Rethinking Human Ergonomics in Lean Manufacturing and Service Industry: Towards Adaptive Robots with Anticipatory Behaviors

Deliverables

Publications

Human-Robot Collaborative Carrying of Objects with Unknown Deformation Characteristics

Author(s): Sirintuna D., Giammarino A., Ajoudani A.
Published in: IEEE International Conference on Intelligent Robots and Systems (IROS 2022), 2022
Publisher: IEEE
DOI: 10.48550/arxiv.2201.10392

Robot Trajectory Adaptation to Optimise the Trade-off between Human Cognitive Ergonomics and Workplace Productivity in Collaborative Tasks

Author(s): Lagomarsino M., Lorenzini M., De Momi E., Ajoudani A.
Published in: International Conference on Intelligent Robots and Systems (IROS), 2022
Publisher: IEEE
DOI: 10.48550/arxiv.2207.03739

A Reconfigurable Interface for Ergonomic and Dynamic Tele-Loco manipulation

Author(s): Soheil Gholami; Francesco Tassi; Elena De Momi; Arash Ajoudani
Published in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Publisher: IEEE
DOI: 10.5281/zenodo.6573343

An Integrated Dynamic Method for Allocating Roles and Planning Tasks for Mixed Human-Robot Teams

Author(s): Fusaro, Fabio; Lamon, Edoardo; De Momi, Elena; Ajoudani, Arash
Published in: IEEE International Conference on Robot and Human Interactive Communication, 2021
Publisher: IEEE
DOI: 10.5281/zenodo.4954950

MOCA-MAN: A MObile and reconfigurable Collaborative Robot Assistant for conjoined huMAN-robot actions

Author(s): Wansoo Kim; Arash Ajoudani; Edoardo Lamon; Pietro Balatti
Published in: IEEE International Conference on Robotics and Automation (ICRA), Issue 1, 2020
Publisher: IEEE International Conference on Robotics and Automation (ICRA)
DOI: 10.5281/zenodo.3819986

Dynamic Human-Robot Role Allocation based on Human Ergonomics Risk Prediction and Robot Actions Adaptation

Author(s): Elena Merlo, Edoardo Lamon, Fabio Fusaro, Marta Lorenzini, Alessandro Carfì, Fulvio Mastrogiovanni, and Arash Ajoudani
Published in: IEEE Conference on Robotics and Automation, 2022
Publisher: IEEE

Open-VICO: An Open-Source Gazebo Toolkit for Multi-Camera-based Skeleton Tracking in Human-Robot Collaboration

Author(s): Fortini L., Leonori M., Gandarias J., Ajoudani A.
Published in: IEEE International Conference on Robot & Human Interactive Communication, 2022
Publisher: IEEE
DOI: 10.48550/arxiv.2203.14733

A Shared-Autonomy Approach to Goal Detection and Navigation Control of Mobile Collaborative Robots

Author(s): Arash Ajoudani; Soheil Gholami; Elena De Momi; Virginia Ruiz Garate
Published in: IEEE International Workshop on Robot and Human Communication (ROMAN), Issue 2, 2020
Publisher: IEEE International Workshop on Robot and Human Communication (ROMAN)
DOI: 10.5281/zenodo.4017579

Towards Dynamic Human-Robot Role Allocation based on Human Ergonomics Assessment

Author(s): Merlo, Elena; Lamon, Edoardo; Lorenzini, Marta; Fusaro, Fabio; Carfì, Alessandro; Mastrogiovanni, Fulvio; Ajoudani, Arash
Published in: Italian Institute of Robotics and Intelligent Machines Conference, 2021
Publisher: Italian Institute of Robotics and Intelligent Machines
DOI: 10.5281/zenodo.5900543

A Human-Aware Method to Plan Complex Cooperative and Autonomous Tasks using Behavior Trees

Author(s): Fabio Fusaro; Edoardo Lamon; Elena De Momi; Arash Ajoudani
Published in: IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), Issue 1, 2020
Publisher: IEEE
DOI: 10.1109/humanoids47582.2021.9555683

Human Arm Posture Optimisation in Bilateral Teleoperation Through Interface Reconfiguration

Author(s): Luka Peternel, Cheng Fang, Marco Laghi, Antonio Bicchi, Nikos Tsagarakis, Arash Ajoudani
Published in: 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2020, Page(s) 1102-1108, ISBN 978-1-7281-5907-2
Publisher: IEEE
DOI: 10.1109/biorob49111.2020.9224339

A Probabilistic Shared-Control Framework for Mobile Robots

Author(s): Gholami, Soheil; Garate, Virginia Ruiz; De Momi, Elena; Ajoudani, Arash
Published in: IEEE International Workshop on Intelligent Robots and Systems (IROS), Issue 3, 2020
Publisher: IEEE International Workshop on Intelligent Robots and Systems (IROS)
DOI: 10.5281/zenodo.4017583

A Real-time Tool for Human Ergonomics Assessment based on Joint Compressive Forces

