-UAVs End-to-End Distributed Trajectory Generation Over Point Cloud Data

Author(s): Antonio Marino, Claudio Pacchierotti, Paolo Robuffo Giordano
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2024.3426374

Miniaturized Variable Stiffness Gripper Locally Actuated by Magnetic Fields

Author(s): Lukas Masjosthusmann, Michiel Richter, Pavlo Makushko, Denys Makarov, Sarthak Misra
Published in: Advanced Intelligent Systems, Issue 6, 2024, ISSN 2640-4567
Publisher: Wiley
DOI: 10.1002/AISY.202400037

Submersible touchless interactivity in conformable textiles enabled by highly selective overbraided magnetoresistive sensors

Author(s): Pasindu Lugoda, Eduardo Sergio Oliveros-Mata, Kalana Marasinghe, Rahul Bhaumik, Niccolò Pretto, Carlos Oliveira, Tilak Dias, Theodore Hughes-Riley, Michael Haller, Niko Münzenrieder, Denys Makarov
Published in: Communications Engineering, Issue 4, 2025, ISSN 2731-3395
Publisher: Springer Science and Business Media LLC
DOI: 10.1038/S44172-025-00373-X

Spin-orbit interaction driven terahertz nonlinear dynamics in transition metals

Author(s): Ruslan Salikhov, Markus Lysne, Philipp Werner, Igor Ilyakov, Michael Schüler, Thales V. A. G. de Oliveira, Alexey Ponomaryov, Atiqa Arshad, Gulloo Lal Prajapati, Jan-Christoph Deinert, Pavlo Makushko, Denys Makarov, Thomas Cowan, Jürgen Fassbender, Jürgen Lindner, Aleksandra Lindner, Carmine Ortix, Sergey Kovalev
Published in: npj Spintronics, Issue 3, 2025, ISSN 2948-2119
Publisher: Springer Science and Business Media LLC
DOI: 10.1038/S44306-024-00068-7

Printed magnetoresistive sensors for recyclable magnetoelectronics

Author(s): Xiaotao Wang, Lin Guo, Olha Bezsmertna, Yuhan Wu, Denys Makarov, Rui Xu
Published in: Journal of Materials Chemistry A, Issue 12, 2024, ISSN 2050-7488
Publisher: Royal Society of Chemistry (RSC)
DOI: 10.1039/D4TA02765E

Bimanual Ultrasound Mid-Air Haptics for Virtual Reality Manipulation

Author(s): Lendy Mulot, Thomas Howard, Guillaume Gicquel, Claudio Pacchierotti, Maud Marchal
Published in: IEEE Transactions on Visualization and Computer Graphics, 2024, ISSN 1077-2626
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TVCG.2024.3417343

Kinetically controlled metal-elastomer nanophases for environmentally resilient stretchable electronics

Author(s): Soosang Chae, Won Jin Choi, Lisa Julia Nebel, Chang Hee Cho, Quinn A. Besford, André Knapp, Pavlo Makushko, Yevhen Zabila, Oleksandr Pylypovskyi, Min Woo Jeong, Stanislav Avdoshenko, Oliver Sander, Denys Makarov, Yoon Jang Chung, Andreas Fery, Jin Young Oh, Tae Il Lee
Published in: Nature Communications, Issue 15, 2024, ISSN 2041-1723
Publisher: Springer Science and Business Media LLC
DOI: 10.1038/S41467-024-47223-6

Haptic Feedback, Performance and Arousal: A Comparison Study in an Immersive VR Motor Skill Training Task

Author(s): Unnikrishnan Radhakrishnan, Lisheng Kuang, Konstantinos Koumaditis, Francesco Chinello, Claudio Pacchierotti
Published in: IEEE Transactions on Haptics, Issue 17, 2024, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TOH.2023.3319034

Deconstructing Haptic Feedback Information in Robot-Assisted Needle Insertion in Soft Tissues

Author(s): Marco Ferro, Claudio Pacchierotti, Sara Rossi, Marilena Vendittelli
Published in: IEEE Transactions on Haptics, Issue 16, 2024, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TOH.2023.3271224

Tunable Magnetic Trap: Using Passive Elements to Control Magnetic Microrobots

Author(s): Franco N. Piñan Basualdo, Robert G. J. van de Weerd, Sarthak Misra
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2024.3349810

Versatile Green Transfer of Magnetoelectronics with Loss‐Free Performance and High Adhesion for Interactive Electronics

