88 citations · 250 across the 18 of their papers we have counts for
21 papers
Active Perception of Upper-Limb Functional Mobility through Human-Robot Handovers
Francesco Semeraro, Marta Lagomarsino, Alberto Ranavolo +1
The reintegration of people in the workplace after an upper-limb injury is often a long process. Collaborative robots and humanoids operating in shared workspaces must adapt their…
Graph-Based Recognition of Simulated Train-Driver States From Facial and Upper-Body Keypoints
Olivia Nocentini, Marta Lagomarsino, Gokhan Solak +6
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…
Postural Virtual Fixtures for Ergonomic Physical Interactions with Supernumerary Robotic Bodies
Theodora Kastritsi, Marta Lagomarsino, Arash Ajoudani
Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction wit…
Estimating Trust in Human-Robot Collaboration through Behavioral Indicators and Explainability
Giulio Campagna, Marta Lagomarsino, Marta Lorenzini +3
Industry 5.0 focuses on human-centric collaboration between humans and robots, prioritizing safety, comfort, and trust. This study introduces a data-driven framework to assess trus…
Information-Theoretic Detection of Bimanual Interactions for Dual-Arm Robot Plan Generation
Elena Merlo, Marta Lagomarsino, Arash Ajoudani
Programming by demonstration is a strategy to simplify the robot programming process for non-experts via human demonstrations. However, its adoption for bimanual tasks is an undere…
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…
Towards Online Robot Interaction Adaptation to Human Upper-limb Mobility Impairments in Return-to-Work Scenarios
Marta Lagomarsino, Francesco Tassi
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot inte…
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…
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…
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…
Exploiting Information Theory for Intuitive Robot Programming of Manual Activities
Elena Merlo, Marta Lagomarsino, Edoardo Lamon +1
Observational learning is a promising approach to enable people without expertise in programming to transfer skills to robots in a user-friendly manner, since it mirrors how humans…
PRO-MIND: Proximity and Reactivity Optimisation of robot Motion to tune safety limits, human stress, and productivity in INDustrial settings
Marta Lagomarsino, Marta Lorenzini, Elena De Momi +1
Despite impressive advancements of industrial collaborative robots, their potential remains largely untapped due to the difficulty in balancing human safety and comfort with fast p…
Maximising Coefficiency of Human-Robot Handovers through Reinforcement Learning
Marta Lagomarsino, Marta Lorenzini, Merryn Dale Constable +3
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human p…
Automatic Interaction and Activity Recognition from Videos of Human Manual Demonstrations with Application to Anomaly Detection
Elena Merlo, Marta Lagomarsino, Edoardo Lamon +1
This paper presents a new method to describe spatio-temporal relations between objects and hands, to recognize both interactions and activities within video demonstrations of manua…
Gestural and Touchscreen Interaction for Human-Robot Collaboration: a Comparative Study
Antonino Bongiovanni, Alessio De Luca, Luna Gava +8
Close human-robot interaction (HRI), especially in industrial scenarios, has been vastly investigated for the advantages of combining human and robot skills. For an effective HRI,…
Pick the Right Co-Worker: Online Assessment of Cognitive Ergonomics in Human-Robot Collaborative Assembly
Marta Lagomarsino, Marta Lorenzini, Pietro Balatti +2
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online an…
Robot Trajectory Adaptation to Optimise the Trade-off between Human Cognitive Ergonomics and Workplace Productivity in Collaborative Tasks
Marta Lagomarsino, Marta Lorenzini, Elena De Momi +1
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This p…
An Online Framework for Cognitive Load Assessment in Assembly Tasks
Marta Lagomarsino, Marta Lorenzini, Elena De Momi +1
The ongoing trend towards Industry 4.0 has revolutionised ordinary workplaces, profoundly changing the role played by humans in the production chain. Research on ergonomics in indu…
Image-guided Breast Biopsy of MRI-visible Lesions with a Hand-mounted Motorised Needle Steering Tool
Marta Lagomarsino, Vincent Groenhuis, Maura Casadio +3
A biopsy is the only diagnostic procedure for accurate histological confirmation of breast cancer. When sonographic placement is not feasible, a Magnetic Resonance Imaging(MRI)-gui…