Author(s): Arash Ajoudani; Luca Fortini; Elena De Momi; Wansoo Kim; Marta Lorenzini
Published in: IEEE International Conference on Robot and Human Interactive Communication (ROMAN), Issue 6, 2020
Publisher: IEEE International Conference on Robot and Human Interactive Communication (ROMAN)
DOI: 10.5281/zenodo.4017487

ErgoTac-Belt: Anticipatory Vibrotactile Feedback to Lead Centre of Pressure during Walking

Author(s): Lorenzini M., Gandarias J.M., Fortini, L. Kim, W., Ajoudani A.
Published in: IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2022
Publisher: IEEE
DOI: 10.48550/arxiv.2207.03815

A Framework for Real-time and Personalisable Human Ergonomics Monitoring

Author(s): Fortini, Luca; Lorenzini, Marta; Kim, Wansoo; De Momi, Elena; Ajoudani, Arash
Published in: IEEE International Workshop on Intelligent Robots and Systems (IROS), Issue 4, 2020
Publisher: IEEE International Workshop on Intelligent Robots and Systems (IROS)
DOI: 10.5281/zenodo.4017491

Sociable and Ergonomic Human-Robot Collaboration through Action Recognition and Augmented Hierarchical Quadratic Programming

Author(s): Tassi F., Iodice F., De Momi E., Ajoudani A.
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), 2022
Publisher: IEEE
DOI: 10.48550/arxiv.2207.03435focustolearnmore

A Human-Aware Method to Plan Complex Cooperative and Autonomous Tasks using Behavior Trees

Author(s): Fusaro, Fabio; Lamon, Edoardo; De Momi, Elena; Ajoudani, Arash
Published in: IEEE-RAS International Conference on Humanoid Robotics (HUMANOIDS), 2021
Publisher: IEEE-RAS International Conference on Humanoid Robotics (HUMANOIDS)
DOI: 10.5281/zenodo.4778513

Improving Standing Balance Performance through the Assistance of a Mobile Collaborative Robot

Author(s): Ruiz-Ruiz, Francisco J.; Giammarino, Alberto; Lorenzini, Marta; Gandarias, Juan M.; Gomez-de-Gabriel, Jesus M.; Ajoudani, Arash
Published in: IEEE International Conference on Robotics and Automation (ICRA), Issue 1, 2022
Publisher: IEEE
DOI: 10.48550/arxiv.2109.12038

HRI30: An Action Recognition Dataset for Industrial Human-Robot Interaction

Author(s): Iodice, Francesco; De Momi, Elena; Ajoudani, Arash
Published in: International Conference on Pattern Recognition (ICPR), 2022
Publisher: ICPR
DOI: 10.5281/zenodo.6573228

An Integrated Dynamic Method for Allocating Roles and Planning Tasks for Mixed Human-Robot Teams

Author(s): Fabio Fusaro; Edoardo Lamon; Elena De Momi; Arash Ajoudani
Published in: IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), 2021
Publisher: IEEE
DOI: 10.5281/zenodo.4954949

A Reconfigurable Interface for Ergonomic and Dynamic Tele-Locomanipulation

Author(s): Soheil Gholami; Francesco Tassi; Elena De Momi; Arash Ajoudani
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Publisher: IEEE
DOI: 10.5281/zenodo.6573342

Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface

Author(s): Gandarias, Juan M.; Balatti, Pietro; Lamon, Edoardo; Lorenzini, Marta; Ajoudani, Arash
Published in: IEEE International Conference on Robotics and Automation (ICRA 2022), Issue 1, 2022
Publisher: IEEE
DOI: 10.48550/arxiv.2105.09807

A Flexible Robotics-inspired Computational Model of Compressive Loading on the Human Spine

Author(s): Vantura, Leonardo; Lorenzini, Marta; Kim, Wansoo; Ajoudani, Arash
Published in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3100936

Pick the Right Co-Worker: Online Assessment of Cognitive Ergonomics in Human-Robot Collaborative Assembly

Author(s): Marta Lagomarsino; Marta Lorenzini; Pietro Balatti; Elena De Momi; Arash Ajoudani
Published in: IEEE Transactions on Cognitive and Developmental Systems, 2022, ISSN 2379-8920
Publisher: IEEE
DOI: 10.48550/arxiv.2207.03779

A Framework for Autonomous Impedance Regulation of Robots Based on Imitation Learning and Optimal Control

Author(s): Yuqiang Wu, Fei Zhao, Tao Tao, Arash Ajoudani
Published in: IEEE Robotics and Automation Letters, Issue 6/1, 2021, Page(s) 127-134, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2020.3033260

A Directional Vibrotactile Feedback Interface for Ergonomic Postural Adjustment.

