Search Results - "Physical Human-Robot interaction"

Safety and adaptation in physical interaction control for robotic applications

Authors: San Miguel Tello, Alberto

Thesis Advisors: Puig Cayuela, Vicenç, Alenyà Ribas, Guillem, Institut de Robòtica i Informàtica Industrial

Source: TDX (Tesis Doctorals en Xarxa)

Subject Terms: Linear Parameter Varying, Linear Matrix Inequalities, Physical Human-Robot Interaction, Physical Robot-Environment Interaction, Compliant Control, Àrees temàtiques de la UPC::Informàtica

File Description: application/pdf

Access URL: http://hdl.handle.net/10803/690229
https://dx.doi.org/10.5821/dissertation-2117-403960

A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks

Authors: Gonzalez-Morgado, Antonio Soueidan, Jonas Heredia, Guillermo et al.

Contributors: Gonzalez-Morgado, Antonio Soueidan, Jonas Heredia, Guillermo et al.

Source: IEEE Robotics and Automation Letters. 10:9670-9677

Subject Terms: Physical Human-Robot Interaction, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Optimization and Optimal Control, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], [INFO.INFO-HC] Computer Science [cs]/Human-Computer Interaction [cs.HC], Aerial Systems: Mechanics and Control

File Description: application/pdf

Access URL: https://hal.science/hal-05208698v1/document
https://hal.science/hal-05208698v1
https://doi.org/10.1109/lra.2025.3597854

SEMAPHORO-2D : Design of a 2 degrees of freedom haptic interface to study communication through forces

Authors: Ndiaye, Ousmane Saint-Bauzel, Ludovic

Contributors: Ndiaye, Ousmane Saint-Bauzel, Ludovic

Source: 2025 IEEE International Conference on Real-time Computing and Robotics (RCAR). :582-587

Subject Terms: [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Bilateral teleoperation, Haptics, [INFO.INFO-HC] Computer Science [cs]/Human-Computer Interaction [cs.HC], Physical Human-Robot interaction, Mechatronics

File Description: application/pdf

Optimal Joint Configuration for Ankle Exoskeleton: Force-Based Evaluation of Three Different Designs

Authors: Liguori, Lorenzo Alimonti, Sara Del Prete, Zaccaria et al.

Source: 2025 IEEE Medical Measurements & Applications (MeMeA). :1-6

Subject Terms: exoskeletons , wearable robots , physical human-robot interaction , forces , ankle exoskeleton

Virtually Constrained Admittance Control Using Feedback Linearization for Physical Human-Robot Interaction With Rehabilitation Exoskeletons

Authors: Jianwei Sun Yasamin Foroutani Jacob Rosen

Source: IEEE/ASME Transactions on Mechatronics. 30:898-909

Subject Terms: feedback linearization, Physical human-robot interaction (pHRI), admittance control, rehabilitation exoskeletons, holonomic constraints

File Description: application/pdf

Access URL: https://escholarship.org/uc/item/8kf3h1jv
https://escholarship.org/content/qt8kf3h1jv/qt8kf3h1jv.pdf

Soft Human-Robot Handover Using a Vision-Based Pipeline

Authors: Castellani, Chiara Turco, Enrico Bo, Valerio et al.

Contributors: Castellani, Chiara Turco, Enrico Bo, Valerio et al.

Source: IEEE Robotics and Automation Letters

Subject Terms: Grasping, Grasping, Physical Human-Robot Interaction, Soft Robot Applications, Physical Human-Robot Interaction, Soft Robot Applications

File Description: application/pdf; STAMPA

Access URL: https://hdl.handle.net/11365/1284434
https://doi.org/10.1109/lra.2024.3511415
https://ieeexplore.ieee.org/document/10777566

Physical human-robot interaction mediates the association of motor impairment and kinematic performance for poststroke arm rehabilitation

Authors: Ze-Jian Chen Yong Chen Jiang Xu et al.

