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

Deliverables

This deliverable combines the reports of the first version Human Ergonomics Module (M20) and the last version Human Ergonomics Module (M48) due date in M48.

Multi-Task CoBot control module v1

MultiTask CoBot control module v1

Integrated Fellow-Assistant Platforms v1

Integrated FellowAssistant Platforms v1

Integrated Fellow-Assistant Platforms v2
Sensor dataset for benchmarking HRC
SOPHIA Software framework v1
Online human dynamic modelling formulation
Instrumental evaluation tools for real-time risk exposure
First version of the Capture System software library
Ergonomics guidance and warning feedback mechanisms + Integrated Fellow-Feeling WearablesIntegrated Fellow-Feeling Wearables

Integrated Fellow-Feeling Wearables

Fellow-Assistant WearBot Prototype Devices v1

FellowAssistant WearBot Prototype Devices v1

Online model calibration/adaptation formulation
Multimodal worker state tracking and feedback devices

This deliverable combines the two original D41Multimodal worker state tracking devices and D42Ergonomics guidance and warning feedback mechanisms into a unified report

SOPHIA Software framework v2
Fellow-Assistant WearBot Prototype Devices v2
Integrated OpenPHRI library to CoBot use-cases
Fellow-Assistant End-Effectors v2
Fellow-Assistant CoBot Platforms v1

FellowAssistant CoBot Platforms v1

Fellow-Assistant End-Effectors v1

FellowAssistant EndEffectors v1

Generic task-allocation scheme for collaborative assembly

Generic taskallocation scheme for collaborative assembly

Final version of the Capture System software library
Demonstration of contingency handling using safety constraints and ergonomics handling
Multi-Task CoBot control module v2

Multi-Task CoBot control module

Fellow-Assistant CoBot Platforms v2

Fellow-Assistant Robot models and interfaces v2
Fellow-Assistant Robot models and interfaces v1

FellowAssistant Robot models and interfaces v1

Standardization strategy
Movement sensor fusion techniques
Technology and End-User Requirements
Overview on existing standards and standardization activities in the field of biomechanical risk and HRC
WearBot and CoBot shared control framework

This deliverable combines the original 6.4 WearBot shared control framework (UT) and 6.5 CoBot shared control framework (IIT) into a unified report.

Exploitation plan v2
DIH coordination/ engagement plan v2

DIH coordination/ engagement plan v2

Development of standardization document(s) in the field of biomechanical risk and HRC (combined with D10.11 The HRC scenario: new and/or modified standards for biomechanical risk assessment)
Validation report of Industrial Labs 1-4
Outreach & engagement plan v1

This is the first version outreach and engagement plan.

Anticipatory fatigue reduction principles
Validation and demonstration report of Industrial Pilot Lines 1-4
Report on social interaction framework and co-creation workshops

Report on social interaction framework and cocreation workshops

Acceptance of technology: concepts, survey, protocol & pilot results

Acceptance of technology concepts survey protocol pilot results

Evaluation of acceptance of SOPHIA technology survey
Outreach & engagement plan v2

Outreach & engagement plan of the second review period

Autonomous impedance adaptation

Human ergonomics database

Project website and communication material

Publications

Model and Control of R-Soft Inverted Pendulum

Author(s): Caradonna, Daniele, Michele Pierallini, Cosimo Della Santina, Franco Angelini, and Antonio Bicchi.
Published in: IEEE Robotics and Automation Letters, Issue Volume 9 (6), 2024, Page(s) 5102-5109, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2024.3389348

On the role of stiffness and synchronization in human–robot handshaking

Author(s): Mura Domenico, Espen Knoop, Manuel G. Catalano, Giorgio Grioli, Moritz Bächer, Anotnio Bicchi
Published in: The International Journal of Robotics Research, Issue 39(14), December 2020, 2020, Page(s) 1796-1811, ISSN 1741-3176
Publisher: SAGE Publications
DOI: 10.1177/0278364920903792

Swing-Up of Underactuated Compliant Arms Via Iterative Learning Control

Author(s): Michele Pierallini, Franco Angelini, Anotnio Bicchi, Manolo Garabini
Published in: IEEE Robotics and Automation Letters, Issue 7(2), April 2022, 2022, Page(s) 3186 - 3193, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3144786

