88 citations · 531 across the 65 of their papers we have counts for
15 papers · 1 filter
Intuitive Programming, Adaptive Task Planning, and Dynamic Role Allocation in Human-Robot Collaboration
Marta Lagomarsino, Elena Merlo, Andrea Pupa +5
Remarkable capabilities have been achieved by robotics and AI, mastering complex tasks and environments. Yet, humans often remain passive observers, fascinated but uncertain how to…
Lightweight Facial Landmark Detection in Thermal Images via Multi-Level Cross-Modal Knowledge Transfer
Qiyi Tong, Olivia Nocentini, Marta Lagomarsino +3
Facial Landmark Detection (FLD) in thermal imagery is critical for applications in challenging lighting conditions, but it is hampered by the lack of rich visual cues. Conventional…
Physics-Informed Learning for Human Whole-Body Kinematics Prediction via Sparse IMUs
Cheng Guo, Giuseppe L'Erario, Giulio Romualdi +4
Accurate and physically feasible human motion prediction is crucial for safe and seamless human-robot collaboration. While recent advancements in human motion capture enable real-t…
Anticipatory Fall Detection in Humans with Hybrid Directed Graph Neural Networks and Long Short-Term Memory
Younggeol Cho, Gokhan Solak, Olivia Nocentini +3
Detecting and preventing falls in humans is a critical component of assistive robotic systems. While significant progress has been made in detecting falls, the prediction of falls…
End-to-End Humanoid Robot Safe and Comfortable Locomotion Policy
Zifan Wang, Xun Yang, Jianzhuang Zhao +5
The deployment of humanoid robots in unstructured, human-centric environments requires navigation capabilities that extend beyond simple locomotion to include robust perception, pr…
A Human-in-the-loop Approach to Robot Action Replanning through LLM Common-Sense Reasoning
Elena Merlo, Marta Lagomarsino, Arash Ajoudani
To facilitate the wider adoption of robotics, accessible programming tools are required for non-experts. Observational learning enables intuitive human skills transfer through hand…
IMA-Catcher: An IMpact-Aware Nonprehensile Catching Framework based on Combined Optimization and Learning
Francesco Tassi, Jianzhuang Zhao, Gustavo J. G. Lahr +5
Robotic catching of flying objects typically generates high impact forces that might lead to task failure and potential hardware damages. This is accentuated when the object mass t…
Graph-based Online Monitoring of Train Driver States via Facial and Skeletal Features
Olivia Nocentini, Marta Lagomarsino, Gokhan Solak +4
Driver fatigue poses a significant challenge to railway safety, with traditional systems like the dead-man switch offering limited and basic alertness checks. This study presents a…
Learning and Online Replication of Grasp Forces from Electromyography Signals for Prosthetic Finger Control
Robin Arbaud, Elisa Motta, Marco Domenico Avaro +3
Partial hand amputations significantly affect the physical and psychosocial well-being of individuals, yet intuitive control of externally powered prostheses remains an open challe…
Mitigating Compensatory Movements in Prosthesis Users via Adaptive Collaborative Robotics
Marta Lagomarsino, Robin Arbaud, Francesco Tassi +1
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, i…
WiFi based Human Fall and Activity Recognition using Transformer based Encoder Decoder and Graph Neural Networks
Younggeol Cho, Elisa Motta, Olivia Nocentini +4
Human pose estimation and action recognition have received attention due to their critical roles in healthcare monitoring, rehabilitation, and assistive technologies. In this study…
A Framework for Adaptive Load Redistribution in Human-Exoskeleton-Cobot Systems
Emir Mobedi, Gokhan Solak, Arash Ajoudani
Wearable devices like exoskeletons are designed to reduce excessive loads on specific joints of the body. Specifically, single- or two-degrees-of-freedom (DOF) upper-body industria…
Intelligent Framework for Human-Robot Collaboration: Dynamic Ergonomics and Adaptive Decision-Making
Francesco Iodice, Elena De Momi, Arash Ajoudani
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergon…
Exo-muscle: A semi-rigid assistive device for the knee
Yifang Zhang, Arash Ajoudani, Nikos G Tsagarakis
In this work, we introduce the principle, design and mechatronics of Exo-Muscle, a novel assistive device for the knee joint. Different from the existing systems based on rigid exo…
A Reinforcement Learning Approach to Non-prehensile Manipulation through Sliding
Hamidreza Raei, Elena De Momi, Arash Ajoudani
Although robotic applications increasingly demand versatile and dynamic object handling, most existing techniques are predominantly focused on grasp-based manipulation, limiting th…