88 citations · 250 across the 18 of their papers we have counts for
16 papers · 1 filter
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…
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…
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…
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…
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…
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…