Prevalence and incidence of work-related musculoskeletal disorders in secondary industries of 21st century Europe: a systematic review and meta-analysis

Author(s): Renée Govaerts, Bruno Tassignon, Jo Ghillebert, Ben Serrien, Sander De Bock, Toon Ampe, Ilias El Makrini, Bram Vanderborght, Romain Meeusen & Kevin De Pauw
Published in: BMC Musculoskeletal Disorders, 2021, ISSN 1471-2474
Publisher: BioMed Central
DOI: 10.1186/s12891-021-04615-9

A Disturbance-Aware Trajectory Planning Scheme Based on Model Predictive Control

Author(s): Luca Paparusso; Navvab Kashiri; Nikos G. Tsagarakis
Published in: IEEE Robotics and Automation Letters, 2020, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.3010751

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, Issue 27/2, 2020, Page(s) 169-176, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2020.2985344

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, 2022, ISSN 0736-5845
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.rcim.2022.102380

Learning to Prevent Grasp Failure with Soft Hands: From Online Prediction to Dual-Arm Grasp Recovery

Author(s): Giuseppe Averta, Federica Barontini, Irene Valdambrini, Paolo Cheli, Davide Bacciu, Matteo Bianchi
Published in: Advanced Intelligent Systems, Issue 4(3):2100146, 2021, Page(s) -, ISSN 2640-4567
Publisher: Wiley
DOI: 10.1002/aisy.202100146

A Virtual Element-Based Postural Optimization Method for Improved Ergonomics during Human-Robot Collaboration

Author(s): Ilias El Makrini, Glenn Mathijssen, Sten Verhaegen, Tom Verstraten, Bram Vanderborght
Published in: IEEE Transactions on Automation Science and Engineering, 2022, Page(s) 1772 - 1783, ISSN 1545-5955
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2022.3147702

Antropo: An open-source platform to increase the anthropomorphism of the Franka Emika collaborative robot arm

Author(s): Constantin Scholz, Hoang-Long Cao, Ilias El Makrini, Bram Vanderborght
Published in: PLoS ONE, Issue 10, 2023, Page(s) 1-10, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0292078

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

A flexible and collaborative approach to robotic box-filling and item sorting

Author(s): Balatti Pietro; Leonori Mattia; Ajoudani Arash
Published in: Robotics and Autonomous Systems, 2021, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2021.103888

Neuromechanical Model-Based Adaptive Control of Bilateral Ankle Exoskeletons: Biological Joint Torque and Electromyogram Reduction Across Walking Conditions

Author(s): Guillaume Durandau; Wolfgang Rampeltshammer; Herman van der Kooij; Massimo Sartori
Published in: IEEE Transactions on Robotics, Issue 3, 2022, ISSN 1941-0468
Publisher: IEEE
DOI: 10.5281/zenodo.6817952

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

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

Additional file 1 of Prevalence and incidence of work-related musculoskeletal disorders in secondary industries of 21st century Europe: a systematic review and meta-analysis

Author(s): Govaerts, Renée; Tassignon, Bruno; Ghillebert, Jo; Serrien, Ben; De Bock, Sander; Ampe, Toon; El Makrini, Ilias; Vanderborght, Bram; Meeusen, Romain; De Pauw, Kevin
Published in: BMC Musculoskeletal Disorders, Issue 1, 2021, ISSN 1471-2474
Publisher: BioMed Central
DOI: 10.6084/m9.figshare.16551195.v1

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, Issue 2/9, 2020, Page(s) 1900074, ISSN 2640-4567
Publisher: Wiley
DOI: 10.1002/aisy.201900074

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 8:650613, 2021, Page(s) -, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2021.650613

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

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, Issue 17/1, 2020, Page(s) 1-15, ISSN 1743-0003
Publisher: BioMed Central
DOI: 10.1186/s12984-020-00680-8

An Open-Source ROS-Gazebo Toolbox for Simulating Robots With Compliant Actuators.

