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Control systems are an integral part of almost every engineering and physical system and thus their accurate analysis is of utmost importance. Traditionally, control systems are analyzed using paper-and-pencil proof and computer simulation…
Cell injection is an approach used for the delivery of small sample substances into a biological cell and is widely used in drug development, gene injection, intracytoplasmic sperm injection (ICSI) and in-virto fertilization (IVF). Robotic…
Synthetic Biology is an interdisciplinary field that utilizes well-established engineering principles, ranging from electrical, control and computer systems, for analyzing the biological systems, such as biological circuits, enzymes,…
Robotic cell injection is used for automatically delivering substances into a cell and is an integral component of drug development, genetic engineering and many other areas of cell biology. Traditionally, the correctness of functionality…
To study the dynamical behaviour of the engineering and physical systems, we often need to capture their continuous behaviour, which is modeled using differential equations, and perform the frequency-domain analysis of these systems.…
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…
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…
Robot capabilities are maturing across domains, from self-driving cars, to bipeds and drones. As a result, robots will soon no longer be confined to safety-controlled industrial settings; instead, they will directly interact with the…
This paper presents an improved system based on our prior work, designed to create explanations for autonomous robot actions during Human-Robot Interaction (HRI). Previously, we developed a system that used Large Language Models (LLMs) to…
Applications involving humans and robots working together are spreading nowadays. Alongside, modeling and control techniques that allow physical Human-Robot Interaction (pHRI) are widely investigated. To better understand its potential…
Simulink is a graphical environment that is widely adapted for the modeling and the Laplace transform based analysis of linear analog circuits used in signal processing architectures. However, due to the involvement of the numerical…
Physical Human-Robot Interaction (pHRI) is critical for implementing Industry 5.0, which focuses on human-centric approaches. However, few studies explore the practical alignment of pHRI to industrial-grade performance. This paper…
Transform methods, like Laplace and Fourier, are frequently used for analyzing the dynamical behaviour of engineering and physical systems, based on their transfer function, and frequency response or the solutions of their corresponding…
This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base…
In the field of Human-Robot Interaction (HRI), a fundamental challenge is to facilitate human understanding of robots. The emerging domain of eXplainable HRI (XHRI) investigates methods to generate explanations and evaluate their impact on…
This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which,…
Physical Human-Humanoid Interaction (pHHI) is a rapidly advancing field with significant implications for deploying robots in unstructured, human-centric environments. In this review, we examine the current state of the art in pHHI through…
Most of the engineering and physical systems are generally characterized by differential and difference equations based on their continuous-time and discrete-time dynamics, respectively. Moreover, these dynamical models are analyzed using…
Within the concept of physical human-robot interaction (pHRI), the most important criterion is the safety of the human operator interacting with a high degree of freedom (DoF) robot. Therefore, a robust control scheme is in high demand to…
When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…