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This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
The study of Human-Robot Interaction (HRI) aims to create close and friendly communication between humans and robots. In the human-center HRI, an essential aspect of implementing a successful and effective HRI is building a natural and…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
Force and proximity sensors are key in robotics, especially when applied in collaborative robots that interact physically or cognitively with humans in real unstructured environments. However, most existing sensors for use in robotics are…
Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…
This paper proposes an adaptive admittance controller for improving efficiency and safety in physical human-robot interaction (pHRI) tasks in small-batch manufacturing that involve contact with stiff environments, such as drilling,…
Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…
Human-robot interaction (HRI) is an important component to improve the flexibility of modern production lines. However, in real-world applications, the task (\ie the conditions that the robot needs to operate on, such as the environmental…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…
In the near future, collaborative robots (cobots) are expected to play a vital role in the manufacturing and automation sectors. It is predicted that workers will work side by side in collaboration with cobots to surpass fully automated…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…
Safety for physical human-robot interaction (pHRI) is a major concern for all application domains. While current standardization for industrial robot applications provide safety constraints that address the onset of pain in blunt impacts,…
Physical human-robot interaction (pHRI) integrates the benefits of human operator and a collaborative robot in tasks involving physical interaction, with the aim of increasing the task performance. However, the design of interaction…
ffective Human-Robot Interaction (HRI) is crucial for enhancing accessibility and usability in real-world robotics applications. However, existing solutions often rely on gesture- only or language-only commands, making interaction…
The interest in Physical Human-Robot Interaction (pHRI) has significantly increased over the last two decades thanks to the availability of collaborative robots that guarantee user safety during force exchanges. For this reason, stability…
In this study, we propose a safety-critical compliant control strategy designed to strictly enforce interaction force constraints during the physical interaction of robots with unknown environments. The interaction force constraint is…
Robot interaction control is often limited to low dynamics or low flexibility, depending on whether an active or passive approach is chosen. In this work, we introduce a hybrid control scheme that combines the advantages of active and…