Author(s): Mengacci R, Zambella G, Grioli G, Caporale D, Catalano MG and Bicchi A
Published in: Front. Robot. AI, Issue 8:713083, 2021, ISSN 2296-9144
Publisher: Frontiers Media S.A.
DOI: 10.3389/frobt.2021.713083

Trunk Muscle Coactivation in People with and without Low Back Pain during Fatiguing Frequency-Dependent Lifting Activities

Author(s): Tiwana Varrecchia; Silvia Conforto; Alessandro Marco De Nunzio; Francesco Draicchio; Deborah Falla; Alberto Ranavolo
Published in: Sensors; Volume 22; Issue 4; Pages: 1417, Issue 2, 2022, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s22041417

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, Issue 44/8, 2020, Page(s) 1395-1410, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-020-09933-w

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

Author(s): Yasuhiro Kato, Pietro Balatti, Juan M. Gandarias, Mattia Leonori, Toshiaki Tsuji, Arash Ajoudani
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/arxiv.2203.05413

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, Issue 7, 2020, ISSN 2296-9144
Publisher: Frontiers Media S.A.
DOI: 10.3389/frobt.2020.00117

Optimal Reconstruction of Human Motion From Scarce Multimodal Data

Author(s): Giuseppe Averta, Matilde Iuculano, Paolo Salaris, Matteo Bianchi
Published in: IEEE Transactions on Human-Machine Systems, Issue Early Access, 2022, Page(s) 1 - 10, ISSN 2168-2305
Publisher: IEEE
DOI: 10.1109/thms.2022.3163184

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, Issue 16/2, 2021, Page(s) e0244396, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0244396

An admittance based hierarchical control framework for dual-arm cobots

Author(s): Sonny Tarbouriech, Benjamin Navarro, Philippe Fraisse, Andre Crosnier, Andrea Cherubini, Damien Salle
Published in: Mechatronics, 2022, ISSN 0957-4158
Publisher: Pergamon Press Ltd.

Sequential contact-based adaptive grasping for robotic hands

Author(s): Pollayil, Gj; Pollayil, Mj; Catalano, Mg; Bicchi, A; Grioli, G
Published in: The International Journal of Robotics Research, Issue VOLUME 4, 2022, Page(s) 543-570, ISSN 1741-3176
Publisher: SAGE
DOI: 10.1177/02783649221081154

BRL/Pisa/IIT SoftHand: A Low-Cost, 3D-Printed, Underactuated, Tendon-Driven Hand With Soft and Adaptive Synergies,

Author(s): H. Li, C. J. Ford, M. Bianchi, M. G. Catalano, E. Psomopoulou and N. F. Lepora,
Published in: IEEE Robotics and Automation Letters, Issue Volume 7, no. 4, 2022, Page(s) 8745-8751, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3187876

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, Issue 17/20, 2020, Page(s) 7374, ISSN 1660-4601
Publisher: MDPI
DOI: 10.3390/ijerph17207374

A generic algorithm for computing optimal ergonomic postures during working in an industrial environment

Author(s): Atieh Merikh Nejadasl, Ilias El Makrini, Greet Van de Perre, Tom Verstraten, Bram Vanderborght
Published in: International Journal of Industrial Ergonomics, 2021, ISSN 0169-8141
Publisher: Elsevier BV
DOI: 10.1016/j.ergon.2021.103145

Editorial: On the Planning, Control, and Perception of Soft Robotic End-Effectors

Author(s): Giuseppe Averta; Cosimo Della Santina; Fanny Ficuciello; Maximo A. Roa; Matteo Bianchi
Published in: Frontiers in Robotics and AI, Issue 8:795863, 2021, Page(s) -, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2021.795863

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

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

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, Issue 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, Issue 20/20, 2020, Page(s) 5750, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20205750

Grasp It Like a Pro 2.0: A Data-Driven Approach Exploiting Basic Shape Decomposition and Human Data for Grasping Unknown Objects

Author(s): Palleschi, Alessandro, Franco Angelini, Chiara Gabellieri, Lucia Pallottino, Antonio Bicchi, and Manolo Garabini.
Published in: IEEE Transactions on Robotics , Issue vol. 39, no. 5, 2023, Page(s) 4016-4036,, ISSN 1941-0468
Publisher: IEEE
DOI: 10.1109/tro.2023.3286115

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, Issue 11, 2020, ISSN 1664-2295
Publisher: Frontiers Research Foundation
DOI: 10.3389/fneur.2020.572069