Source: BMC Sports Science, Medicine and Rehabilitation, Vol 17, Iss 1, Pp 1-12 (2025)

Subject Terms: Physical human-robot interaction, Robot-assisted therapy, Motor impairment, Kinematics, Mediation analysis, Causal effect, Sports medicine, RC1200-1245

File Description: electronic resource

Relation: https://doaj.org/toc/2052-1847

Access URL: https://doaj.org/article/d5bf33ad5ce94922a4279bb51dc8e2b1

Anticipation and Proactivity. Unraveling Both Concepts in Human-Robot Interaction through a Handover Example

Authors: Domínguez Vidal, José Enrique Sanfeliu Cortés, Alberto European Commission et al.

Contributors: Domínguez Vidal, José Enrique Sanfeliu Cortés, Alberto European Commission et al.

Source: Digital.CSIC. Repositorio Institucional del CSIC
Consejo Superior de Investigaciones Científicas (CSIC)
UPCommons. Portal del coneixement obert de la UPC
Universitat Politècnica de Catalunya (UPC)
2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)

Subject Terms: Handover, User Study, User study, Physical human-robot interaction, Àrees temàtiques de la UPC::Informàtica::Robòtica, Physical Human-Robot Interaction, Human-in-the-Loop, Intent detection, Human-in-the-loop, Intent Detection

File Description: application/pdf

Access URL: https://api.elsevier.com/content/abstract/scopus_id/85209822642
http://hdl.handle.net/10261/387652
https://hdl.handle.net/2117/427856
https://doi.org/10.1109/ro-man60168.2024.10731441

A Machine Learning Approach to Resolving Conflicts in Physical Human–Robot Interaction

Authors: Enes Ulas Dincer Zaid Al-Saadi Yahya M. Hamad et al.

Contributors: Enes Ulas Dincer Zaid Al-Saadi Yahya M. Hamad et al.

Source: ACM Transactions on Human-Robot Interaction. 14:1-29

Subject Terms: Machine Learning, Conflict Resolution, Classification Of Interaction Behaviors, Physical Human-Robot Interaction, Haptic Features, Performance Metrics, Subjective Questionnaire, Dyadic Manipulation

Enabling Embodied Human-Robot Co-Learning: Requirements, Method, and Test With Handover Task

Authors: Emma M. van Zoelen Hugo Veldman-Loopik Karel van den Bosch et al.

Contributors: Emma M. van Zoelen Hugo Veldman-Loopik Karel van den Bosch et al.

Source: IEEE Robotics and Automation Letters, 10(2), pp. 1425-1432.

Subject Terms: Human-Robot Collaboration, Physical Human-Robot Interaction, Reinforcement Learning

Access URL: https://resolver.tno.nl/uuid:b7aaffed-373c-4bdd-907d-10364a9251bc

A Safety-Focused Admittance Control Approach for Physical Human–Robot Interaction With Rigid Multi-Arm Serial Link Exoskeletons

Authors: Jianwei Sun Erik Harrison Kramer Jacob Rosen

Source: IEEE/ASME Transactions on Mechatronics. 30:414-425

Subject Terms: safety, collision-avoidance, serial link manipulators, exoskeletons, Physical human-robot interaction (pHRI), admittance control, multi-arm systems

File Description: application/pdf

Access URL: https://escholarship.org/uc/item/4c51v5sv
https://escholarship.org/content/qt4c51v5sv/qt4c51v5sv.pdf

Model-Based Predictive Impedance Variation for Obstacle Avoidance in Safe Human-Robot Collaboration

Authors: Ducaju, Julian M. Salt Olofsson, Björn Johansson, Rolf

Source: IEEE Transactions on Automation Science and Engineering. 22:9571-9583

Subject Terms: Robots, Collision avoidance, Safety, Impedance, Collaboration, Service robots, Aerospace electronics, Salt, Force, Trajectory, Physical human-robot interaction (pHRI), robot safety, model predictive control (MPC), impedance control, safety control barrier functions (SCBFs)

File Description: print

Access URL: https://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-210694

Programming Robot Interaction Behavior During Kinesthetic Teaching Exploiting sEMG-Based Interfacing and Vibrotactile Feedback

Authors: Meattini, Roberto Govoni, Andrea Galassi, Kevin et al.

