23 accepted papers
Accurate three-dimensional (3D) localization is critical for robust human-robot collaboration (HRC) in dynamic indoor environments. However, realizing high-precision localization in complex scenarios still faces challenges such as multipath effects, field-of-view occlusion, etc. To address these lim…
In physical human-robot interaction (pHRI), ensuring human safety in all tasks conducted by the robot is crucial. Traditional compliance control strategies, such as admittance and impedance control, often lead to unpredictable robot behavior due to incidents like contact loss or unexpected external
Accurate three-dimensional (3D) localization is critical for robust human-robot collaboration (HRC) in dynamic indoor environments. However, realizing high-precision localization in complex scenarios still faces challenges such as multipath effects, field-of-view occlusion, etc. To address these lim
Variable impedance control is a control strategy widely used in physical human-robot collaboration (pHRC) and physical human-robot interaction (pHRI). Variable stiffness and damping parameters improve adaptability to changing environments and enhance safety in human-robot interaction. However, these
This paper proposes a structure called SPBNet for enhancing binarized convolutional neural networks (BCNNs) using a low-cost 1-D spatial attention structure. Attention blocks can compensate for the performance drop in BCNNs. However, the hardware overhead of complex attention blocks can be a signifi…
This study presents the design and validation of a soft sliding stiffness structure with a soft-rigid layer sliding mechanism. It aims to mitigate ankle sprains and address the progression of chronic ankle instability by providing stiffness support. The soft-rigid layer sliding mechanism of the stru
This work presents a reactive control strategy for loading and sudden unloading of an elbow effort-compensation device controlled in force. Through this control strategy, in addition to an individual's forearm weight, an external load can be detected and adaptively compensated via a feed-forward for
This paper proposes a novel operation for controlling a mobile robot using a head-mounted device. Conventionally, robots are operated using computers or a joystick, which creates limitations in usability and flexibility because control equipment has to be carried by hand. This lack of flexibility ma…
The use of powerful robotics tools in modeling and analysis of complex biomechanical systems has led to the development of computationally effective and scalable human models. Our early work in this regard focused on a humanoids-based rigid-body modeling of human kinodynamics to monitor instantaneou
The use of assistive technologies in industrial environments to improve human ergonomics and comfort in repetitive and high effort tasks have increased considerably in the last decade. Predominantly, the goal is to provide additional physical support through lightweight and wearable devices, without…
We present a neural analysis and synthesis (NANSY) framework that can manipulate the voice, pitch, and speed of an arbitrary speech signal. Most of the previous works have focused on using information bottleneck to disentangle analysis features for controllable synthesis, which usually results in p…
This work presents a unified approach for hybrid motion control of the Mobile Collaborative Robotic Assistant (MOCA). The objective is to develop a loco-manipulation controller, enabling various couplings of the arm and the mobile base movements, and particularly their purely decoupled motions. The
The objective of this paper is to present a personalisable human ergonomics framework that integrates a method for real-time identification of a human model and an ergonomics monitoring function. The human model is based on a floating base structure and on a Statically Equivalent Serial Chain (SESC)…
In this work, we propose a novel visuo-haptic guidance interface to enable mobile collaborative robots to follow human instructions in a way understandable by non-experts. The interface is composed of a haptic admittance module and a human visual tracking module. The haptic guidance enables an indiv…
The objective of this paper is to create a new collaborative robotic system that subsumes the advantages of mobile manipulators and supernumerary limbs. By exploiting the reconfiguration potential of a MObile Collaborative robot Assistant (MOCA), we create a collaborative robot that can function aut…
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…
Among the numerous risk factors associated to work-related musculoskeletal disorders (WMSD), repetitive and monotonous movements with light-weight tools are one of the most frequently cited. Such tasks may indeed result in the excessive accumulation of local muscle fatigue, causing severe injuries i…
This letter presents a novel teleoperation interface that enables remote loco-manipulation control of a MObile Collaborative robotic Assistant (MOCA). MOCA is a new research platform developed at the Istituto Italiano di Tecnologia (IIT), which is composed of a lightweight manipulator arm, a Pisa/II
In this paper, we propose a control framework for a multi-human and mobile-robot collaborative team, that takes into account the co-workers' ergonomic requirements as well as the demand for high flexibility in the manufacturing industries. The new MObile Collaborative robotic Assistant (MOCA), which…
This letter proposes a novel technique for the real-time estimation of the human feet ground reaction forces (GRFs) and centers of pressure (CoP) from the whole-body CoP and body configuration. The estimated variables are used for the estimation of the overloading torques in human joints during doub
This letter proposes a novel human–robot collaboration (HRC) control approach to alert and reduce the static joint torque overloading of a human partner while executing shared tasks with a robot. Using a preidentified statically equivalent serial chain model, variations of the centre-of-pressure and
In this letter, we present a novel wearable feedback interface with the aim to improve human ergonomics in the execution of heavy or repetitive industrial tasks. The proposed interface incorporates a reduced-complexity and real-time model for the estimation of human joints' load variations, based on
This study developed the Hanyang Exoskeleton Assistive Robot (HEXAR)-CR50 aimed at improving muscle strength of the wearer while transporting a load. The developed exoskeleton robot HEXAR-CR50 has 7 degrees of freedom (DOF) for one foot, 3-DOF for the hip joints, 1-DOF for the knee joints, and 3-DOF…