Real-Time Motion Control of Robotic Manipulators for Safe Human-Robot Coexistence

Author(s): Kelly Merckaert, Bryan Convens, Chi-ju Wu, Alessandro Roncone, Marco M. Nicotra, Bram Vanderborght
Published in: Robotics and Computer-Integrated Manufacturing, 2022, ISSN 0736-5845
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.rcim.2021.102223

Multi-Cue Haptic Guidance Through Wearables for Enhancing Human Ergonomics

Author(s): Simone Fani; Simone Ciotti; Matteo Bianchi
Published in: IEEE Transactions on Haptics, Issue 15(1), January 2022, 2021, Page(s) 115 - 120, ISSN 2329-4051
Publisher: IEEE
DOI: 10.1109/toh.2021.3137899

Author(s): Eva Heinold, Miriam Funk, Susanne Niehaus, Patricia H. Rosen, Sascha Wischniewski
Published in: Frontiers in Robotics and AI, Issue Volume 10, 2023, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2023.1277360

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

Author(s): Lorenzini M., Kim W., Ajoudani A.
Published in: IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS, 2021, ISSN 2168-2305
Publisher: IEEE
DOI: 10.1109/thms.2021.3133807

Understanding Human Manipulation With the Environment: A Novel Taxonomy for Video Labelling

Author(s): Visar Arapi; Cosimo Della Santina; Giuseppe Averta; Antonio Bicchi; Matteo Bianchi
Published in: IEEE Robotics and Automation Letters, Issue 6(4), 2021, Page(s) 6537 - 6544, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3094246

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 Computed Integrated Manufacturing, 2020, ISSN 0736-5845
Publisher: Pergamon Press Ltd.
DOI: 10.5281/zenodo.6576513

HUMANOIDS’ FEET: STATE OF THE ART and FUTURE DIRECTIONS

Author(s): Irene Frizza, Ko Ayusawa, Andrea Cherubini, Hiroshi Kaminaga, Philippe Fraisse, Gentiane Venture
Published in: Int. Journal of Humanoid Robotics, 2022, ISSN 0219-8436
Publisher: World Scientific Publishing Co

A Robust Iterative Learning Control for Continuous-Time Nonlinear Systems With Disturbances

Author(s): Michele Pierallini, Franco Angelini, Riccardo Mengacci, Alessandro Palleschi, Antonio Bicchi, Manolo Garabini
Published in: IEEE Access , Issue 9:21460028, October 2021, 2021, Page(s) 147471 - 147480, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3124014

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, 2022, ISSN 2329-4051
Publisher: IEEE
DOI: 10.1109/toh.2021.3112795

Design and Control of an Assistive Device for Elbow Effort-Compensation

Author(s): Emir Mobedi; Wansoo Kim; Mattia Leonori; Nikos G. Tsagarakis; Arash Ajoudani
Published in: IEEE/ASME Transactions on Mechatronics, Issue 1, 2023, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2023.3267681

A Multi-Modal Under-Sensorized Wearable System for Optimal Kinematic and Muscular Tracking of Human Upper Limb Motion.

Author(s): Bonifati P, Baracca M, Menolotto M, Averta G, Bianchi M.
Published in: Sensors, Issue 23(7):3716, 2023, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23073716

Investigating the Role of Multi-modal Social Cues in Human-Robot Collaboration in Industrial Settings

Author(s): Hoang-Long Cao; Constantin Scholz; Joris De Winter; Ilias El Makrini; Bram Vanderborght
Published in: Crossref, Issue 8, 2023, Page(s) 11, ISSN 1875-4805
Publisher: Springer
DOI: 10.1007/s12369-023-01018-9

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

Author(s): Jianzhuang Zhao, Alberto Giammarino, Edoardo Lamon, Juan M. Gandarias, Elena De Momi, Arash Ajoudani
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3187258

Electromyography-driven musculoskeletal models with time-varying fatigue dynamics improve lumbosacral joint moments during lifting

Author(s): Mohamed Irfan Mohamed Refai, Alejandro Moya-Esteban, Massimo Sartori
Published in: Journal of Biomechanics, Issue 164, 2024, Page(s) 111987, ISSN 0021-9290
Publisher: Elsevier BV
DOI: 10.1016/j.jbiomech.2024.111987

