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Socio-physical Interaction Skills for Cooperative Human-Robot Systems in Agile Production

Deliverables

Movement sensor fusion techniques

Movement sensor fusion techniques

Technology and End-User Requirements

Technology and End-User Requirements

Overview on existing standards and standardization activities in the field of biomechanical risk and HRC

Overview on existing standards and standardization activities in the field of biomechanical risk and HRC

Outreach & engagement plan v1

This is the first version outreach and engagement plan.

Publications

To grasp or not to grasp: an end-to-end deep-learning approach for predicting grasping failures in soft hands

Author(s): Visar Arapi, Yujie Zhang, Giuseppe Averta, Manuel G. Catalano, Daniela Rus, Cosimo Della Santina, Matteo Bianchi
Published in: 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020, Page(s) 653-660, ISBN 978-1-7281-6570-7
Publisher: IEEE
DOI: 10.1109/robosoft48309.2020.9116041

An Adaptive Control Approach to Robotic Assembly with Uncertainties in Vision and Dynamics

Author(s): Emir Mobedi, Nicola Villa, Wansoo Kim, Arash Ajoudani
Published in: 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2020, Page(s) 144-150, ISBN 978-1-7281-6075-7
Publisher: IEEE
DOI: 10.1109/ro-man47096.2020.9223515

Simulation and participatory design of HRI work systems in the SOPHIA project

Author(s): Lars Fritzsche; Miriam Funk; Patricia Rosen; Michael Spitzhirn; Sascha Wischniewski
Published in: Arbeit HUMAINE gestalten - 67. Kongress derGesellschaft für Arbeitswissenschaft, one time publication, 2021, Page(s) 6, ISBN 978-3-936804-29-4
Publisher: GfA Press
DOI: 10.5281/zenodo.4644163

A Visuo-Haptic Guidance Interface for Mobile Collaborative Robotic Assistant (MOCA)

Author(s): Lamon, Edoardo; Fusaro, Fabio; Balatti, Pietro; Kim, Wansoo; Ajoudani, Arash
Published in: 3, 2020
Publisher: IEEE
DOI: 10.5281/zenodo.4020933

A technical framework for human-like motion generation with autonomous anthropomorphic redundant manipulators

Author(s): Giuseppe Averta, Danilo Caporale, Cosimo Della Santina, Antonio Bicchi, Matteo Bianchi
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 3853-3859, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9196937

Modeling Human Motor Skills to Enhance Robots’ Physical Interaction

Author(s): Giuseppe Bruno Averta, Visar Arapi, Antonio Bicchi, Cosimo Della Santina, Matteo Bianchi
Published in: SPRINGER PROCEEDINGS IN ADVANCED ROBOTICS, 2021, Page(s) 116-126, ISBN 9783030713560
Publisher: Cham : Springer Internat. Publ.
DOI: 10.5281/zenodo.4644074

Augmented Hierarchical Quadratic Programming for Adaptive Compliance Robot Control

Author(s): Tassi, Francesco; De Momi, Elena; Ajoudani, Arash
Published in: 2, 2021
Publisher: IEEE
DOI: 10.5281/zenodo.4663753

Human-centered HRI Design – the More Individual the Better?

Author(s): Miriam Funk, Patricia H. Rosen, Sascha Wischniewski
Published in: Workshop on Behavioral Patterns and Interaction Modelling for Personalized Human-Robot Interaction, 2020, 2020, Page(s) 8-11
Publisher: Fraunhofer IAO

NEUROMECHANICAL MODEL-BASED CLOSED-LOOP CONTROL OF LOCOMOTION VIA MUSCLE REFLEXES AND SYNERGIES

Author(s): Huawei Wang, Massimo Sartori
Published in: 8th Dutch Bio-Medical Engineering Conference, Jan. 28-29, 2021, 2021
Publisher: Dutch Bio-Medical Engineering Conference
DOI: 10.5281/zenodo.4639604

Iterative Learning Control as a Framework for Human-Inspired Control with Bio-mimetic Actuators

