HUMAN-ROBOT SENSORIMOTOR AUGMENTATION - WEARABLE SENSORIMOTOR INTERFACES AND SUPERNUMERARY ROBOTIC LIMBS FOR HUMANS WITH UPPER-LIMB DISABILITIES

Project Information

HARIA

Grant agreement ID: 101070292

DOI

10.3030/101070292

EC signature date 13 June 2022

Start date 1 October 2022

End date 30 September 2026

Funded under

• Digital, Industry and Space

Total cost

€ 4 948 592,50

EU contribution

€ 4 948 592,50

Coordinated by

UNIVERSITA DEGLI STUDI DI SIENA
Italy

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 (10)

Results of the first pilot tests in SCEN2
Initial prototypes of WSMI with co-located sensing and actuation modules
Results of the first pilot tests in SCEN1
User needs and acceptance modelling: usage scenarios, user profiles and personas

User needs and acceptance modelling usage scenarios user profiles and personas

Initial prototypes of wearable finger(s) and collaborative grippers

Initial prototypes of wearable fingers and collaborative grippers

Project website and communication material
Motor control strategies, sensory feedback strategies, and simulation environment in VR
Semantic scene understanding and concept for role assignment
Initial prototypes of sensing modules for WSMI
Initial prototypes of actuation modules for WSMI

Data Management Plan (1)

Data management plan

Data management plan updated at every progress report

Demonstrators, pilots, prototypes (3)

Integrated version of WSMI and control strategies for the dual-arm system
Integrated versions of wearable finger(s) and collaborative grippers with the related WSMIs and control strategies
Integrated version of WSMIs and control strategies for grounded arms

Publications

Conference proceedings (16)

Exploiting Human Intrinsic Kinematic Null Space to Control Extra Degrees of Freedom

Author(s): Lisini, Tommaso; D'Aurizio, Nicole; Prattichizzo, Domenico
Published in: 2023
Publisher: 2023 I-RIM3D Conference
DOI: 10.5281/ZENODO.10722580

From Cage to Stage: Mapping Human Dance Movements Onto Industrial Robotic Arm Motion

Author(s): Giuseppe Saviano, Alberto Villani, Domenico Prattichizzo
Published in: Proceedings of the 9th International Conference on Movement and Computing, 2024
Publisher: ACM
DOI: 10.1145/3658852.3659090

Kinematic Synergy Primitives for Human-Like Grasp Motion Generation

Author(s): Julia Starke, Tamim Asfour
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.1109/ICRA57147.2024.10611490

Towards Unifying Human Likeness: Evaluating Metrics for Human-Like Motion Retargeting on Bimanual Manipulation Tasks

Author(s): Andre Meixner, Mischa Carl, Franziska Krebs, Noémie Jaquier, Tamim Asfour
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.1109/ICRA57147.2024.10611024

AutoGPT+P: Affordance-based Task Planning using Large Language Models

Author(s): Timo Birr, Christoph Pohl, Abdelrahman Younes, Tamim Asfour
Published in: Robotics: Science and Systems XX, 2024
Publisher: Robotics: Science and Systems Foundation
DOI: 10.15607/RSS.2024.XX.112

Avatarm: an Avatar With Manipulation Capabilities for the Physical Metaverse

Author(s): Villani, A., Cortigiani, G., Brogi, B., D'Aurizio, N., Baldi, T. L.
Published in: Proc. IEEE Int. Conf. on Robotics and Automation, 2023, ISBN 979-8-3503-2365-8
Publisher: IEEE
DOI: 10.1109/ICRA48891.2023.10161572

Soft Pneumatic Pads Enable New Sensing and Actuation Capabilities in Soft-Rigid Grippers

Author(s): Maria Pozzi, Leonardo Franco, Zubair Iqbal, Monica Malvezzi, Domenico Prattichizzo, Gionata Salvietti
Published in: 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), 2024, ISSN 2769-4534
Publisher: IEEE
DOI: 10.1109/ROBOSOFT60065.2024.10522022

Monolithic fingers with actively variable compliance for underactuated tendon-driven robotic grippers

Author(s): Troisi, Danilo; Dragusanu, Mihai; Prattichizzo, Domenico; Malvezzi, Monica
Published in: 2023
Publisher: 2023 I-RIM3D Conference
DOI: 10.5281/ZENODO.10722604

Exploiting Intrinsic Kinematic Null Space for Supernumerary Robotic Limbs Control.

