8 accepted papers
Accurate and physically feasible human motion prediction is crucial for safe and seamless human-robot collaboration. While recent advancements in human motion capture enable real-time pose estimation, the practical value of many existing approaches is limited by the lack of future predictions and co
Preserving and encouraging mobility in the elderly and adults with chronic conditions is of paramount importance. However, existing walking aids are either inadequate to provide sufficient support to users’ stability or too bulky and poorly maneuverable to be used outside hospital environments. In a…
Walking aid robots have been developed for elderly people or patients facing difficulties while walking. However, most of them are designed only for flat ground, must rely on handles, and have drawbacks such as oscillation and lack of stability. The primary goal of this research is to improve the tr
This work presents an ergonomic and interactive human-robot collaboration (HRC) framework, through which new collaborative skills are extracted from a one-shot human demonstration and learned through Riemannian dynamic movement primitives (DMP). The proposed framework responds to human-robot interac
This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupli…
This letter presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using haptic information only. The proposed algorithm plans the robot's trajectory based on the haptic interaction with the envir
Safety is one of the most fundamental aspects of robotics, especially when it comes to collaborative robots (cobots) that are expected to physically interact with humans. Although a large body of literature has focused on safety-related aspects for fixed-based cobots, a low effort has been put into
In this paper, a novel human-robot collaborative framework for mixed case palletizing is presented. The framework addresses several challenges associated with the detection and localisation of boxes and pallets through visual perception algorithms, high-level optimisation of the collaborative effort…