Author(s): Franco Angelini, Matteo Bianchi, Manolo Garabini, Antonio Bicchi, Cosimo Della Santina
Published in: Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings, 12413, 2020, Page(s) 12-16, ISBN 978-3-030-64312-6
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-64313-3_2

Towards an Intelligent Collaborative Robotic System for Mixed Case Palletizing

Author(s): Edoardo Lamon, Mattia Leonori, Wansoo Kim, Arash Ajoudani
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 9128-9134, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9196850

Enhancing Robot-Environment Physical Interaction via Optimal Impedance Profiles

Author(s): Giuseppe Averta, Neville Hogan
Published in: 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2020, Page(s) 973-980, ISBN 978-1-7281-5907-2
Publisher: IEEE
DOI: 10.1109/biorob49111.2020.9224382

DESIGN OF A SOFT EXOSUIT FOR THE LOWER BACK

Author(s): Saivimal Sridar; Allan J Veale; Massimo Sartori; Herman van der Kooij
Published in: 8th Dutch Bio-Medical Engineering Conference, Jan. 28-29, 2021, 2021
Publisher: xx
DOI: 10.5281/zenodo.4661269

A user-centered approach to artificial sensory substitution for blind People assistance

Author(s): Barontini F.; Bettelani G. C.; Leporini B.; Averta G.; Bianchi M.
Published in: ICRN 2020 - 5th International Conference on NeuroRehabilitation, Online Conference, October 13-16, 2020, 1, 2020
Publisher: ICNR

Myoelectric model-based control of a bi-lateral robotic ankle exoskeleton during even ground locomotion *

Author(s): Guillaume Durandau, Wolfgang F. Rampeltshammer, Herman van der Kooij, Massimo Sartori
Published in: 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 15 Oct. 2020, 2020, Page(s) 822-826, ISBN 978-1-7281-5907-2
Publisher: IEEE
DOI: 10.1109/BioRob49111.2020.9224365

Smart Collaborative Systems for Enabling Flexible and Ergonomic Work Practices [Industry Activities]

Author(s): Arash Ajoudani, Philipp Albrecht, Matteo Bianchi, Andrea Cherubini, Simona Del Ferraro, Philippe Fraisse, Lars Fritzsche, Manolo Garabini, Alberto Ranavolo, Patricia Helen Rosen, Massimo Sartori, Nikos Tsagarakis, Bram Vanderborght, Sascha Wischniewski
Published in: IEEE Robotics & Automation Magazine, 27/2, 2020, Page(s) 169-176, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2020.2985344

Enhancing the localization of uterine leiomyomas through cutaneous softness rendering for robot-assisted surgical palpation application

Author(s): Davide Doria, Simone Fani, Andrea Giannini, Tommaso Simoncini, Matteo Bianchi
Published in: IEEE Transactions on Haptics, 2021, Page(s) 1-1, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/toh.2021.3057796

Modeling Previous Trial Effect in Human Manipulation through Iterative Learning Control

Author(s): Lorenzo Cenceschi, Cosimo Della Santina, Giuseppe Averta, Manolo Garabini, Qiushi Fu, Marco Santello, Matteo Bianchi, Antonio Bicchi
Published in: Advanced Intelligent Systems, 2/9, 2020, Page(s) 1900074, ISSN 2640-4567
Publisher: Wiley
DOI: 10.1002/aisy.201900074

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, 20/16, 2020, Page(s) 4471, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20164471

Exploiting upper-limb functional principal components for human-like motion generation of anthropomorphic robots

Author(s): Giuseppe Averta, Cosimo Della Santina, Gaetano Valenza, Antonio Bicchi, Matteo Bianchi
Published in: Journal of NeuroEngineering and Rehabilitation, 17/1, 2020, Page(s) 1-15, ISSN 1743-0003
Publisher: BioMed Central
DOI: 10.1186/s12984-020-00680-8

A method for autonomous robotic manipulation through exploratory interactions with uncertain environments

Author(s): Pietro Balatti, Dimitrios Kanoulas, Nikos Tsagarakis, Arash Ajoudani
Published in: Autonomous Robots, 44/8, 2020, Page(s) 1395-1410, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-020-09933-w

