A5070028115- Robot Manipulation and Learning
- Muscle activation and electromyography studies
- Prosthetics and Rehabilitation Robotics
- Teleoperation and Haptic Systems
- Motor Control and Adaptation
- Soft Robotics and Applications
- Ergonomics and Musculoskeletal Disorders
- Human-Automation Interaction and Safety
- Stroke Rehabilitation and Recovery
- Modular Robots and Swarm Intelligence
- Robotic Path Planning Algorithms
- Manufacturing Process and Optimization
- Robotic Locomotion and Control
- Tactile and Sensory Interactions
- Human Pose and Action Recognition
- Ergonomics and Human Factors
- Gaze Tracking and Assistive Technology
- Musculoskeletal pain and rehabilitation
- Occupational Health and Safety Research
- Balance, Gait, and Falls Prevention
- Robotic Mechanisms and Dynamics
- Hand Gesture Recognition Systems
- Reinforcement Learning in Robotics
- Advanced Manufacturing and Logistics Optimization
- EEG and Brain-Computer Interfaces
Italian Institute of Technology
2016-2025
Interface (United States)
2018-2023
Institute of Informatics and Telematics
2023
Human Computer Interaction (Switzerland)
2018-2022
Institute of Intelligent Systems for Automation
2022
ORCID
2020
Gorgias Press (United States)
2018-2019
Vrije Universiteit Brussel
2018-2019
Institute of Electrical and Electronics Engineers
2018-2019
HRI Associates
2019
This work presents the concept of tele-impedance as a method for remotely controlling robotic arm in interaction with uncertain environments. As an alternative to bilateral force-reflecting teleoperation control, compound reference command is sent slave robot including both desired motion trajectory and impedance profile, which are then realized by remote controller without explicit feedback operator. We derive from novel body–machine interface (BMI) applied master operator’s arm, using only...
In this work, we present WALK‐MAN, a humanoid platform that has been developed to operate in realistic unstructured environment, and demonstrate new skills including powerful manipulation, robust balanced locomotion, high‐strength capabilities, physical sturdiness. To enable these WALK‐MAN design actuation are based on the most recent advancements of series elastic actuator drives with unique performance features differentiate robot from previous state‐of‐the‐art compliant actuated robots....
In this paper, two upper limbs of an exoskeleton robot are operated within a constrained region the operational space with unidentified intention human operator's motion as well uncertain dynamics including physical limits. The new human-cooperative strategies developed to detect subject's movement efforts in order make behavior flexible and adaptive. extracted from measurement muscular effort terms applied forces/torques can be represented derive reference trajectory his/her limb using...
This paper aims to improve the interaction and coordination between human robot in cooperative execution of complex, powerful, dynamic tasks. We propose a novel approach that integrates online information about motor function manipulability properties into hybrid controller assistive robot. Through this human-in-the-loop framework, can adapt behavior provide appropriate response different phases task. experimentally evaluate proposed two human-robot co-manipulation tasks require specific...
This paper proposes a teleimpedance controller with tactile feedback for more intuitive control of the Pisa/IIT SoftHand. With aim to realize robust, efficient and low-cost hand prosthesis design, SoftHand is developed based on motor principle synergies, through which immense complexity simplified into distinct patterns. Due built-in flexibility joints, as grasps, it follows synergistic path while allowing grasping objects various shapes using only single motor. The DC incorporates novel in...
This letter proposes a novel human–robot collaboration (HRC) control approach to alert and reduce the static joint torque overloading of human partner while executing shared tasks with robot. Using preidentified statically equivalent serial chain model, variations centre-of-pressure ground reaction force are calculated, torques evaluated in real time initially about consequent injuries. An online optimization technique is implemented adjust robot trajectories facilitating achieve more...
Musculoskeletal disorders, the single largest category of workrelated injuries in many industrial countries, are associated with very high costs terms lost productivity. In highvolume production facilities, large parts workstation should ideally be adapted to individual workers real time prevent such injuries. However, smaller lines, especially those found small and medium enterprises (SMEs), regularly adapting entire accommodate flexibility is a major challenge. A solution problem...
This letter presents a novel teleoperation interface that enables remote loco-manipulation control of MObile Collaborative robotic Assistant (MOCA). MOCA is new research platform developed at the Istituto Italiano di Tecnologia (IIT), which composed lightweight manipulator arm, Pisa/IIT SoftHand, and mobile driven by four omni-directional wheels. A whole-body impedance controller consequently to ensure accurate tracking position trajectories end-effector considering causal interactions in...
Human-robot collaborative assembly systems enhance the efficiency and productivity of workplace but may increase workers' cognitive demand. This paper proposes an online quantitative framework to assess workload induced by interaction with a co-worker, either human operator or industrial robot different control strategies. The approach monitors operator's attention distribution upper-body kinematics benefiting from input images low-cost stereo camera cutting-edge artificial intelligence...
The interpretability of gait analysis studies in people with rare diseases, such as those primary hereditary cerebellar ataxia (pwCA), is frequently limited by the small sample sizes and unbalanced datasets. purpose this study was to assess effectiveness data balancing generative artificial intelligence (AI) algorithms generating synthetic reflecting actual abnormalities pwCA. Gait 30 pwCA (age: 51.6 ± 12.2 years; 13 females, 17 males) 100 healthy subjects 57.1 10.4; 60 40 were collected at...
During the past several years, strategies have been proposed for control of joint movement in paraplegic subjects using functional electrical stimulation (FES), but developing a strategy that provides satisfactory tracking performance, to be robust against time-varying properties muscle-joint dynamics, day-to-day variations, subject-to-subject muscle fatigue, and external disturbances, easy apply without any re-identification plant dynamics during different experiment sessions is still an...
In this paper, we propose a novel method for the control of human-robot eo-manipulation that takes into aeeount ergonomie requirements human eo-worker. The robot uses whole-body dynamic model to optimise position task in workspace. configuration, overloading joint torques, i.e. effects an external load body joints, are minimised. addition, optimisation process ineludes several constraints, sueh as arm manipulability properties, ensure has good manipulation eapaeity given eonfiguration. main...
The deployment of industrial robotic cells based on lean manufacturing principles enables the development fast-reconfigurable assembly lines in which human and agents collaborate to achieve a shared task. To ensure effective coordination effort, each task must be decomposed into sequence atomic actions that can assigned either single agent or combination more agents, according defined metric. While allocation is general problem has been discussed intensively other fields, less effort devoted...
The manufacturing industry is among the top wealth generating sectors of global economy and accounted for 15.3% 10%, respectively, total European American workforce in 2018 [1], [2]. Despite its crucial role, facing a critical challenge based on reduction skilled labor availability. This trend impos- ing bottleneck growth due to demands an increasingly competitive market. aging not helping this shortfall either, as available less able perform burdensome industrial tasks efficient productive manner.
One of the main objectives fifth industrial revolution is design and implementation human-centric production environments. The human is, indeed, placed in center environment, having a supervision/leading role instead carrying out heavy/repetitive tasks. To enhance such an paradigm change, operators have to be provided with tools they need naturally easily transfer their knowledge robotic systems. Such expertise, fact, difficult coded, especially for non-expert programmers. In addition, due...
Abstract Electronics and mechatronics waste is an exponentially increasing environmental issue, especially for wearable devices, due to their widespread diffusion into society short life cycle. To promote enormous benefits (e.g., in assisting visually impaired individuals) a sustainable way, biobased and/or biodegradable organic materials should be used instead of traditional components. This manuscript presents multidisciplinary approach, which bridges science mechatronics, propose the...