Model-Based Compliance Discrimination via Soft Tactile Optical Sensing and Optical Flow Computation: A Biomimetic Approach

Author(s): G. Pagnanelli, S. Ciotti, N. Lepora, A. Bicchi and M. Bianchi
Published in: IEEE Robotics and Automation Letters, Issue vol. 8, no. 10, 2023, Page(s) 6611-6618, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3309576

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, Issue 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, Issue 14, 2021, Page(s) 113, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2020.576846

A general approach for generating artificial human-like motions from functional components of human upper limb movements

Author(s): Marco Baracca, Giuseppe Averta, Matteo Bianchi
Published in: Control Engineering Practice, Issue 148, 2024, Page(s) 982-989, ISSN 0967-0661
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.conengprac.2024.105968

Choosing Stiffness and Damping for Optimal Impedance Planning

Author(s): Pollayil, Mathew Jose, Franco Angelini, Guiyang Xin, Michael Mistry, Sethu Vijayakumar, Antonio Bicchi, and Manolo Garabini
Published in: IEEE Transactions on Robotics , Issue vol. 39, no. 2, 2022, ISSN 1941-0468
Publisher: IEEE
DOI: 10.1109/tro.2022.3216078

Learning With Few Examples the Semantic Description of Novel Human-Inspired Grasp Strategies From RGB Data

Author(s): Lorenzo Collodi, Davide Bacciu, Matteo Bianchi, Giuseppe Averta
Published in: IEEE Robotics and Automation Letters, Issue 7(2), April 2022, 2022, Page(s) 2573 - 2580, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3144520

A Deep Learning Framework for Recognizing Both Static and Dynamic Gestures

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

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: 10.5281/zenodo.6573274

An industrial exoskeleton user acceptance framework based on a literature review of empirical studies.

Author(s): Shirley Elprama; Bram Vanderborght; An Jacobs
Published in: Applied ergonomics, Issue 100, 2021, ISSN 0003-6870
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.apergo.2021.103615

FATIGUE ANALYSIS USING ELECTROMYOGRAPHY DRIVEN MUSCULOSKELETAL TRUNK MODELS

Author(s): Mohamed Irfan Mohamed Refai; Huawei Wang; Alejandro Moya Esteban; Massimo Sartori
Published in: Proceedings of the European Society of Biomechanics, Issue 2, 2022
Publisher: ESB
DOI: 10.5281/zenodo.6819529

Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands

Author(s): Nathan F. Lepora, Chris Ford, Andrew Stinchcombe, Alfred Brown, John Lloyd, Manuel G. Catalano, Matteo Bianchi, Benjamin Ward-Cherrier
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, Page(s) -, ISBN 978-1-7281-9077-8
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561350

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

A Soft Assistive Device for Elbow Effort-Compensation

Author(s): Emir Mobedi; Wansoo Kim; Elena De Momi; Nikos G. Tsagarkis; Arash Ajoudani
Published in: IEEE IROS 2021, 2021
Publisher: IEEE
DOI: 10.1109/IROS51168.2021.9636771

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

Trajectory Tracking of a One-Link Flexible Arm via Iterative Learning Control

Author(s): Michele Pierallini, Franco Angelini, Riccardo Mengacci, Alessantro Palleschi, Antonio Bicchi, Manolo Garabini
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, Page(s) -, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341215

Garbage Collection and Sorting with a Mobile Manipulator using Deep Learning and Whole-Body Control

Author(s): Jingyi Liu; Pietro Balatti; Kirsty Ellis; Denis Hadjivelichkov; Danail Stoyanov; Arash Ajoudani; Dimitrios Kanoulas
Published in: IEEE Humanoids, 2021
Publisher: IEEE
DOI: 10.1109/HUMANOIDS47582.2021.9555800

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, Issue one time publication, 2021, Page(s) 6, ISBN 978-3-936804-29-4
Publisher: GfA Press
DOI: 10.5281/zenodo.4644163

A Contact-Adaptive Control Framework for Co-Manipulation Tasks with Application to Collaborative Screwing

Author(s): Nicola Villa; Emir Mobedi; Arash Ajoudani
Published in: IEEE RO-MAN, Issue 4, 2022
Publisher: IEEE
DOI: 10.5281/zenodo.6811187

