141 citations · 339 across the 15 of their papers we have counts for
16 papers
The Bridge between Xsens Motion-Capture and Robot Operating System (ROS): Enabling Robots with Online 3D Human Motion Tracking
Mattia Leonori, Marta Lorenzini, Luca Fortini +2
This document introduces the bridge between the leading inertial motion-capture systems for 3D human tracking and the most used robotics software framework. 3D kinematic data provi…
Bayesian and Neural Inference on LSTM-based Object Recognition from Tactile and Kinesthetic Information
Francisco Pastor, Jorge García-González, Juan M. Gandarias +4
Recent advances in the field of intelligent robotic manipulation pursue providing robotic hands with touch sensitivity. Haptic perception encompasses the sensing modalities encount…
CNN-based Methods for Object Recognition with High-Resolution Tactile Sensors
Juan M. Gandarias, Alfonso J. García-Cerezo, Jesús M. Gómez-de-Gabriel
Novel high-resolution pressure-sensor arrays allow treating pressure readings as standard images. Computer vision algorithms and methods such as Convolutional Neural Networks (CNN)…
Markerless 3D human pose tracking through multiple cameras and AI: Enabling high accuracy, robustness, and real-time performance
Luca Fortini, Mattia Leonori, Juan M. Gandarias +2
Tracking 3D human motion in real-time is crucial for numerous applications across many fields. Traditional approaches involve attaching artificial fiducial objects or sensors to th…
Enhancing Human-Robot Collaboration Transportation through Obstacle-Aware Vibrotactile Feedback
Doganay Sirintuna, Idil Ozdamar, Juan M. Gandarias +1
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to…
An Open Tele-Impedance Framework to Generate Data for Contact-Rich Tasks in Robotic Manipulation
Alberto Giammarino, Juan M. Gandarias, Arash Ajoudani
Using large datasets in machine learning has led to outstanding results, in some cases outperforming humans in tasks that were believed impossible for machines. However, achieving…
Performance Analysis of Vibrotactile and Slide-and-Squeeze Haptic Feedback Devices for Limbs Postural Adjustment
Marta Lorenzini, Simone Ciotti, Juan M. Gandarias +3
Recurrent or sustained awkward body postures are among the most frequently cited risk factors to the development of work-related musculoskeletal disorders (MSDs). To prevent worker…
ErgoTac-Belt: Anticipatory Vibrotactile Feedback to Lead Centre of Pressure during Walking
Marta Lorenzini, Juan M. Gandarias, Luca Fortini +2
Balance and gait disorders are the second leading cause of falls, which, along with consequent injuries, are reported as major public health problems all over the world. For patien…
A Directional Vibrotactile Feedback Interface for Ergonomic Postural Adjustment
Wansoo Kim, Virginia Ruiz Garate, Juan M. Gandarias +2
The objective of this paper is to develop and evaluate a directional vibrotactile feedback interface as a guidance tool for postural adjustments during work. In contrast to the exi…
Open-VICO: An Open-Source Gazebo Toolkit for Vision-based Skeleton Tracking in Human-Robot Collaboration
Luca Fortini, Mattia Leonori, Juan M. Gandarias +2
Simulation tools are essential for robotics research, especially for those domains in which safety is crucial, such as Human-Robot Collaboration (HRC). However, it is challenging t…
A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks with Mobile Manipulators
Jianzhuang Zhao, Alberto Giammarino, Edoardo Lamon +3
This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type phy…
A Self-Tuning Impedance-based Interaction Planner for Robotic Haptic Exploration
Yasuhiro Kato, Pietro Balatti, Juan M. Gandarias +3
This paper presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using hapt…
MOCA-S: A Sensitive Mobile Collaborative Robotic Assistant exploiting Low-Cost Capacitive Tactile Cover and Whole-Body Control
Mattia Leonori, Juan M. Gandarias, Arash Ajoudani
Safety is one of the most fundamental aspects of robotics, especially when it comes to collaborative robots (cobots) that are expected to physically interact with humans. Although…
SUPER-MAN: SUPERnumerary Robotic Bodies for Physical Assistance in HuMAN-Robot Conjoined Actions
Alberto Giammarino, Juan M. Gandarias, Pietro Balatti +3
This paper presents a mobile supernumerary robotic approach to physical assistance in human-robot conjoined actions. The study starts with a description of the SUPER-MAN concept. T…
Improving Standing Balance Performance through the Assistance of a Mobile Collaborative Robot
Francisco J. Ruiz-Ruiz, Alberto Giammarino, Marta Lorenzini +3
This paper presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkinson's. I…
Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface
Juan M. Gandarias, Pietro Balatti, Edoardo Lamon +2
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-…