Author(s): Lisini Baldi, T., D’Aurizio, N., Gurgone, S., Borzelli, D., d’Avella, A., & Prattichizzo, D.
Published in: Proc. IEEE Int. Conf. on Robotics and Automation, 2023, ISBN 979-8-3503-2366-5
Publisher: IEEE
DOI: 10.1109/ICRA48891.2023.10160964

A Wearable Pick-By-Haptics System to Improve Manual-Picking Tasks in Warehouses

Author(s): Leonardo Franco, Tommaso Lisini, Domenico Prattichizzo, Gionata Salvietti
Published in: 2024 IEEE Haptics Symposium (HAPTICS), 2024
Publisher: IEEE
DOI: 10.1109/HAPTICS59260.2024.10520847

Online Minimization of the Robot Silhouette Viewed From Eye-to-Hand Camera

Author(s): G. Cortigiani, B. Brogi, A. Villani, T. Lisini Baldi, N. D’Aurizio, D. Prattichizzo
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.1109/ICRA57147.2024.10610007

A High-Force Gripper with Embedded Multimodal Sensing for Powerful and Perception Driven Grasping

Author(s): Edoardo Del Bianco, Davide Torielli, Federico Rollo, Damiano Gasperini, Arturo Laurenzi, Lorenzo Baccelliere, Luca Muratore, Marco Roveri, Nikos G. Tsagarakis
Published in: 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids), 2024
Publisher: IEEE
DOI: 10.1109/HUMANOIDS58906.2024.10769951

Wearable Haptics for a Marionette-inspired Teleoperation of Highly Redundant Robotic Systems

Author(s): Davide Torielli, Leonardo Franco, Maria Pozzi, Luca Muratore, Monica Malvezzi, Nikos Tsagarakis, Domenico Prattichizzo
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.1109/ICRA57147.2024.10610788

The Double-Scoop Gripper: A Tendon-Driven Soft-Rigid End-Effector for Food Handling Exploiting Constraints in Narrow Spaces

Author(s): Leonardo Franco, Enrico Turco, Valerio Bo, Maria Pozzi, Monica Malvezzi, Domenico Prattichizzo, Gionata Salvietti
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.1109/ICRA57147.2024.10611693

Incremental Learning of Full-Pose Via-Point Movement Primitives on Riemannian Manifolds

Author(s): Tilman Daab, Noémie Jaquier, Christian Dreher, Andre Meixner, Franziska Krebs, Tamim Asfour
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.1109/ICRA57147.2024.10610275

The HapticSpider: a 7-DoF Wearable Device for Cutaneous Interaction with the Palm

Author(s): """L. Kuang, M. Malvezzi, D. Prattichizzo, P. Robuffo Giordano, F. Chinello, C. Pacchierotti """
Published in: ACM, 2024, ISSN 978-3-031-70057-6978-3-031-70058-3
Publisher: Springer, Cham
DOI: 10.1007/978-3-031-70058-3_23

Other (2)

Incomplete adaptation to surface movement during hand reaching

Author(s): Priscilla Balestrucci, Matteo Bianchi, Colleen P. Ryan, Giulia Daniele, Alice Flamini, Fanny Valente, Francesco Lacquaniti, Alessandro Moscatelli
Published in: 2024
Publisher: Cold Spring Harbor Laboratory
DOI: 10.1101/2024.12.18.629126

A modular architecture for trial-by-trial learning of redundant muscle activity patterns in novel sensorimotor tasks

Author(s): Lucas Rebelo Dal’Bello, Denise Jennifer Berger, Daniele Borzelli, Etienne Burdet, Andrea d’Avella
Published in: 2025
Publisher: Cold Spring Harbor Laboratory
DOI: 10.1101/2025.01.29.635432

Peer reviewed articles (14)

Soft Human-Robot Handover Using a Vision-Based Pipeline

Author(s): Chiara Castellani, Enrico Turco, Valerio Bo, Monica Malvezzi, Domenico Prattichizzo, Gabriele Costante, Maria Pozzi
Published in: IEEE Robotics and Automation Letters, Issue 10, 2024, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2024.3511415

Exploiting body redundancy to control supernumerary robotic limbs in human augmentation

Author(s): Tommaso Lisini Baldi, Nicole D’Aurizio, Chiara Gaudeni, Sergio Gurgone, Daniele Borzelli, Andrea d’Avella, Domenico Prattichizzo
Published in: The International Journal of Robotics Research, Issue 44, 2025, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/02783649241265451

A hierarchical sensorimotor control framework for human-in-the-loop robotic hands.

