Physical Cognition for Intelligent Control and Safe Human-Robot Interaction

Información del proyecto

Sestosenso

Identificador del acuerdo de subvención: 101070310

DOI

10.3030/101070310

Proyecto cerrado

Fecha de la firma de la CE 20 Junio 2022

Fecha de inicio 1 Octubre 2022

Fecha de finalización 30 Septiembre 2025

Financiado con arreglo a

• Digital, Industry and Space

Coste total

€ 4 157 056,25

Aportación de la UE

€ 4 157 054,50

Coordinado por

UNIVERSITA DEGLI STUDI DI GENOVA
Italy

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Resultado final

Documents, reports (6)

UC benchmarking and validation

Report of final demonstrations on UCs and benchmarking.

Dissemination and Communication activities (2nd release).

Update of D8.1.

Optical tactile sensors based on ToF technology

Optical innovative tactile sensing solutions are described including simulative and experimental tests.

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.

Dissemination and Communication activities (final release).

Final release of D8.1.

Demonstrators, pilots, prototypes (3)

Integrated ProxySKIN prototypes

Prototype of ProxySkin tested.

Human-robot mutual communication cues

Report and software implementation of models for recognition and interpretation of communicative and manipulative gestures development using spatiotemporal data from both ToF and touch sensors.

Human aware responsive control via human behaviour modelling and perception

Report, software implementation and demonstration of models for the prediction of human actions.

Other (6)

Smart controllers for whole body/arm manipulation

Report and software modules to implement whole-arm control strategies used in UCs.

Robot-centric space representation models based on Proximity-Tactile data

Report and software modules for robot-centric space representation based on models using proximity-tactile data.

Methods for robot self-localization using Proximity-Tactile data

Report and software modules implementing sensory-motor strategies for the self-localization of the robot within the workcell or peripersonal space.

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.

Smart controllers combining anticipative, reactive and prioritized behaviours

Report and software modules to implement basic movement primitives based on proximity-tactile feedback and used in UCs.

Smart controllers for exploration of the robot surroundings

Report and software modules to support the robot motion control during exploratory movements.

Publicaciones

Conference proceedings (14)

Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra

Autores: Löw, Tobias; CALINON, Sylvain
Publicado en: Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), 2024
Editor: IEEE
DOI: 10.48550/ARXIV.2310.19093

Distilling Contact Planning for Fast Trajectory Optimization in Robot Air Hockey

Autores: Julius Jankowski, Ante Marić, Puze Liu, Davide Tateo, Jan Peters, Sylvain Calinon
Publicado en: Robotics: Science and Systems XXI, 2025
Editor: Robotics: Science and Systems Foundation
DOI: 10.15607/RSS.2025.XXI.115

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

Autores: Li, Yiming; Zhang, Yan; Razmjoo, Amirreza; Calinon, Sylvain
Publicado en: Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), 2024
Editor: IEEE
DOI: 10.48550/arxiv.2307.00533

Improving Tactile Gesture Recognition with Optical Flow

Autores: Shaohong Zhong, Alessandro Albini, Giammarco Caroleo, Giorgio Cannata, Perla Maiolino
Publicado en: 34th IEEE International Conference on Robot and Human Interactive Communication (ROMAN), Edición (aceepted), 2025
Editor: IEEE
DOI: 10.48550/ARXIV.2508.04338

Robotic Depalletizing via Reinforcement Learning of a Pushing Policy

Autores: Argyris Dimou, Marios Kiatos, Sotiris Malassiotis
Publicado en: Communications in Computer and Information Science, Supply Chains, 2024
Editor: 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

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

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

Autores: Jack Sander, Giammarco Caroleo, Alessandro Albini, Perla Maiolino
Publicado en: 34th International Conference on Robot and Human Interactive Communication (RO-MAN), Edición (accepted), 2025
Editor: IEEE
DOI: 10.48550/ARXIV.2504.02439

A Proxy-Tactile Reactive Control for Robots Moving in Clutter

Autores: Giammarco Caroleo, Francesco Giovinazzo, Alessandro Albini, Francesco Grella, Giorgio Cannata, Perla Maiolino
Publicado en: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Editor: IEEE
DOI: 10.1109/IROS58592.2024.10802341