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: Issue 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

A User-Centered Approach to Artificial Sensory Substitution for Blind People Assistance

Author(s): Federica Barontini; Federica Barontini; Gemma Carolina Bettelani; Barbara Leporini; Giuseppe Averta; Matteo Bianchi
Published in: ICRN 2020 - 5th International Conference on NeuroRehabilitation, Online Conference, October 13-16, 2020, 2020
Publisher: ICRN
DOI: 10.1007/978-3-030-70316-5_96

Digital planning of ability-appropriate and productive human-robot interactions in production

Author(s): M. Spitzhirn; C. Gärtner; L. Fritzsche
Published in: IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, Issue 1, 2023
Publisher: IEEE
DOI: 10.1109/arso56563.2023.10187520

A fabric-based wearable haptic system for advanced human-machine interaction

Author(s): Simone Fani; Matteo Bianchi
Published in: I-RIM, Issue 1, 2022
Publisher: I-RIM
DOI: 10.5281/zenodo.4781211

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

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

A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand

Author(s): Benjamin Ward-Cherrier; Jörg Conradt; Manuel G. Catalano; Matteo Bianchi; Nathan F. Lepora
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, Page(s) 9883-9889, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341391

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

MyoSim: Fast and physiologically realistic MuJoCo models for musculoskeletal and exoskeletal studies

Author(s): Wang, Huawei; Caggiano, Vittorio; Durandau, Guillaume; Sartori, Massimo; Kumar, Vikash
Published in: Proceedings of the 39th edition of the IEEE International Conference on Robotics and Automation, Issue 2, 2022
Publisher: IEEE
DOI: 10.5281/zenodo.6818231

Real-Time Control of Robot Arms for Safe Human-Robot Coexistence

Author(s): Kelly Merckaert, Bryan Convens, Marco M. Nicotra, Bram Vanderborght
Published in: ICRA 2021 Workshop: Unlocking the potential of human-robot collaboration for industrial applications, 2021
Publisher: IEEE

Augmented Hierarchical Quadratic Programming for Adaptive Compliance Robot Control

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

Human-Robot Collaborative Carrying of Objects with Unknown Deformation Characteristics

Author(s): Doganay Sirintuna, Alberto Giammarino, Arash Ajoudani
Published in: IEEE RAS IROS, 2022
Publisher: IEEE
DOI: 10.48550/arxiv.2201.10392

Impact Planning and Pre-configuration based on Hierarchical Quadratic Programming

Author(s): Tassi Francesco; De Momi Elena; Ajoudani Arash
Published in: IEEE ICRA, 2022
Publisher: IEEE
DOI: 10.5281/zenodo.6807595

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, Issue 2020, 2020, Page(s) 8-11
Publisher: Fraunhofer IAO

"PIσ- PIσ Continuous Iterative Learning Control for Nonlinear Systems with Arbitrary Relative Degree"

Author(s): Cenceschi, L.; Angelini, F.; Santina, C. D.; Bicchi, A.
Published in: 2021 European Control Conference (ECC), 2021, Page(s) -, ISBN 978-9-4638-4236-5
Publisher: IEEE
DOI: 10.23919/ecc54610.2021.9655196

Human-Robot Collaboration (HRC) Technologies for Reducing Work-Related Musculoskeletal Diseases in Industry 4.0

Author(s): Ranavolo, Alberto; Chini, Giorgia; Draicchio, Francesco; Silvetti, Alessio; Varrecchia, Tiwana; Fiori, Lorenzo; Tatarelli, Antonella; Rosen, Patricia Helen; Wischniewski, Sascha; Albrecht, Philipp; Vogt, Lydia; Bianchi, Matteo; Averta, Giuseppe; Cherubini, Andrea; Fritzsche, Lars; Sartori, Massimo; Vanderborght, Bram; Govaerts, Renee; Ajoudani, Arash; Black, Nancy L.; Neumann, W. Patrick; Noy, Ian
Published in: STARTPAGE=335;ENDPAGE=342;TITLE=Proceedings of the 21st Congress of the International Ergonomics Association, IEA 2021, Issue 2, 2021
Publisher: SpringerLink
DOI: 10.1007/978-3-030-74614-8_40