Author(s): Olha Bezsmertna, Rui Xu, Eduardo Sergio Oliveros Mata, Stanislav Avdoshenko, Clemens Voigt, Sindy Mosch, Mykola Vinnichenko, Denys Makarov
Published in: Advanced Functional Materials, 2025, ISSN 1616-301X
Publisher: Wiley
DOI: 10.1002/ADFM.202502947

Collaborative Magnetic Agents for 3D Microrobotic Grasping

Author(s): Franco N. Piñan Basualdo, Sarthak Misra
Published in: Advanced Intelligent Systems, Issue 5, 2024, ISSN 2640-4567
Publisher: Wiley
DOI: 10.1002/AISY.202300365

Optical Flow and Acoustic Phase Analysis Comparison in Ultrasound-Based Microrobot Tracking

Author(s): Giovanni Faoro, Veronica Iacovacci, Arianna Menciassi
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2024.3349815

Transferring human emotions to robot motions using Neural Policy Style Transfer

Author(s): Raul Fernandez-Fernandez, Bartek Łukawski, Juan G. Victores, Claudio Pacchierotti
Published in: Cognitive Systems Research, Issue 82, 2024, ISSN 1389-0417
Publisher: Elsevier BV
DOI: 10.1016/J.COGSYS.2023.05.010

Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality

Author(s): Erwan Normand, Claudio Pacchierotti, Eric Marchand, Maud Marchal
Published in: IEEE Transactions on Haptics, Issue 17, 2024, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TOH.2024.3358910

Can we Effectively Combine Tangibles and Ultrasound Mid-Air Haptics? A Study of Acoustically Transparent Tangible Surfaces

Author(s): Thomas Howard, Guillaume Gicquel, Claudio Pacchierotti, Maud Marchal
Published in: IEEE Transactions on Haptics, Issue 16, 2024, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TOH.2023.3267096

Modular Droplet‐Based Fluidics for Large Volume Libraries of Individual Multiparametric Codes in Lab‐On‐Chip Systems

Author(s): Julian Schütt, Hariharan Nhalil, Jürgen Fassbender, Lior Klein, Asaf Grosz, Denys Makarov
Published in: Advanced Sensor Research, Issue 2, 2023, ISSN 2751-1219
Publisher: Wiley
DOI: 10.1002/ADSR.202300101

Improving the Perception of Mid-air Tactile Shapes with Spatio-temporally-modulated Tactile Pointers

Author(s): Lendy Mulot, Thomas Howard, Claudio Pacchierotti, Maud Marchal
Published in: ACM Transactions on Applied Perception, Issue 20, 2023, ISSN 1544-3558
Publisher: Association for Computing Machinery (ACM)
DOI: 10.1145/3611388

Magnetic Nozzle‐Free Embedded 3D (MagNoFE3D) Printing

Author(s): Franco N. Piñan Basualdo, Vasileios D. Trikalitis, Sabrina Visconti, Fanny Ficuciello, Constantinos Goulas, Jeroen Rouwkema, Sarthak Misra
Published in: Advanced Materials Technologies, Issue 10, 2025, ISSN 2365-709X
Publisher: Wiley
DOI: 10.1002/ADMT.202401097

Magnetically aware actuating composites: Sensing features as inspiration for the next step in advanced magnetic soft robotics

Author(s): Eduardo Sergio Oliveros-Mata, Rui Xu, Lin Guo, Denys Makarov
Published in: Physical Review Applied, Issue 20, 2023, ISSN 2331-7019
Publisher: American Physical Society (APS)
DOI: 10.1103/PHYSREVAPPLIED.20.060501

Ultrasound Mid-Air Haptics for Hand Guidance in Virtual Reality

Author(s): Lendy Mulot, Thomas Howard, Claudio Pacchierotti, Maud Marchal
Published in: IEEE Transactions on Haptics, Issue 16, 2024, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TOH.2023.3269521

A Wearable Haptic Device for the Hand With Interchangeable End-Effectors

Author(s): Lisheng Kuang, Marco Ferro, Monica Malvezzi, Domenico Prattichizzo, Paolo Robuffo Giordano, Francesco Chinello, Claudio Pacchierotti
Published in: IEEE Transactions on Haptics, Issue 17, 2024, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TOH.2023.3284980