Source: IEEE/ASME Transactions on Mechatronics. :1-12

Subject Terms: Human-centered automation, learning from demonstration, physical human-robot interaction

File Description: application/pdf

Access URL: https://hdl.handle.net/11585/1023270
https://doi.org/10.1109/tmech.2025.3603402
https://ieeexplore.ieee.org/document/11154133

Design of an Assistive Controller for Physical Human–Robot Interaction Based on Cooperative Game Theory and Human Intention Estimation

Authors: Paolo Franceschi Davide Cassinelli Nicola Pedrocchi et al.

Source: IEEE Transactions on Automation Science and Engineering

Subject Terms: Physical human-robot interaction, model predictive control, learning human intention, human intention identification, dynamic cooperative game theory

File Description: application/pdf

A Human-Centered Kinematics Design Optimization of Upper Limb Rehabilitation Exoskeleton Based on Configuration Manifold

Authors: Shuo Pei Jiajia Wang Yunlong Yang et al.

Source: IEEE Open Journal of the Computer Society, Vol 6, Pp 282-293 (2025)

Subject Terms: Physical human-robot interaction, Electronic computers. Computer science, Design optimization, QA75.5-76.95, Information technology, T58.5-58.64, Kinematics analysis, Rehabilitation exoskeleton

Access URL: https://doaj.org/article/391e9acf45304e0889d142ec6a1f1de3

Towards Shape-Adaptive Attachment Design for Wearable Devices Using Granular Jamming

Authors: Joseph Brignone Logan Lancaster Edoardo Battaglia et al.

Source: IEEE Robotics and Automation Letters. 10:476-483

Subject Terms: Granular Jamming, Physical Human-Robot Interaction, Wearable Robotics

Access URL: https://pubmed.ncbi.nlm.nih.gov/40162342
https://hdl.handle.net/11568/1302089
https://doi.org/10.1109/LRA.2024.3511417

Transformer-Based Approach for Predicting Transactive Energy in Neurorehabilitation

Authors: Naveed Ahmad Khan Tanishka Goyal Fahad Hussain et al.

Source: IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol 33, Pp 46-57 (2025)

Subject Terms: neurorehabilitation, energy transfer, transformer model, Transactive energy, Medical technology, Therapeutics. Pharmacology, RM1-950, adaptive learning, R855-855.5, physical human–robot interaction

Access URL: https://pubmed.ncbi.nlm.nih.gov/40030465
https://doaj.org/article/13e9e63c4d4148108be4eafecc22234f

A Body-Scale Robotic Skin Using Distributed Multimodal Sensing Modules: Design, Evaluation, and Application

Authors: Min Jin Yang Hyunjo Chung Yoonjin Kim et al.

Source: IEEE Transactions on Robotics. 41:96-109

Subject Terms: force and tactile sensing, TACTILE, ARTIFICIAL SKIN, TOUCH, Body-scale robotic skin, physical human–robot interaction, soft sensors and actuators

Safely Imitating Predictive Control Policies for Real-Time Human-Aware Manipulator Motion Planning: A Dataset Aggregation Approach

Authors: Aigerim Nurbayeva Matteo Rubagotti

Source: IEEE Access, Vol 13, Pp 3204-3214 (2025)

Subject Terms: model predictive control, Industrial robotics, Electrical engineering. Electronics. Nuclear engineering, physical human-robot interaction, neural networks, TK1-9971

Access URL: https://doaj.org/article/b0d80e013d6840cfa0ea66c4a7c5da05

Force and Velocity Prediction in Human-Robot Collaborative Transportation Tasks through Video Retentive Networks

Authors: Domínguez Vidal, José Enrique Sanfeliu Cortés, Alberto

Source: UPCommons. Portal del coneixement obert de la UPC
Universitat Politècnica de Catalunya (UPC)
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Subject Terms: Physical human-robot interaction, Force prediction, Object transportation, Àrees temàtiques de la UPC::Informàtica::Automàtica i control, Human-in-the-loop

File Description: application/pdf