Author(s): Wansoo Kim; Virginia Ruiz Garate; Juan M. Gandarias; Marta Lorenzini; Arash Ajoudani
Published in: IEEE Transactions on Haptics, Issue 1, 2021, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/toh.2021.3112795

A Unified Approach for Hybrid Motion Control of MOCA Based on Weighted Whole-body Cartesian Impedance Formulation

Author(s): Wu, Yuqiang; Lamon, Edoardo; Zhao, Fei; Ajoudani, Arash
Published in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.5281/zenodo.4778567

An adaptive compliance Hierarchical Quadratic Programming controller for ergonomic human–robot collaboration

Author(s): Tassi, Francesco; De Momi, Elena; Ajoudani, Arash
Published in: Robotics and Computer-Integrated Manufacturing, 2022, ISSN 0736-5845
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.rcim.2022.102381

Learning cooperative dynamic manipulation skills from human demonstration videos

Author(s): Francesco Iodice, Yuqiang Wu, Wansoo Kim, Fei Zhao, Elena De Momi, Arash Ajoudani
Published in: Elsevier Mechatronics, 2022, ISSN 0957-4158
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2022.102807

A Supernumerary Soft Robotic Limb for Reducing Hand-Arm Vibration Syndromes Risks

Author(s): Andrea S. Ciullo; Manuel G. Catalano; Antonio Bicchi; Antonio Bicchi; Arash Ajoudani
Published in: Frontiers in Robotics and AI, Issue 1, 2021, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2021.650613

An Adaptive Compliance Hierarchical Quadratic Programming Controller for Ergonomic Human-Robot Collaboration

Author(s): Francesco Tassi, Elena De Momi, Arash Ajoudani
Published in: Robotics and Computer Integrated Manufacturing, 2022, ISSN 0736-5845
Publisher: Pergamon Press Ltd.
DOI: 10.5281/zenodo.6573274

A Self-Tuning Impedance-based Interaction Planner for Robotic Haptic Exploration

Author(s): Kato Y., Balatti P., Gandarias J.M., Leonori M., Tsuji T., Ajoudani A.
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3190806

An Intuitive Formulation of the Human Arm Active Endpoint Stiffness

Author(s): Yuqiang Wu, Fei Zhao, Wansoo Kim, Arash Ajoudani
Published in: Sensors, Issue 20/18, 2020, Page(s) 5357, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20185357

An Online Framework for Cognitive Load Assessment in Assembly Tasks

Author(s): Lagomarsino, Marta; Lorenzini, Marta; De Momi, Elena; Ajoudani, Arash
Published in: Robotics and Computer Integrated Manufacturing (RCIM), Issue 1, 2022, ISSN 0736-5845
Publisher: Pergamon Press Ltd.
DOI: 10.48550/arxiv.2109.03627

Quantitative Physical Ergonomics Assessment of Teleoperation Interfaces

Author(s): Soheil Gholami; Marta Lorenzini; Elena De Momi; Arash Ajoudani
Published in: IEEE Transactions on Human-Machine Systems, 2022, ISSN 2168-2291
Publisher: IEEE Systems, Man, and Cybernetics Society
DOI: 10.1109/thms.2022.3149167

A Human-Robot Collaboration Framework for Improving Ergonomics During Dexterous Operation of Power Tools

Author(s): Kim, Wansoo; Peternel, Luka; Lorenzini, Marta; Babic, Jan; Ajoudani, Arash
Published in: Robotics and Computer-Integrated Manufacturing, 2021, ISSN 0736-5845
Publisher: Pergamon Press Ltd.
DOI: 10.5281/zenodo.6576513

A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks with Mobile Manipulators

Author(s): Zhao, J., Giammarino, A., Lamon, E., Gandarias, J. M., De Momi, E., Ajoudani, A.
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3187258

Unified Approach for Hybrid Motion Control of MOCA Based on Weighted Whole-Body Cartesian Impedance Formulation

Author(s): Yuqiang Wu, Edoardo Lamon, Fei Zhao, Wansoo Kim, Arash Ajoudani
Published in: IEEE Robotics and Automation Letters, Issue 6/2, 2021, Page(s) 3505-3512, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2021.3062316

A Scalable Framework for Multi-Robot Tele-Impedance Control

Author(s): Virginia Ruiz Garate, Soheil Gholami, Arash Ajoudani
Published in: IEEE Transactions on Robotics, 2021, Page(s) 1-15, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2021.3071530

An Online Method to Detect and Locate an External Load on the Human Body with Applications in Ergonomics Assessment

Author(s): Marta Lorenzini, Wansoo Kim, Elena De Momi, Arash Ajoudani
Published in: Sensors, Issue 20/16, 2020, Page(s) 4471, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20164471

MOCA-S: A Sensitive Mobile Collaborative Robotic Assistant exploiting Low-Cost Capacitive Tactile Cover and Whole-Body Control

Author(s): Leonori M., Gandarias J.M., Ajoudani A.
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3186053

An Online Multi-Index Approach to Human Ergonomics Assessment in the Workplace

Author(s): Marta Lorenzini; Wansoo Kim; Arash Ajoudani
Published in: IEEE Transactions on Human-Machine Systems, 2021, ISSN 2168-2291
Publisher: IEEE Systems, Man, and Cybernetics Society
DOI: 10.1109/thms.2021.3133807

Deliverables

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