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The aim of this work is to improve musculoskeletal-based models of the upper-limb Wrench Feasible Set i.e. the set of achievable maximal wrenches at the hand for applications in collaborative robotics and computer aided ergonomics. In…

This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a given time horizon based on the robot's actuation limits and…

Ellipsoid-based manipulability measures are often used to characterize the force/velocity task-space capabilities of robots. While computationally simple, this approach largely approximate and underestimate the true capabilities.…

Motion planning in multi-contact scenarios has recently gathered interest within the legged robotics community, however actuator force/torque limits are rarely considered. We believe that these limits gain paramount importance when the…

Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…

In the domain of assistive robotics, the significance of effective modeling is well acknowledged. Prior research has primarily focused on enhancing model accuracy or involved the collection of extensive, often impractical amounts of data.…

Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…

Exoskeletons play a crucial role in assisting patients with varying mobility levels during rehabilitation. However, existing control strategies face challenges such as imprecise trajectory tracking, interaction torque oscillations, and…

Loss of mobility or balance resulting from neural trauma is a critical consideration in public health. Robotic exoskeletons hold great potential for rehabilitation and assisted movement, yet optimal assist-as-needed (AAN) control remains…

To reliably model real robot characteristics, interval linear systems of equations allow to describe families of problems that consider sets of values. This allows to easily account for typical complexities such as sets of joint states and…

An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…

In Physical Human--Robot Interaction (pHRI) grippers, humans and robots may contribute simultaneously to actions, so it is necessary to determine how to combine their commands. Control may be swapped from one to the other within certain…

Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…

Human motion prediction is an essential step for efficient and safe human-robot collaboration. Current methods either purely rely on representing the human joints in some form of neural network-based architecture or use regression models…

A robot cannot lift up an object if it is not feasible to do so. However, in most research on robot lifting, "feasibility" is usually presumed to exist a priori. This paper proposes a three-step method for a humanoid robot to reason about…

Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…

This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…

Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…

Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…

This study presents a novel algorithm for identifying the set of extreme points that constitute the exact convex hull of a point set in high-dimensional Euclidean space. The proposed method iteratively solves a sequence of dynamically…