Physical Cognition for Intelligent Control and Safe Human-Robot Interaction

Informazioni relative al progetto

Sestosenso

ID dell’accordo di sovvenzione: 101070310

DOI

10.3030/101070310

Progetto chiuso

Data della firma CE 20 Giugno 2022

Data di avvio 1 Ottobre 2022

Data di completamento 30 Settembre 2025

Finanziato da

• Digital, Industry and Space

Costo totale

€ 4 157 056,25

Contributo UE

€ 4 157 054,50

Coordinato da

UNIVERSITA DEGLI STUDI DI GENOVA
Italy

CORDIS fornisce collegamenti ai risultati finali pubblici e alle pubblicazioni dei progetti ORIZZONTE.

I link ai risultati e alle pubblicazioni dei progetti del 7° PQ, così come i link ad alcuni tipi di risultati specifici come dataset e software, sono recuperati dinamicamente da .OpenAIRE .

Risultati finali

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.

Pubblicazioni

Conference proceedings (14)

Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra

Autori: Löw, Tobias; CALINON, Sylvain
Pubblicato in: Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), 2024
Editore: IEEE
DOI: 10.48550/ARXIV.2310.19093

Distilling Contact Planning for Fast Trajectory Optimization in Robot Air Hockey

Autori: Julius Jankowski, Ante Marić, Puze Liu, Davide Tateo, Jan Peters, Sylvain Calinon
Pubblicato in: Robotics: Science and Systems XXI, 2025
Editore: Robotics: Science and Systems Foundation
DOI: 10.15607/RSS.2025.XXI.115

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

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

Improving Tactile Gesture Recognition with Optical Flow

Autori: Shaohong Zhong, Alessandro Albini, Giammarco Caroleo, Giorgio Cannata, Perla Maiolino
Pubblicato in: 34th IEEE International Conference on Robot and Human Interactive Communication (ROMAN), Numero (aceepted), 2025
Editore: IEEE
DOI: 10.48550/ARXIV.2508.04338

Robotic Depalletizing via Reinforcement Learning of a Pushing Policy

Autori: Argyris Dimou, Marios Kiatos, Sotiris Malassiotis
Pubblicato in: Communications in Computer and Information Science, Supply Chains, 2024
Editore: 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

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

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

Autori: Jack Sander, Giammarco Caroleo, Alessandro Albini, Perla Maiolino
Pubblicato in: 34th International Conference on Robot and Human Interactive Communication (RO-MAN), Numero (accepted), 2025
Editore: IEEE
DOI: 10.48550/ARXIV.2504.02439

A Proxy-Tactile Reactive Control for Robots Moving in Clutter

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

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

Autori: Giancarlo Caroleo, Albini Alessandro, D. De Martini, T. D. Barfoot, and Perla Maiolino
Pubblicato in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numero (accepted), 2025
Editore: IEEE
DOI: 10.48550/ARXIV.2503.03449

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

Autori: Giammarco Caroleo, Alessandro Albini, Perla Maiolino
Pubblicato in: 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft), 2025
Editore: IEEE
DOI: 10.48550/ARXIV.2502.01228

Resource-Efficient GRU for Real-Time Gesture Recognition

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

Recursive Forward Dynamics for Serial Kinematic Chains using Conformal Geometric Algebra

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

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

Autori: 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
Pubblicato in: Optical Sensors 2025, 2025
Editore: SPIE
DOI: 10.48550/ARXIV.2507.22456

Configuration Space Distance Fields for Manipulation Planning

Autori: Yiming Li, Xuemin Chi, Amirreza Razmjoo, Sylvain Calinon
Pubblicato in: Proc. Robotics: Science and Systems (RSS), 2024, ISSN 2330-765X
Editore: 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

Autori: Luca Gualtieri; Federico Fraboni; Hannah Brendel; Patrick Dallasega; Erwin Rauch; Luca Pietrantoni
Pubblicato in: Procedia CIRP, 2023, ISSN 2212-8271
Editore: Elsevier
DOI: 10.1016/j.procir.2023.09.005

Mathematical Model and Experimental Characterization of Vertically Stacked Capacitive Tactile Sensors

Autori: Baldini, G; Staiano, M; Grella, F; Frascio, M; Maiolino, P; Cannata, G
Pubblicato in: IEEE Sensors Journal, Numero 23 (18), 2023, ISSN 1558-1748
Editore: IEEE
DOI: 10.1109/jsen.2023.3300363

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

Autori: Yan Zhang, Teng Xue, Amirreza Razmjoo, Sylvain Calinon
Pubblicato in: IEEE Robotics and Automation Letters, Numero 9, 2024, ISSN 2377-3766
Editore: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.48550/ARXIV.2404.16138

Generating Whole-Arm Avoidance Motion Through Localized Proximity Sensing

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

Sensors

Autori: Francesco Giovinazzo; Francesco Grella; Marco Sartore; Manuela Adami; Riccardo Galletti; Giorgio Cannata
Pubblicato in: Sensors, Numero 24(4), 2024, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s24041334

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

Autori: Tommaso Panchetti; Luca Pietrantoni; Gabriele Puzzo; Luca Gualtieri; Federico Fraboni
Pubblicato in: Applied Sciences, Numero 13(3), 2023, ISSN 2076-3417
Editore: MDPI
DOI: 10.3390/app13031720