Author(s): Seminara L, Dosen S, Mastrogiovanni F, Bianchi M, Watt S, Beckerle P, Nanayakkara T, Drewing K, Moscatelli A, Klatzky RL, Loeb GE.
Published in: Science Robotics, 2023, ISSN 2470-9476
Publisher: Science
DOI: 10.1126/scirobotics.add5434

The Avatarm: Interacting in the Physical Metaverse via Robotics, Diminished Reality, and Haptics

Author(s): Bernardo Brogi, Giovanni Cortigiani, Alberto Villani, Nicole D’Aurizio, Domenico Prattichizzo, Tommaso Lisini Baldi
Published in: IEEE Access, Issue 12, 2024, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/ACCESS.2024.3420717

Neuromuscular invariants in action execution and perception: Comment on “Motor invariants in action execution and perception” by Torricelli et al.

Author(s): Andrea d'Avella; Marta Russo; Denise J. Berger; Antonella Maselli
Published in: Physics of Life Reviews, 2023, ISSN 1873-1457
Publisher: Elsevier BV
DOI: 10.1016/j.plrev.2023.04.003

Synaptic inputs to motor neurons underlying muscle coactivation for functionally different tasks have different spectral characteristics

Author(s): Daniele Borzelli, Taian M. M. Vieira, Alberto Botter, Marco Gazzoni, Francesco Lacquaniti, Andrea d’Avella
Published in: Journal of Neurophysiology, Issue 131, 2024, ISSN 0022-3077
Publisher: American Physiological Society
DOI: 10.1152/JN.00199.2023

Persistent changes in motor adaptation strategies after perturbations that require exploration of novel muscle activation patterns

Author(s): Berger DJ, d'Avella A
Published in: Journal of Neurophysiology, 2023, ISSN 0022-3077
Publisher: American Physiological Society
DOI: 10.1152/jn.00154.2023

The relativity of reaching: Motion of the touched surface alters the trajectory of hand movements

Author(s): Colleen P. Ryan, Simone Ciotti, Priscilla Balestrucci, Antonio Bicchi, Francesco Lacquaniti, Matteo Bianchi, Alessandro Moscatelli
Published in: iScience, Issue 27, 2024, ISSN 2589-0042
Publisher: Elsevier BV
DOI: 10.1016/J.ISCI.2024.109871

A Laser-Guided Interaction Interface for Providing Effective Robot Assistance to People With Upper Limbs Impairments

Author(s): Davide Torielli, Liana Bertoni, Luca Muratore, Nikos Tsagarakis
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.2024.3430709

Towards a Hierarchical User Requirement Structure for Upper Limb Assistive Robotics

Author(s): Susanne Frennert, Maria Pozzi, Johanna Persson, Mariagrazia D’Ippolito, Donatella Mattia, Eva Díez-Rodríguez, Antonio Oliviero, Sara Fernández-Canosa, Fátima Villamayor Vega, Alessandro Giannotta, Simone Rossi, Andrea D’avella, Domenico Prattichizzo
Published in: ACM Transactions on Human-Robot Interaction, Issue 14, 2025, ISSN 2573-9522
Publisher: Association for Computing Machinery (ACM)
DOI: 10.1145/3698242

Can Stochastic Resonance Improve Sensorimotor Performance in Hand Motor Control?

Author(s): Michele Pompilio, Nicole D’Aurizio, Tommaso Lisini Baldi, Gionata Salvietti, Simone Rossi, Domenico Prattichizzo
Published in: IEEE Access, Issue 12, 2024, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/ACCESS.2024.3477974

Bayesian hierarchical models and prior elicitation for fitting psychometric functions

Author(s): Mezzetti M, Ryan CP, Balestrucci P, Lacquaniti F, Moscatelli A.
Published in: Front. Comput. Neurosci., 2023, ISSN 1662-5188
Publisher: Frontiers Research Foundation
DOI: 10.3389/fncom.2023.1108311

Human-Robot Collaborative Cable-Suspended Manipulation with Contact Distinction

Author(s): Giovanni Cortigiani, Monica Malvezzi, Domenico Prattichizzo, Maria Pozzi
Published in: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2024.3511396

Quantifying the Sense of Control through the Hand Blink Reflex in Human-Robot Interaction

Author(s): Tommaso Lisini Baldi, Bernardo Brogi, Alessandro Giannotta, Gionata Salvietti, Domenico Prattichizzo, Simone Rossi
Published in: IEEE Transactions on Affective Computing, 2025, ISSN 1949-3045
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TAFFC.2025.3548172