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

Autores: Giancarlo Caroleo, Albini Alessandro, D. De Martini, T. D. Barfoot, and Perla Maiolino
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edición (accepted), 2025
Editor: IEEE
DOI: 10.48550/ARXIV.2503.03449

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

Autores: Giammarco Caroleo, Alessandro Albini, Perla Maiolino
Publicado en: 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft), 2025
Editor: IEEE
DOI: 10.48550/ARXIV.2502.01228

Resource-Efficient GRU for Real-Time Gesture Recognition

Autores: Michail Kaseris, Sotiris Malassiotis, Ioannis Kostavelis
Publicado en: 2025 11th International Conference on Automation, Robotics, and Applications (ICARA), 2025
Editor: IEEE
DOI: 10.1109/ICARA64554.2025.10977711

Recursive Forward Dynamics for Serial Kinematic Chains using Conformal Geometric Algebra

Autores: Tobias Löw, Sylvain Calinon
Publicado en: The 16th International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2024
Editor: WAFR
DOI: 10.5281/ZENODO.17258592

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

Autores: Ilze Aulika, Andrejs Ogurcovs, Meldra Kemere, Arturs Bundulis, Karlis Kundzins, Jelena Butikova, Aivars Vembris, Anatolijs Sarakovskis, Emmanuel Bacher, Martin Laurenzis, Stephane Schertzer, julija St
Publicado en: Optical Sensors 2025, 2025
Editor: SPIE
DOI: 10.48550/ARXIV.2507.22456

Configuration Space Distance Fields for Manipulation Planning

Autores: Yiming Li, Xuemin Chi, Amirreza Razmjoo, Sylvain Calinon
Publicado en: Proc. Robotics: Science and Systems (RSS), 2024, ISSN 2330-765X
Editor: RSS
DOI: 10.48550/ARXIV.2406.01137

Peer reviewed articles (22)

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

Autores: Luca Gualtieri; Federico Fraboni; Hannah Brendel; Patrick Dallasega; Erwin Rauch; Luca Pietrantoni
Publicado en: Procedia CIRP, 2023, ISSN 2212-8271
Editor: Elsevier
DOI: 10.1016/j.procir.2023.09.005

Mathematical Model and Experimental Characterization of Vertically Stacked Capacitive Tactile Sensors

Autores: Baldini, G; Staiano, M; Grella, F; Frascio, M; Maiolino, P; Cannata, G
Publicado en: IEEE Sensors Journal, Edición 23 (18), 2023, ISSN 1558-1748
Editor: IEEE
DOI: 10.1109/jsen.2023.3300363

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

Autores: Yan Zhang, Teng Xue, Amirreza Razmjoo, Sylvain Calinon
Publicado en: IEEE Robotics and Automation Letters, Edición 9, 2024, ISSN 2377-3766
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.48550/ARXIV.2404.16138

Generating Whole-Arm Avoidance Motion Through Localized Proximity Sensing

Autores: Simone Borelli, Francesco Giovinazzo, Alessandro Albini, Francesco Grella, Giorgio Cannata
Publicado en: IEEE/ASME Transactions on Mechatronics, 2025, ISSN 1083-4435
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TMECH.2025.3582432

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

Autores: Tommaso Panchetti; Luca Pietrantoni; Gabriele Puzzo; Luca Gualtieri; Federico Fraboni
Publicado en: Applied Sciences, Edición 13(3), 2023, ISSN 2076-3417
Editor: MDPI
DOI: 10.3390/app13031720

Tactile Ergodic Coverage on Curved Surfaces

Autores: Cem Bilaloglu, Tobias Löw, Sylvain Calinon
Publicado en: IEEE Transactions on Robotics, Edición 41, 2025, ISSN 1552-3098
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.48550/ARXIV.2402.04862

A Comprehensive Survey on Deep Learning Methods in Human Activity Recognition

Autores: Michail Kaseris; Ioannis Kostavelis; Sotiris Malassiotis
Publicado en: Machine Learning and Knowledge Extraction, Edición 6(2), 2024, ISSN 2504-4990
Editor: MDPI
DOI: 10.3390/make6020040

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

Autores: Jorge Garcia-Pueyo, Sergio Cartiel, Emmanuel Bacher, Martin Laurenzis, Adolfo Muñoz
Publicado en: Optics Express, Edición 33, 2025, ISSN 1094-4087
Editor: Optica Publishing Group
DOI: 10.1364/OE.570548

