16 accepted papers
This paper presents a dynamic walking corridor generation (DWCG) algorithm designed to enhance navigation safety for visually impaired individuals in crowded pedestrian environments. Current physical human-robot interaction (pHRI) systems struggle with random pedestrian movements and interaction dis
Passivity-based methods are widely used in tele-operation to guarantee stability, especially for the widely used Position-Force measured (PFm) architecture. Among them, Time Domain Passivity Approach (TDPA) achieves stability through passivation, generating a dissipation action that degrades the ref
Haptic interaction often requires stabilizing controllers for safety. The Time-Domain Passivity Approach guarantees passivity (then stability) by observing and dissipating energy generated from active elements in a network. The dissipating action is performed by a Passivity Controller, whose action…
In interacting with stiff environments through teleoperated systems, time delays cause a mismatch between haptic feedback and the expected feedback by the operator. This mismatch causes artefacts in the feedback, which decrease transparency, but so does filtering these artefacts. Through modelling o…
The accomplishment of a successful teleoperation task requires guaranteeing system stability and transparency. Communication delay (in particular variable time delay), quantization and discretization negatively affect system stability and might be overcome with Time Domain Passivity Approach (TDPA),…
A major challenge in the design and control of exoskeletons is the preservation of the user.s natural behavior when interacting with these machines. From this point of view, one of the most important features is the transparency of the exoskeleton. An ideally transparent exoskeleton follows the user
Search and rescue robotics is becoming a relevant topic in the last years and the growing number of robotic platforms and dedicated projects is the evidence of the interest in this area. In this context, the possibility to drive a remote robot with an exoskeleton is a promising strategy to enhance d…
A hand impairment can have a profound impact on the quality of life. This has motivated the development of dexterous prosthetic and orthotic devices. However, their control with neuromuscular interfacing remains challenging. Moreover, existing myocontrol interfaces typically require an extensive cal
This letter presents the design of a new exoskeleton for thumb. The main feature of this device is a high degree of underactuation. In fact, the five degrees of freedom (dof) of the thumb are actuated by just one linear actuator. Other features of the thumb-exos are its capability of exert only forc
Underactuated exoskeletons offer improved simplicity, affordability, and movement adjustability based on interaction forces, but in turn they suffer from lack of controllability. In this letter, we propose different rendering strategies to improve the controllability of underactuated devices, with n
In this letter, the authors proposed a new wrist exoskeleton designed to provide kinesthetic feedback to the wrist user's joints for rehabilitative, teleoperation, and virtual environment interaction purposes. The design process focused on the need to use the interface as the end-effector of a whole
This paper presents the development and the experimental validation of a controller for the simulation of the behavior of automotive automatic gearshifts. For this purpose a gearshift simulator was developed based on 2 DOF haptic interface to evaluate users qualitative judgment of automatic gearshif