18 citations · 39 across the 9 of their papers we have counts for
8 papers · 1 filter
A Personalizable Controller for the Walking Assistive omNi-Directional Exo-Robot (WANDER)
A. Fortuna, M. Lorenzini, M. Leonori +5
Preserving and encouraging mobility in the elderly and adults with chronic conditions is of paramount importance. However, existing walking aids are either inadequate to provide su…
Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning
Pietro Balatti, Idil Ozdamar, Doganay Sirintuna +4
This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key…
A Human Motion Compensation Framework for a Supernumerary Robotic Arm
Xin Zhang, Pietro Balatti, Mattia Leonori +1
Supernumerary robotic arms (SRAs) can be used as the third arm to complement and augment the abilities of human users. The user carrying a SRA forms a connected kinodynamic chain,…
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…
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 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…