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 International Conference on Humanoid Robots, 2021
Publisher: IEEE
DOI: 10.5281/zenodo.4778513

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, Issue Jan. 28-29, 2021, 2021
Publisher: Dutch Bio-Medical Engineering Conference
DOI: 10.5281/zenodo.4639604

Augmented Hierarchical Quadratic Programming for Adaptive Compliance Robot Control

Author(s): Francesco Tassi; Elena De Momi; Arash Ajoudani
Published in: IEEE RAS ICRA 2021, 2021
Publisher: IEEE
DOI: 10.5281/zenodo.4663752

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, Issue 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

Controlling Hand Movements Relying on Tactile Illusions: A Model Predictive Control Framework

Author(s): Gemma Carolina Bettelani; Simone Fani; Alessandro Moscatelli; Paolo Salaris; Matteo Bianchi
Published in: 2021 IEEE World Haptics Conference (WHC), 2021, Page(s) -, ISBN 978-1-6654-1871-3
Publisher: IEEE
DOI: 10.1109/whc49131.2021.9517188

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

The Explicit Reference Governor for Real-Time Safe Control of a Robotic Manipulator

Author(s): Kelly Merckaert, Bryan Convens, Ilias El Makrini, Greet Van de Perre, Marco M. Nicotra, Bram Vanderborght
Published in: IROS 2020 Workshop: Bringing constraint-based robot programming to real-world applications, 2020
Publisher: IEEE

Estimation of Whole-Body Muscular Activation from an Optimal Set of Scarce Electromyographic Recordings

Author(s): Baracca, M., Averta, G., Bianchi, M.
Published in: SPAR-Human Friendly Robotics 2022, Issue VOLUME 26, 2023, Page(s) 120-130, ISBN 978-3-031-22730-1
Publisher: Springer, Cham
DOI: 10.1007/978-3-031-22731-8_9

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 11, 2022
Publisher: IEEE
DOI: 10.48550/arxiv.2105.09807

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, Issue Jan. 28-29, 2021, 2021
Publisher: xx
DOI: 10.5281/zenodo.4661269

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), Issue 15 Oct. 2020, 2020, Page(s) 822-826, ISBN 978-1-7281-5907-2
Publisher: IEEE
DOI: 10.1109/BioRob49111.2020.9224365

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 Robotics and Automation 2022, 2022
Publisher: IEEE
DOI: 10.48550/arxiv.2109.12038

MyoSuite: A contact-rich simulation suite for musculoskeletal motor control

Author(s): Caggiano, Vittorio; Wang, Huawei; Durandau, Guillaume; Sartori, Massimo; Kumar, Vikash
Published in: Proceedings of The 4th Annual Learning for Dynamics and Control Conference, Issue 2, 2022
Publisher: PLRM
DOI: 10.5281/zenodo.6818245

Bipolar versus high-density surface electromyography for evaluating risk in fatiguing frequency-dependent lifting activities.

Author(s): Varrecchia Tiwana, Ranavolo Alberto, Conforto Silvia, De Nunzio Alessandro Marco, Arvanitidis Michail, Draicchio Francesco, Falla Deborah
Published in: Applied Ergonomics. 2021,95:103456., 2021
Publisher: Elsevier
DOI: 10.1016/j.apergo.2021.103456

Trunk muscle co-activation and activity in one-and two-person lifting.

Author(s): Chini Giorgia, Varrecchia Tiwana, Tatarelli Antonella, Silvetti Alessio, Fiori Lorenzo, Draicchio Francesco, Ranavolo Alberto
Published in: International Journal of Industrial Ergonomics, 2022, 89, 103297, 2022
Publisher: Elsevier
DOI: 10.1016/j.ergon.2022.103297

Machine Learning Approach to Support the Detection of Parkinson's Disease in IMU-Based Gait Analysis

Author(s): Trabassi Dante, Serrao Mariano, Varrecchia Tiwana, Ranavolo Alberto, Coppola Gianluca, De Icco Roberto, Tassorelli Cristina, Castiglia Stefano Filippo
Published in: Sensors (Basel) . 2022 May 12;22(10):3700. doi: 10.3390/s22103700., 2022
Publisher: MDPI
DOI: 10.3390/s22103700

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

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