Physical Cognition for Intelligent Control and Safe Human-Robot Interaction

Project Information

Sestosenso

Grant agreement ID: 101070310

DOI

10.3030/101070310

Project closed

EC signature date 20 June 2022

Start date 1 October 2022

End date 30 September 2025

Funded under

• Digital, Industry and Space

Total cost

€ 4 157 056,25

EU contribution

€ 4 157 054,50

Coordinated by

UNIVERSITA DEGLI STUDI DI GENOVA
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 (2)

Dissemination and Communication activities.

Plan and report on Consortium dissemination and communication activities.

Human factors, psychosocial aspects in HRI

To assess how robotic design features and interaction patterns impact workers, trust calibration process, technology acceptance, mental models development, cognitive workload, and situational awareness.

Other (1)

Human factors strategies for safe, fluent and effective HRC

Report and software implementation of models of human behavior and tactile-based reactive robot control for safe and smooth HRI.

Publications

Conference proceedings (14)

Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra

Author(s): Löw, Tobias; CALINON, Sylvain
Published in: Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.48550/ARXIV.2310.19093

Distilling Contact Planning for Fast Trajectory Optimization in Robot Air Hockey

Author(s): Julius Jankowski, Ante Marić, Puze Liu, Davide Tateo, Jan Peters, Sylvain Calinon
Published in: Robotics: Science and Systems XXI, 2025
Publisher: Robotics: Science and Systems Foundation
DOI: 10.15607/RSS.2025.XXI.115

Representing Robot Geometry as Distance Fields: Applications to Whole-body Manipulation

Author(s): Li, Yiming; Zhang, Yan; Razmjoo, Amirreza; Calinon, Sylvain
Published in: Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.48550/arxiv.2307.00533

Improving Tactile Gesture Recognition with Optical Flow

Author(s): Shaohong Zhong, Alessandro Albini, Giammarco Caroleo, Giorgio Cannata, Perla Maiolino
Published in: 34th IEEE International Conference on Robot and Human Interactive Communication (ROMAN), Issue (aceepted), 2025
Publisher: IEEE
DOI: 10.48550/ARXIV.2508.04338

Robotic Depalletizing via Reinforcement Learning of a Pushing Policy

Author(s): Argyris Dimou, Marios Kiatos, Sotiris Malassiotis
Published in: Communications in Computer and Information Science, Supply Chains, 2024
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-69344-1_8

Design, Implementation and Testing of an EtherCAT-based Network for Multi-modal Distributed Sensing Architectures

Author(s): Francesco Giovinazzo, Alessandro Perri, Marco Staiano, Francesco Grella, Marco Sartore, Manuela Adami, Riccardo Galletti, Giorgio Cannata
Published in: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024
Publisher: IEEE
DOI: 10.1109/CASE59546.2024.10711599

Estimating Scene Flow in Robot Surroundings with Distributed Miniaturized Time-of-Flight Sensors

Author(s): Jack Sander, Giammarco Caroleo, Alessandro Albini, Perla Maiolino
Published in: 34th International Conference on Robot and Human Interactive Communication (RO-MAN), Issue (accepted), 2025
Publisher: IEEE
DOI: 10.48550/ARXIV.2504.02439

A Proxy-Tactile Reactive Control for Robots Moving in Clutter

Author(s): Giammarco Caroleo, Francesco Giovinazzo, Alessandro Albini, Francesco Grella, Giorgio Cannata, Perla Maiolino
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Publisher: IEEE
DOI: 10.1109/IROS58592.2024.10802341

Tiny Lidars for Manipulator Self-Awareness: Sensor Characterization and Initial Localization Experiments

Author(s): Giancarlo Caroleo, Albini Alessandro, D. De Martini, T. D. Barfoot, and Perla Maiolino
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue (accepted), 2025
Publisher: IEEE
DOI: 10.48550/ARXIV.2503.03449

Soft Robot Localization Using Distributed Miniaturized Time-of-Flight Sensors

Author(s): Giammarco Caroleo, Alessandro Albini, Perla Maiolino
Published in: 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft), 2025
Publisher: IEEE
DOI: 10.48550/ARXIV.2502.01228

Resource-Efficient GRU for Real-Time Gesture Recognition

Author(s): Michail Kaseris, Sotiris Malassiotis, Ioannis Kostavelis
Published in: 2025 11th International Conference on Automation, Robotics, and Applications (ICARA), 2025
Publisher: IEEE
DOI: 10.1109/ICARA64554.2025.10977711

Recursive Forward Dynamics for Serial Kinematic Chains using Conformal Geometric Algebra

Author(s): Tobias Löw, Sylvain Calinon
Published in: The 16th International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2024
Publisher: WAFR
DOI: 10.5281/ZENODO.17258592

Characterizing material effects on direct ToF signal response in optical tactile systems