Control Architecture for Human-Like Motion With Applications to Articulated Soft Robots

Author(s): Franco Angelini, Cosimo Della Santina, Manolo Garabini, Matteo Bianchi, Antonio Bicchi
Published in: Frontiers in Robotics and AI, 7, 2020, ISSN 2296-9144
Publisher: Frontiers Media S.A.
DOI: 10.3389/frobt.2020.00117

An artificial neural network approach to detect presence and severity of Parkinson’s disease via gait parameters

Author(s): Tiwana Varrecchia, Stefano Filippo Castiglia, Alberto Ranavolo, Carmela Conte, Antonella Tatarelli, Gianluca Coppola, Cherubino Di Lorenzo, Francesco Draicchio, Francesco Pierelli, Mariano Serrao
Published in: PLOS ONE, 16/2, 2021, Page(s) e0244396, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0244396

The Effects of Upper-Body Exoskeletons on Human Metabolic Cost and Thermal Response during Work Tasks—A Systematic Review

Author(s): Simona Del Ferraro, Tiziana Falcone, Alberto Ranavolo, Vincenzo Molinaro
Published in: International Journal of Environmental Research and Public Health, 17/20, 2020, Page(s) 7374, ISSN 1660-4601
Publisher: MDPI
DOI: 10.3390/ijerph17207374

An approach to object-level stiffness regulation of hand-arm systems subject to under-actuation constraints

Author(s): Virginia Ruiz Garate, Arash Ajoudani
Published in: Autonomous Robots, 44/8, 2020, Page(s) 1505-1517, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-020-09942-9

The Sensor-Based Biomechanical Risk Assessment at the Base of the Need for Revising of Standards for Human Ergonomics

Author(s): Alberto Ranavolo, Arash Ajoudani, Andrea Cherubini, Matteo Bianchi, Lars Fritzsche, Sergio Iavicoli, Massimo Sartori, Alessio Silvetti, Bram Vanderborght, Tiwana Varrecchia, Francesco Draicchio
Published in: Sensors, 20/20, 2020, Page(s) 5750, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20205750

Critical Issues and Imminent Challenges in the Use of sEMG in Return-To-Work Rehabilitation of Patients Affected by Neurological Disorders in the Epoch of Human–Robot Collaborative Technologies

Author(s): Alberto Ranavolo, Mariano Serrao, Francesco Draicchio
Published in: Frontiers in Neurology, 11, 2020, ISSN 1664-2295
Publisher: Frontiers Research Foundation
DOI: 10.3389/fneur.2020.572069

A Collaborative Robotic Approach to Autonomous Pallet Jack Transportation and Positioning

Author(s): Pietro Balatti, Fabio Fusaro, Nicola Villa, Edoardo Lamon, Arash Ajoudani
Published in: IEEE Access, 8, 2020, Page(s) 142191-142204, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2020.3013382

Sensor-Based Control for Collaborative Robots: Fundamentals, Challenges, and Opportunities

Author(s): Andrea Cherubini, David Navarro-Alarcon
Published in: Frontiers in Neurorobotics, 14, 2021, Page(s) 113, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2020.576846

A Deep Learning Framework for Recognizing Both Static and Dynamic Gestures

Author(s): Osama Mazhar, Sofiane Ramdani, Andrea Cherubini
Published in: Sensors, 21/6, 2021, Page(s) 2227, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21062227

Deep learning techniques for modelling human manipulation and its translation for autonomous robotic grasping with soft end-effectors

Author(s): V. Arapi, Y. Zhang, G. B. Averta, C. Della Santina and M. Bianchi
Published in: AI for Emerging Verticals: Human-Robot Computing, Sensing and Networking, 2020, Page(s) 3-28, ISBN 978-1-7856-1983-0
Publisher: IET
DOI: 10.1049/pbpc034e_ch

Datasets

Comprehensive Kinetic and EMG Dataset of Daily Locomotion with 6 types of Sensors

Author(s): Huawei Wang; Akash Basu; Guillaume Durandau; Massimo Sartori
Published in: Zenodo