Tactile Ergodic Coverage on Curved Surfaces

Autori: Cem Bilaloglu, Tobias Löw, Sylvain Calinon
Pubblicato in: IEEE Transactions on Robotics, Numero 41, 2025, ISSN 1552-3098
Editore: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.48550/ARXIV.2402.04862

A Comprehensive Survey on Deep Learning Methods in Human Activity Recognition

Autori: Michail Kaseris; Ioannis Kostavelis; Sotiris Malassiotis
Pubblicato in: Machine Learning and Knowledge Extraction, Numero 6(2), 2024, ISSN 2504-4990
Editore: MDPI
DOI: 10.3390/make6020040

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

Autori: Jorge Garcia-Pueyo, Sergio Cartiel, Emmanuel Bacher, Martin Laurenzis, Adolfo Muñoz
Pubblicato in: Optics Express, Numero 33, 2025, ISSN 1094-4087
Editore: Optica Publishing Group
DOI: 10.1364/OE.570548

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

Autori: Federico Fraboni, Hannah Brendel, Luca Pietrantoni
Pubblicato in: Sustainability, Numero 15, 2023, ISSN 2071-1050
Editore: MDPI AG
DOI: 10.3390/su15108113

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

Autori: Andrejs Ogurcovs, Ilze Aulika, Sergio Cartiel, Meldra Kemere, Jelena Butikova, Eriks Sledevskis
Pubblicato in: Sensors, Numero 25, 2025, ISSN 1424-8220
Editore: MDPI AG
DOI: 10.3390/S25175503

GAFRO: Geometric Algebra for Robotics [Tutorial]

Autori: Tobias Löw, Philip Abbet, Sylvain Calinon
Pubblicato in: IEEE Robotics & Automation Magazine, Numero 32, 2025, ISSN 1070-9932
Editore: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.48550/ARXIV.2310.19090

Applied Ergonomics

Autori: Gualtieri, Luca; Fraboni, Federico; Brendel, Hannah; PIETRANTONI, LUCA; VIDONI, Renato; Dallasega, Patrick
Pubblicato in: Applied Ergonomics, Numero 117, 2024, ISSN 0003-6870
Editore: Elsevier
DOI: 10.1016/j.apergo.2024.104246

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

Autori: 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
Pubblicato in: IEEE Sensors Journal, Numero 24 (20), 2024, ISSN 1558-1748
Editore: 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

Autori: Francesco Giovinazzo, Francesco Grella, Marco Sartore, Manuela Adami, Riccardo Galletti, Giorgio Cannata
Pubblicato in: Sensors, Numero 24, 2024, ISSN 1424-8220
Editore: MDPI AG
DOI: 10.3390/S24041334

Online Learning of Continuous Signed Distance Fields Using Piecewise Polynomials

Autori: Marić, Ante; Li, Yiming; CALINON, Sylvain
Pubblicato in: IEEE Robotics and Automation Letters, Numero 9(6), 2024, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2024.3397085

Geometric Algebra for Optimal Control With Applications in Manipulation Tasks

Autori: Tobias Löw, Sylvain Calinon
Pubblicato in: IEEE Transactions on Robotics, Numero 39, 2024, ISSN 1552-3098
Editore: 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

Autori: Luca Gualtieri, Federico Fraboni, Hannah Brendel, Luca Pietrantoni, Renato Vidoni, and Patrick Dallasega
Pubblicato in: Applied Ergonomics, Numero 117, 2024, ISSN 0003-6870
Editore: Pergamon Press Ltd.
DOI: 10.1016/J.APERGO.2024.104246

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

Autori: Ilze Aulika, Andrejs Ogurcovs, Meldra Kemere, Arturs Bundulis, Jelena Butikova, Karlis Kundzins, Emmanuel Bacher, Martin Laurenzis, Stephane Schertzer, Julija Stopar, Ales Zore, Roman Kamnik
Pubblicato in: Materials, Numero 18, 2025, ISSN 1996-1944
Editore: MDPI AG
DOI: 10.3390/MA18143287

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

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

A cross-task visuo-tactile representation using point clouds

Autori: Giammarco Caroleo, Alessandro Albini, Perla Maiolino
Pubblicato in: Intelligent Service Robotics, 2025, ISSN 1861-2776
Editore: Springer Science and Business Media LLC
DOI: 10.1007/S11370-025-00628-8

From Movement Primitives to Distance Fields to Dynamical Systems

Autori: Yiming Li, Sylvain Calinon
Pubblicato in: IEEE Robotics and Automation Letters, Numero 10, 2025, ISSN 2377-3766
Editore: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.48550/ARXIV.2504.09705

IEEE Transactions on Robotics

Autori: Löw, Tobias; CALINON, Sylvain
Pubblicato in: IEEE Transactions on Robotics, Numero 39 (5), 2023, ISSN 1552-3098
Editore: IEEE
DOI: 10.48550/ARXIV.2212.07237

Forward and inverse diffraction in phasor fields

Autori: Jorge Garcia-Pueyo, Adolfo Muñoz
Pubblicato in: Optics Express, Numero 33, 2025, ISSN 1094-4087
Editore: Optica Publishing Group
DOI: 10.1364/OE.553755

Whole-Body Ergodic Exploration with a Manipulator Using Diffusion

Autori: Bilaloglu, Cem; Löw, Tobias; Calinon, Sylvain
Pubblicato in: IEEE Robotics and Automation Letters, Numero 8(12), 2023, ISSN 2377-3766
Editore: IEEE
DOI: 10.48550/ARXIV.2306.16898