Author(s): Ilze Aulika, Andrejs Ogurcovs, Meldra Kemere, Arturs Bundulis, Karlis Kundzins, Jelena Butikova, Aivars Vembris, Anatolijs Sarakovskis, Emmanuel Bacher, Martin Laurenzis, Stephane Schertzer, julija Stopar, Ales Zore, Roman Kamnik, Marko Munih, Sergio Cartiel, Jorge García Pueyo, Adolfo Muñoz Orbañanos
Published in: Optical Sensors 2025, 2025
Publisher: SPIE
DOI: 10.48550/ARXIV.2507.22456

Configuration Space Distance Fields for Manipulation Planning

Author(s): Yiming Li, Xuemin Chi, Amirreza Razmjoo, Sylvain Calinon
Published in: Proc. Robotics: Science and Systems (RSS), 2024, ISSN 2330-765X
Publisher: RSS
DOI: 10.48550/ARXIV.2406.01137

Peer reviewed articles (25)

Guidelines for the integration of cognitive ergonomics in the design of human-centered and collaborative robotics applications

Author(s): Luca Gualtieri; Federico Fraboni; Hannah Brendel; Patrick Dallasega; Erwin Rauch; Luca Pietrantoni
Published in: Procedia CIRP, 2023, ISSN 2212-8271
Publisher: Elsevier
DOI: 10.1016/j.procir.2023.09.005

Mathematical Model and Experimental Characterization of Vertically Stacked Capacitive Tactile Sensors

Author(s): Baldini, G; Staiano, M; Grella, F; Frascio, M; Maiolino, P; Cannata, G
Published in: IEEE Sensors Journal, Issue 23 (18), 2023, ISSN 1558-1748
Publisher: IEEE
DOI: 10.1109/jsen.2023.3300363

Logic Learning From Demonstrations for Multi-Step Manipulation Tasks in Dynamic Environments

Author(s): Yan Zhang, Teng Xue, Amirreza Razmjoo, Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.48550/ARXIV.2404.16138

Generating Whole-Arm Avoidance Motion Through Localized Proximity Sensing

Author(s): Simone Borelli, Francesco Giovinazzo, Alessandro Albini, Francesco Grella, Giorgio Cannata
Published in: IEEE/ASME Transactions on Mechatronics, 2025, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TMECH.2025.3582432

Sensors

Author(s): Francesco Giovinazzo; Francesco Grella; Marco Sartore; Manuela Adami; Riccardo Galletti; Giorgio Cannata
Published in: Sensors, Issue 24(4), 2024, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s24041334

Assessing the Relationship between Cognitive Workload, Workstation Design, User Acceptance and Trust in Collaborative Robots

Author(s): Tommaso Panchetti; Luca Pietrantoni; Gabriele Puzzo; Luca Gualtieri; Federico Fraboni
Published in: Applied Sciences, Issue 13(3), 2023, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app13031720

Tactile Ergodic Coverage on Curved Surfaces

Author(s): Cem Bilaloglu, Tobias Löw, Sylvain Calinon
Published in: IEEE Transactions on Robotics, Issue 41, 2025, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.48550/ARXIV.2402.04862

A Comprehensive Survey on Deep Learning Methods in Human Activity Recognition

Author(s): Michail Kaseris; Ioannis Kostavelis; Sotiris Malassiotis
Published in: Machine Learning and Knowledge Extraction, Issue 6(2), 2024, ISSN 2504-4990
Publisher: MDPI
DOI: 10.3390/make6020040

Time-of-flight signal processing for FTIR-based tactile sensors

Author(s): Jorge Garcia-Pueyo, Sergio Cartiel, Emmanuel Bacher, Martin Laurenzis, Adolfo Muñoz
Published in: Optics Express, Issue 33, 2025, ISSN 1094-4087
Publisher: Optica Publishing Group
DOI: 10.1364/OE.570548

Evaluating Organizational Guidelines for Enhancing Psychological Well-Being, Safety, and Performance in Technology Integration

Author(s): Federico Fraboni, Hannah Brendel, Luca Pietrantoni
Published in: Sustainability, Issue 15, 2023, ISSN 2071-1050
Publisher: MDPI AG
DOI: 10.3390/su15108113

Advancing Multi-Touch Sensing: Integrating FTIR and ToF Technologies for Precise and Large-Scale Touch Interfaces

Author(s): Andrejs Ogurcovs, Ilze Aulika, Sergio Cartiel, Meldra Kemere, Jelena Butikova, Eriks Sledevskis
Published in: Sensors, Issue 25, 2025, ISSN 1424-8220
Publisher: MDPI AG
DOI: 10.3390/S25175503

GAFRO: Geometric Algebra for Robotics [Tutorial]

Author(s): Tobias Löw, Philip Abbet, Sylvain Calinon
Published in: IEEE Robotics & Automation Magazine, Issue 32, 2025, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.48550/ARXIV.2310.19090

