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cs.RO2026
Receiver-Centered Robot-to-Human Handover with Grasp-Aware Object Orientation
Federico Biagi, Dario Onfiani, Simone Silenzi +1
Collaborative robots are increasingly sharing workspaces with human operators, making tool handover a frequent and safety-critical micro-interaction. However, traditional static ha…
cs.RO2026
EMG-Based Adaptation of Anisotropic Virtual Fixtures for Robot-Assisted Surgical Resection and Dissection
Dario Onfiani, Michael Dyck, Luigi Biagiotti +1
In this paper, we address the development of an adaptive assistance system for robot-assisted laparoscopic surgery, specifically for delicate tasks such as Resection and Dissection…
cs.RO2025
On the Analysis of Stability, Sensitivity and Transparency in Variable Admittance Control for pHRI Enhanced by Virtual Fixtures
Davide Tebaldi, Dario Onfiani, Luigi Biagiotti
The interest in Physical Human-Robot Interaction (pHRI) has significantly increased over the last two decades thanks to the availability of collaborative robots that guarantee user…