A 4-DoF wearable hand device for haptic rendering of surfaces and edges

Author(s): Lisheng Kuang, Monica Malvezzi, Marco Ferro, Domenico Prattichizzo, Paolo Robuffo Giordano, Francesco Chinello, Claudio Pacchierotti
Published in: Mechatronics, Issue 99, 2024, ISSN 0957-4158
Publisher: Elsevier BV
DOI: 10.1016/J.MECHATRONICS.2024.103173

Locally Addressable Energy Efficient Actuation of Magnetic Soft Actuator Array Systems

Author(s): Michiel Richter, Jakub Sikorski, Pavlo Makushko, Yevhen Zabila, Venkatasubramanian Kalpathy Venkiteswaran, Denys Makarov, Sarthak Misra
Published in: Advanced Science, Issue 10, 2024, ISSN 2198-3844
Publisher: Wiley
DOI: 10.1002/ADVS.202302077

Investigating the Haptic Perception of Directional Information Within a Handle

Author(s): Inès Lacôte, Claudio Pacchierotti, Marie Babel, David Gueorguiev, Maud Marchal
Published in: IEEE Transactions on Haptics, Issue 16, 2024, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TOH.2023.3279510

Three-dimensional magnetic nanotextures with high-order vorticity in soft magnetic wireframes

Author(s): Oleksii M. Volkov, Oleksandr V. Pylypovskyi, Fabrizio Porrati, Florian Kronast, Jose A. Fernandez-Roldan, Attila Kákay, Alexander Kuprava, Sven Barth, Filipp N. Rybakov, Olle Eriksson, Sebastian Lamb-Camarena, Pavlo Makushko, Mohamad-Assaad Mawass, Shahrukh Shakeel, Oleksandr V. Dobrovolskiy, Michael Huth, Denys Makarov
Published in: Nature Communications, Issue 15, 2024, ISSN 2041-1723
Publisher: Springer Science and Business Media LLC
DOI: 10.1038/S41467-024-46403-8

Medical Microrobots

Author(s): Veronica Iacovacci, Eric Diller, Daniel Ahmed, Arianna Menciassi
Published in: Annual Review of Biomedical Engineering, Issue 26, 2024, ISSN 1523-9829
Publisher: Annual Reviews
DOI: 10.1146/ANNUREV-BIOENG-081523-033131

Scalable magnetoreceptive e-skin for energy-efficient high-resolution interaction towards undisturbed extended reality

Author(s): Pavlo Makushko, Jin Ge, Gilbert Santiago Cañón Bermúdez, Oleksii Volkov, Yevhen Zabila, Stanislav Avdoshenko, Rico Illing, Leonid Ionov, Martin Kaltenbrunner, Jürgen Fassbender, Rui Xu, Denys Makarov
Published in: Nature Communications, Issue 16, 2025, ISSN 2041-1723
Publisher: Springer Science and Business Media LLC
DOI: 10.1038/S41467-025-56805-X

Printed Recyclable and Flexible Thermocouple Temperature Sensors

Author(s): Xiaotao Wang, Lin Guo, Qihao Zhang, Yevhen Zabila, Rui Xu, Denys Makarov
Published in: Advanced Sensor Research, 2025, ISSN 2751-1219
Publisher: Wiley
DOI: 10.1002/ADSR.202400182

Modular Droplet-Based Fluidics for Large Volume Libraries of Individual Multiparametric Codes in Lab-On-Chip Systems

Author(s): Julian Schütt, Hariharan Nhalil, Jürgen Fassbender, Lior Klein, Asaf Grosz, Denys Makarov
Published in: Advanced Sensor Research, 2023, ISSN 2751-1219
Publisher: Wiley
DOI: 10.1002/adsr.202300101

Low-temperature diffusion in thin-film Pt-(Au-)-Co heterostructures: a structural and magnetic characterization

Author(s): Roman Pedan, Pavlo Makushko, Yurii Yavorskyi, Oleksandr Dubikovskyi, Andrii Bodnaruk, Andrii Burmak, Vladimir Golub, Svitlana Voloshko, René Hübner, Denys Makarov, Igor Vladymyrskyi
Published in: Nanotechnology, Issue 35, 2024, ISSN 0957-4484
Publisher: IOP Publishing
DOI: 10.1088/1361-6528/AD22A8

Cutaneous/Tactile Haptic Feedback in Robotic Teleoperation: Motivation, Survey, and Perspectives

Author(s): Claudio Pacchierotti, Domenico Prattichizzo
Published in: IEEE Transactions on Robotics, Issue 40, 2025, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TRO.2023.3344027

Does Multi-Actuator Vibrotactile Feedback Within Tangible Objects Enrich VR Manipulation?

