A5059684141- Robot Manipulation and Learning
- Action Observation and Synchronization
- EEG and Brain-Computer Interfaces
- Robotic Path Planning Algorithms
- Social Robot Interaction and HRI
- Motor Control and Adaptation
- Neural dynamics and brain function
- Human-Automation Interaction and Safety
- Modular Robots and Swarm Intelligence
- Reinforcement Learning in Robotics
- Advanced Manufacturing and Logistics Optimization
- Neurological disorders and treatments
- Ergonomics and Human Factors
- Face Recognition and Perception
- Parkinson's Disease Mechanisms and Treatments
- Emotion and Mood Recognition
- Cognitive Functions and Memory
- Genetic Neurodegenerative Diseases
- Mental Health Research Topics
- Context-Aware Activity Recognition Systems
- Language and cultural evolution
- Assembly Line Balancing Optimization
- Robotic Mechanisms and Dynamics
- Autonomous Vehicle Technology and Safety
- Assistive Technology in Communication and Mobility
University of Minho
2013-2024
University of Coimbra
2022
University of Aveiro
2022
Many of our sequential activities require that behaviors must be both precisely timed and put in the proper order. This article presents a neurocomputational model based on theoretical framework dynamic neural fields supports rapid learning flexible adaptation coupled order–timing representations events. A key assumption is elapsed time encoded monotonic buildup self-stabilized population activity representing event memory. stable activation gradient over subpopulations carries information...
Nowadays, fast-paced and competitive industry, assembly tasks demand significant levels of concentration, precision, cognitive effort. These challenges often result in mental fatigue, errors, decreased efficiency among workers. The concept Assistive Assembly offers a promising solution, harmonizing human dexterity with cutting-edge technology. By integrating ergonomics robotics, has the potential to provide invaluable support line workers, enabling them achieve peak performance effortlessly....
Humans are experts in cooperating a smooth and proactive manner. Action intention understanding critical components of efficient joint action. In the context EU Integrated Project JAST [16] we have developed an anthropomorphic robot endowed with these cognitive capacities. This project respective (ARoS) is focus video. More specifically, results illustrate crucial capacities for successful human-robot collaboration such as goal inference, error detection anticipatory action selection....
We tested in a robotics experiment dynamic neural field model for learning precisely timed musical sequence. Based on neuro-plausible processing mechanisms, the implements idea that order and relative timing of events are stored an integrated representation whereas onset sequence production is controlled by separate process. Dynamic fields provide rigorous theoretical framework to analyze implement necessary computations bridge gaps between sensation action mediate working memory, planing,...
We report on our approach towards creating socially intelligent robots, which is heavily inspired by recent experimental findings about the neurocognitive mechanisms underlying action and emotion understanding in humans. Our uses neuro-dynamics as a theoretical language to model cognition, emotional states, decision making action. The control architecture formalized coupled system of dynamic neural fields representing distributed network local but connected populations. Different pools...
This dissertation objective is to contribute for the development of a robotic system towards neurosurgery assistance in Deep Brain Stimulation (DBS) stereotactic procedures. Being DBS typically long, physically and cognitively demanding procedure; introduction assistant hold, manipulate position instrumentation would improve medical team working conditions lead better surgery outcomes. Upon understanding how could robot be used what systems were adequate task, we implemented simulation...
If we want robots to engage effectively with humans in service applications or collaborative work scenarios they have be endowed the capacity perceive passage of time and control timing their actions. Here report result a robotics experiment which test computational model action based on processing principles neurodynamics. A key assumption is that elapsed encoded consistent buildup persistent population activity representing memory sensory motor events. The stored information can recalled...
Previously we have presented a model for generating human-like arm and hand movements on an unimanual anthropomorphic robot involved in human-robot collaboration tasks. The present paper aims to extend our order address the generation of bimanual movement sequences which are challenged by scenarios cluttered with obstacles. Movement planning involves large scale nonlinear constrained optimization problems solved using IPOPT solver. Simulation studies show that generates feasible realistic...
This paper proposes a solution for safe navigation of stacker vehicles in workspaces shared with people, focus on the docking manoeuvres pallet picking and dropping. Behaviours way-point wall following are developed attractor dynamics approach. Then, these behaviours orchestrated by state machines (that activate or deactivate them) depending specific task. Each states also defines different areas maximum travel speeds, which is requirement operation. Results real experiments presented that...
This paper presents the development of an anthropomorphic robot designed for collaborative research alongside Kuka LBR iiwa R820 robotic arm project I-CATER. The primary objectives were designing a robust and stable robot's structure, integrating hardware using Robot Operating System (ROS), developing user- friendly Human-Machine Interface. Priority was set on ensuring structure could support two arms without compromising stability or functionality. Key components include 7 Degrees Freedom...
Human Pose Estimation (HPE) is an essential computer vision task that plays a significant role in ergonomics, human-centered design of workplaces, and collaborative robotics, particularly providing safe, adaptive, valuable human-robot collaboration (HRC). Nevertheless, the need for concise practical approach to setting up multicamera multimodal system HPE dataset generation remains open issue literature.The main goal this work describe steps protocol serves as guide exploratory stage...
The synergy between Ergonomics and Collaborative Robotics represents a crucial emergent framework to achieve innovative human-centered assembly workstations. Among the various I4.0 technologies, Human-Robot Collaboration (HRC) has emerged as cutting-edge solution address ergonomic challenges while enhancing manufacturing productivity. Despite this potential, there is significant gap in empirical studies on implementation of these particularly context integrating requirements. This study aims...
Loading pallets in truck bays presents significant human factors challenges, including physical ergonomics, workplace safety, task efficiency, and operator well-being. Forklift operation, particular, demands both cognitive effort carries a risk of injury. Work injuries have social economic impacts, for the injured individuals company. Therefore, analyzing ways to reduce these risks, streamline processes, enhance efficiency is crucial organizational This study focused on current operational...
We present a motion controller that generates collision free trajectories for autonomous Tugger vehicles operating in dynamic factory environments, where human operators may coexist. The is formalized as system of path velocity and heading direction, whose vector fields change sensory information varies. By design the parameters are tuned so control variables close to an attractor resultant dynamics most time. This contributes overall asymptotically stability makes it robust against...
The advantages of Deep Brain Stimulation (DBS) lead to an increasing number stereotactic DBS surgeries, which are extensive procedures that require extreme precision and steadiness tool handling.
This paper presents a method to control and generate motion for omnidirectional mobile manipulators that operate in internal logistics scenarios. It proposes transport maneuvering operations where human operators may coexist. Thus, ensure can easily infer the vehicle's movements, vehicle preferentially performs non-holonomic (i.e., like differential drive vehicle), only takes advantage of holonomic movements narrow spaces when maneuvering. On other hand, docking maneuvers enables system...