Applied Ergonomics

Author(s): Gualtieri, Luca; Fraboni, Federico; Brendel, Hannah; PIETRANTONI, LUCA; VIDONI, Renato; Dallasega, Patrick
Published in: Applied Ergonomics, Issue 117, 2024, ISSN 0003-6870
Publisher: Elsevier
DOI: 10.1016/j.apergo.2024.104246

OptoSkin: Novel LIDAR Touch Sensors for Detection of Touch and Pressure Within Wave Guides

Author(s): Bacher, Emmanuel; Cartiel, Sergio; Garcia-Pueyo, Jorge; Stopar, Julija; Zore, Aleš; Kamnik, Roman; Aulika, Ilze; Ogurcovs, Andrejs; Grūbe, Jurǵis; Bundulis, Arturs; Butikova, Jelena; Kemere, Meldra; Muñoz Orbañanos, Adolfo; Laurenzis, Martin
Published in: IEEE Sensors Journal, Issue 24 (20), 2024, ISSN 1558-1748
Publisher: IEEE
DOI: 10.1109/JSEN.2024.3443615

From CySkin to ProxySKIN: Design, Implementation and Testing of a Multi-Modal Robotic Skin for Human–Robot Interaction

Author(s): Francesco Giovinazzo, Francesco Grella, Marco Sartore, Manuela Adami, Riccardo Galletti, Giorgio Cannata
Published in: Sensors, Issue 24, 2024, ISSN 1424-8220
Publisher: MDPI AG
DOI: 10.3390/S24041334

Online Learning of Continuous Signed Distance Fields Using Piecewise Polynomials

Author(s): Marić, Ante; Li, Yiming; CALINON, Sylvain
Published in: IEEE Robotics and Automation Letters, Issue 9(6), 2024, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2024.3397085

Geometric Algebra for Optimal Control With Applications in Manipulation Tasks

Author(s): Tobias Löw, Sylvain Calinon
Published in: IEEE Transactions on Robotics, Issue 39, 2024, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.48550/ARXIV.2212.07237

Updating design guidelines for cognitive ergonomics in human-centred collaborative robotics applications: An expert survey

Author(s): Luca Gualtieri, Federico Fraboni, Hannah Brendel, Luca Pietrantoni, Renato Vidoni, and Patrick Dallasega
Published in: Applied Ergonomics, Issue 117, 2024, ISSN 0003-6870
Publisher: Pergamon Press Ltd.
DOI: 10.1016/J.APERGO.2024.104246

Influence of Material Optical Properties in Direct ToF LiDAR Optical Tactile Sensing: Comprehensive Evaluation

Author(s): Ilze Aulika, Andrejs Ogurcovs, Meldra Kemere, Arturs Bundulis, Jelena Butikova, Karlis Kundzins, Emmanuel Bacher, Martin Laurenzis, Stephane Schertzer, Julija Stopar, Ales Zore, Roman Kamnik
Published in: Materials, Issue 18, 2025, ISSN 1996-1944
Publisher: MDPI AG
DOI: 10.3390/MA18143287

Smooth Human–Robot Shared Control for Autonomous Orchard Monitoring With UGVs

Author(s): Cheikh Melainine El Bou, Michele Focchi, Michael R. Chang, Marco Camurri, Karl D. von Ellenrieder
Published in: IEEE Transactions on Automation Science and Engineering, Issue 22, 2025, ISSN 1545-5955
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TASE.2025.3554368

A cross-task visuo-tactile representation using point clouds

Author(s): Giammarco Caroleo, Alessandro Albini, Perla Maiolino
Published in: Intelligent Service Robotics, 2025, ISSN 1861-2776
Publisher: Springer Science and Business Media LLC
DOI: 10.1007/S11370-025-00628-8

From Movement Primitives to Distance Fields to Dynamical Systems

Author(s): Yiming Li, Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, Issue 10, 2025, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.48550/ARXIV.2504.09705

IEEE Transactions on Robotics

Author(s): Löw, Tobias; CALINON, Sylvain
Published in: IEEE Transactions on Robotics, Issue 39 (5), 2023, ISSN 1552-3098
Publisher: IEEE
DOI: 10.48550/ARXIV.2212.07237

Forward and inverse diffraction in phasor fields

Author(s): Jorge Garcia-Pueyo, Adolfo Muñoz
Published in: Optics Express, Issue 33, 2025, ISSN 1094-4087
Publisher: Optica Publishing Group
DOI: 10.1364/OE.553755

Whole-Body Ergodic Exploration with a Manipulator Using Diffusion

Author(s): Bilaloglu, Cem; Löw, Tobias; Calinon, Sylvain
Published in: IEEE Robotics and Automation Letters, Issue 8(12), 2023, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/ARXIV.2306.16898