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

Autores: Federico Fraboni, Hannah Brendel, Luca Pietrantoni
Publicado en: Sustainability, Edición 15, 2023, ISSN 2071-1050
Editor: MDPI AG
DOI: 10.3390/su15108113

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

Autores: Andrejs Ogurcovs, Ilze Aulika, Sergio Cartiel, Meldra Kemere, Jelena Butikova, Eriks Sledevskis
Publicado en: Sensors, Edición 25, 2025, ISSN 1424-8220
Editor: MDPI AG
DOI: 10.3390/S25175503

GAFRO: Geometric Algebra for Robotics [Tutorial]

Autores: Tobias Löw, Philip Abbet, Sylvain Calinon
Publicado en: IEEE Robotics & Automation Magazine, Edición 32, 2025, ISSN 1070-9932
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.48550/ARXIV.2310.19090

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

Autores: 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
Publicado en: IEEE Sensors Journal, Edición 24 (20), 2024, ISSN 1558-1748
Editor: 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

Autores: Francesco Giovinazzo, Francesco Grella, Marco Sartore, Manuela Adami, Riccardo Galletti, Giorgio Cannata
Publicado en: Sensors, Edición 24, 2024, ISSN 1424-8220
Editor: MDPI AG
DOI: 10.3390/S24041334

Online Learning of Continuous Signed Distance Fields Using Piecewise Polynomials

Autores: Marić, Ante; Li, Yiming; CALINON, Sylvain
Publicado en: IEEE Robotics and Automation Letters, Edición 9(6), 2024, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/LRA.2024.3397085

Geometric Algebra for Optimal Control With Applications in Manipulation Tasks

Autores: Tobias Löw, Sylvain Calinon
Publicado en: IEEE Transactions on Robotics, Edición 39, 2024, ISSN 1552-3098
Editor: 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

Autores: Luca Gualtieri, Federico Fraboni, Hannah Brendel, Luca Pietrantoni, Renato Vidoni, and Patrick Dallasega
Publicado en: Applied Ergonomics, Edición 117, 2024, ISSN 0003-6870
Editor: Pergamon Press Ltd.
DOI: 10.1016/J.APERGO.2024.104246

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

Autores: Ilze Aulika, Andrejs Ogurcovs, Meldra Kemere, Arturs Bundulis, Jelena Butikova, Karlis Kundzins, Emmanuel Bacher, Martin Laurenzis, Stephane Schertzer, Julija Stopar, Ales Zore, Roman Kamnik
Publicado en: Materials, Edición 18, 2025, ISSN 1996-1944
Editor: MDPI AG
DOI: 10.3390/MA18143287

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

Autores: Cheikh Melainine El Bou, Michele Focchi, Michael R. Chang, Marco Camurri, Karl D. von Ellenrieder
Publicado en: IEEE Transactions on Automation Science and Engineering, Edición 22, 2025, ISSN 1545-5955
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TASE.2025.3554368

A cross-task visuo-tactile representation using point clouds

Autores: Giammarco Caroleo, Alessandro Albini, Perla Maiolino
Publicado en: Intelligent Service Robotics, 2025, ISSN 1861-2776
Editor: Springer Science and Business Media LLC
DOI: 10.1007/S11370-025-00628-8

From Movement Primitives to Distance Fields to Dynamical Systems

Autores: Yiming Li, Sylvain Calinon
Publicado en: IEEE Robotics and Automation Letters, Edición 10, 2025, ISSN 2377-3766
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.48550/ARXIV.2504.09705

Forward and inverse diffraction in phasor fields

Autores: Jorge Garcia-Pueyo, Adolfo Muñoz
Publicado en: Optics Express, Edición 33, 2025, ISSN 1094-4087
Editor: Optica Publishing Group
DOI: 10.1364/OE.553755

Whole-Body Ergodic Exploration with a Manipulator Using Diffusion

Autores: Bilaloglu, Cem; Löw, Tobias; Calinon, Sylvain
Publicado en: IEEE Robotics and Automation Letters, Edición 8(12), 2023, ISSN 2377-3766
Editor: IEEE
DOI: 10.48550/ARXIV.2306.16898