Author(s): Pierre-Antoine Cabaret, Thomas Howard, Guillaume Gicquel, Claudio Pacchierotti, Marie Babel, Maud Marchal
Published in: IEEE Transactions on Visualization and Computer Graphics, Issue 30, 2024, ISSN 1077-2626
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TVCG.2023.3279398

"Surface-Symmetry-Driven Dzyaloshinskii-Moriya Interaction and Canted Ferrimagnetism in Collinear Magnetoelectric Antiferromagnet <mml:math xmlns:mml=""http://www.w3.org/1998/Math/MathML"" display=""inline""><mml:mrow><mml:msub><mml:mrow><mml:mi>Cr</mml:mi></mml:mrow><mml:mrow><mml:mn>2</mml:mn></mml:mrow></mml:msub><mml:msub><mml:mrow><mml:mi mathvariant=""normal"">O</mml:mi></mml:mrow><mml:mrow><mml:mn>3</mml:mn></mml:mrow></mml:msub></mml:mrow></mml:math>"

Author(s): Oleksandr V. Pylypovskyi, Sophie F. Weber, Pavlo Makushko, Igor Veremchuk, Nicola A. Spaldin, Denys Makarov
Published in: Physical Review Letters, Issue 132, 2025, ISSN 0031-9007
Publisher: American Physical Society (APS)
DOI: 10.1103/PHYSREVLETT.132.226702

Janus Particles in Acoustofluidic Setup: The Interplay between Self-Propulsion and Acoustic Trapping

Author(s): Lisa Marie Benko, Vyacheslav R. Misko, Larysa Baraban, Denys Makarov, Antonio Maisto, Wim De Malsche
Published in: Micro, Issue 4, 2025, ISSN 2673-8023
Publisher: MDPI AG
DOI: 10.3390/MICRO4010013

The effect of Ar+ and N+ ion irradiation on the thermally induced evolution of the structural and magnetic properties of Co/Pt and Pt/Co bilayered stacks

Author(s): Roman Pedan, Ivan Kruhlov, Pavlo Makushko, Oleksandr Dubikovskyi, Oleksandr Kosulya, Andrii Orlov, Andrii Bodnaruk, Vladimir Golub, Frans Munnik, René Hübner, Denys Makarov, Igor Vladymyrskyi
Published in: Materials Chemistry and Physics, Issue 327, 2024, ISSN 0254-0584
Publisher: Elsevier BV
DOI: 10.1016/J.MATCHEMPHYS.2024.129862

Collaborative Magnetic Agents for 3D Microrobotic Grasping

Author(s): Franco N. Piñan Basualdo, Sarthak Misra
Published in: Advanced Intelligent Systems, 2023, ISSN 2640-4567
Publisher: Wiley
DOI: 10.1002/aisy.202300365

Conference proceedings (4)

Millimeter-Scale Magnetic Carrier for On-Demand Delivery of Magnetic and Non-Magnetic Microparticles Suspensions

Author(s): Tamerlan Srymbetov, Giordano De Angelis, Arianna Menciassi, Veronica Iacovacci
Published in: 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2024
Publisher: IEEE
DOI: 10.1109/BIOROB60516.2024.10719851

Graph Neural Network-Based Real-Time 3D Tracking for Micro-Agent Control

Author(s): Yuxin Jin, Franco Pinan Basualdo, Antonio Marino, Yongfeng Mei, Paolo Robuffo Giordano, Claudio Pacchierotti, Sarthak Misra
Published in: 2024 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2024
Publisher: IEEE
DOI: 10.1109/MARSS61851.2024.10612750

Haptic Mushroom: a 3-DoF shape-changing encounter-type haptic device with interchangeable end-effectors

Author(s): Lisheng Kuang, Francesco Chinello, Paolo Robuffo Giordano, Maud Marchal, Claudio Pacchierotti
Published in: 2023 IEEE World Haptics Conference (WHC), 2023, ISSN 2835-9534
Publisher: IEEE
DOI: 10.1109/WHC56415.2023.10224373

Reducing Cognitive Load in Teleoperating Swarms of Robots through a Data-Driven Shared Control Approach

Author(s): Enrico Turco, Chiara Castellani, Valerio Bo, Claudio Pacchierotti, Domenico Prattichizzo, Tommaso Lisini Baldi
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Publisher: IEEE
DOI: 10.1109/IROS58592.2024.10802645