6 accepted papers
Nowadays, an increasingly diversification of products and production lines would largely benefit from intuitive and multimodal robot teaching strategies. The present article proposes an augmented kinesthetic teaching system, which is based on surface electromyographic (sEMG) measurements from the op
Replication of human hand motions on anthropomorphic robotic hands is typically treated in literature as the combination of two sub-problems: the measurement of human hand motions, and the mapping of such motions on the robotic hand. In this letter we focus on the second one. Different approaches ha
In this letter we present a sEMG-driven human-in-the-loop (HITL) control designed to allow an assistive robot produce proper support forces for both muscular effort compensations, i.e. for assistance in physical tasks, and muscular effort generations, i.e. for the application in muscle strength trai
In this paper, the problem of suppressing sloshing dynamics in liquid handling robotic systems has been faced by designing a dynamic filter that starting from the desired motion of the liquid container calculates the complete position/orientation trajectory for the robot end-effector. Specifically,…
The gap between human waiters and state-of-the-art robot systems that try to serve something to drink is often embarrassing, with the former able to manipulate glasses and trays or glasses on trays with incredible dexterity and the latter that move at incredible slowness. In this video, we want to s…
In this paper, an hybrid position-position and position-velocity teleoperation control scheme for a generic mobile manipulator is presented and discussed. The mobile manipulator is composed by a mobile platform and a 5 dof arm, and the proposed control scheme allows the simultaneous control of both…