Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for of humanoid robots using novel approach motion retargeting through inverse kinematics over model. The proposed method enhances scalability retargeting, i.e., it teleop-erating different by human users minimal changes system. Our enables an intuitive natural interaction between operator...

Wearable sensors are gaining in popularity because they enable outdoor experimental monitoring. This paper presents a cost-effective sensorised insole based on mesh of tactile capacitive sensors. Each sensor’s spatial resolution is about 4 taxels/cm 2 order to have an accurate reconstruction the contact pressure distribution. As consequence, provides information such as forces, moments, and centre pressure. To retrieve this information, calibration technique that fuses measurements from...

This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure dynamically solving inverse kinematics highly articulate systems such as humans. The method presented is model-based, it makes use velocity correction and differential integration in order to compute system configuration. convergence model measurements proved using Lyapunov analysis. An experimental scenario, where a human subject tracked static dynamic...

Overheadwork is classifiedas one of the major risk factors for onset shoulder work-related musculoskeletal disorders and muscle fatigue. Upper-limb exoskeletons can be used to assist workers during execution industrial overhead tasks prevent such disorders. Twelve novice participants have been equipped with inertial force/torque sensors simultaneously estimate whole-body kinematics joint torques (i.e., internal articular stress) by means a probabilistic estimator, while performing an task...

The paper presents a stochastic methodology for the simultaneous floating-base estimation of human whole-body kinematics and dynamics (i.e., joint torques, internal external forces). builds upon our former work where fixed-base formulation had been developed problem. presented approach is validated by presenting experimental results health subject equipped with wearable motion tracking system pair shoes sensorized force/torque sensors while performing different tasks, e.g., walking on...

As technology advances, the barriers between co-existence of humans and robots are slowly coming down. The prominence physical interactions for collaboration cooperation will be an undeniable fact. Rather than exhibiting simple reactive behaviors to human interactions, it is desirable endow with augmented capabilities exploiting successful task completion. Towards that goal, in this paper, we propose a trajectory advancement approach which mathematically derive conditions facilitate...

Vergence control and tracking allow a robot to maintain an accurate estimate of dynamic object three dimensions, improving depth estimation at the fixation point. Brain-inspired implementations vergence are based on models complex binocular cells visual cortex sensitive disparity. The energy activation provides disparity-related signal that can be reliably used for control. We implemented such model neuromorphic iCub, equipped with pair brain inspired vision sensors. Such sensors provide...

Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the partner allows design of safe and efficient collaborative strategies. In this paper, we present a control approach for human-robot collaboration based on monitoring through whole-body wearable sensors, interaction modelling coupled rigid-body dynamics. Moreover, trajectory advancement strategy is proposed, allowing online adaptation robot depending motion. The resulting...

Humans show specialized strategies for efficient collaboration. Transferring similar to humanoid robots can improve their capability interact with other agents, leading the way complex collaborative scenarios multiple agents acting on a shared environment. In this paper we present control framework robot-robot lifting. The proposed controller takes into account joint action of both thanks centralized that communicates them, and solves whole-system optimization. Efficient collaboration is...

Improving the quality of work for human beings is receiving a lot attention from multiple research communities. In particular, digital transformation in factors and ergonomics going to empower next generation socio-technical workforce. The use wearable sensors, collaborative robots, exoskeletons, coupled with novel technologies real-time assessment ergonomy forms crux this transformation. direction, paper focuses on open problem estimating interaction wrench experienced at extremities (such...

Full body motion estimation of a human through wearable sensing technologies is challenging in the absence position sensors since base kinematics usually not directly measurable. This paper contributes to development model-based floating algorithm using distributed inertial and force-torque sensing. done by extending existing dynamical optimization-based Inverse Kinematics (IK) approach for joint state estimation, cascade, include center pressure based contact detector contact-aided Kalman...

This paper proposes a novel method to reliably calibrate pair of sensorized insoles utilizing an array capacitive tactile pixels (taxels). A new calibration setup is introduced that scalable and suitable for multiple kinds wearable sensors procedure the simultaneous each in presented. The relies on two-step optimization algorithm that, firstly, enables determination relevant set mathematical models based instantaneous measurement taxels alone, and, then, expands these include portion time...

Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence position sensors. This paper contributes to development model-based whole-body kinematics algorithm using distributed inertial and force-torque sensing. done by extending existing dynamical optimization-based Inverse Kinematics (IK) approach for joint state estimation, cascade, include center pressure-based contact detector contact-aided Kalman filter on Lie groups floating base pose...

As robotic technology advances, the barriers to coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, manipulation, etc., considered need hour, progress in robotics holds potential address many societal challenges. The future socio-technical systems constitute blended workforce with a symbiotic relationship between human robot partners working collaboratively. This thesis attempts some research challenges enabling...

Robots existed as separate entities till now, but the horizons of a symbiotic human-robot partnership are impending. Despite all recent technical advances in terms hardware, robots still not endowed with desirable relational skills that ensure social component their existence. This article draws from our experience roboticists Human-Robot Collaboration (HRC) humanoid and presents some made towards realizing intuitive robot behaviors partner-aware control involving physical interactions.

As robotic technology advances, the barriers to coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, manipulation, etc., considered need hour, progress in robotics holds potential address many societal challenges. The future socio-technical systems constitute blended workforce with a symbiotic relationship between human robot partners working collaboratively. This thesis attempts some research challenges enabling...

Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the partner allows design of safe and efficient collaborative strategies. In this paper, we present a control approach for human-robot collaboration based on monitoring through whole-body wearable sensors, interaction modelling coupled rigid-body dynamics. Moreover, trajectory advancement strategy is proposed, allowing online adaptation robot depending motion. The resulting...

In the last two decades scientific community has shown a great interest in understanding and shaping interaction mechanisms between humans robots. The reason of this lies application human-robot-interaction-based technologies industrial rehabilitation fields, as well daily-life scenarios. implies communication dyadic agents and, if type is 'physical', represented by set forces mutually exchanged.

The topic of physical human-robot interaction received a lot attention from the robotics community because many promising application domains. However, studying between robot and an external agent, like human or another robot, without considering dynamics both systems may lead to short-comings in fully exploiting interaction. In this paper, we present coupled-dynamics formalism followed by sound approach helpful with humanoid robot. particular, propose first attempt define exploit help for...

Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between different parts of an articulated object. As most these passive, a robot has to interact with them infer all articulation understand object topology. We present general algorithm estimate inherent by exploiting momentum system along interaction wrench while manipulating validate approach experiments simulation environment.