6 accepted papers
Physical Human–Robot Interaction (pHRI) requires control frameworks that balance accuracy, compliance, and safety under variable human behaviors. This paper proposes a novel Model Predictive Variable Admittance (MPVA) framework that integrates trajectory tracking, interaction force directionality, a…
Physical Human–Robot Interaction (pHRI) occurs in industrial, medical, domestic, search and rescue, and other domains, requiring controllers that balance safety and performance for effective collaboration. In this context, this paper presents a real-time novel Model Predictive Variable Admittance (M
This paper considers a scenario where a robot and a human operator share the same workspace, and the robot is able to both carry out autonomous tasks and physically interact with the human in order to achieve common goals. In this context, both intentional and accidental contacts between human and r…
The paper presents a shared control architecture for robotic systems commanded through a motor imagery based Brain-Computer Interface (BCI). The overall system is aimed at assisting people to perform teleoperated manipulation tasks, and it is structured so as to leave different levels of autonomy to…
In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that allows the manipulator's motion while respecting constraints def…
In this paper we present an architecture for the operation of an assistive robot finally aimed at allowing users with severe motion disabilities to perform manipulation tasks that may help in daily-life operations. The robotic system, based on a lightweight robot manipulator, receives high level com…