6 citations · 13 across the 8 of their papers we have counts for
9 papers · 1 filter
Why Personalization Matters: Cross-Subject Challenges in EMG-IMU-based HRI Activity Recognition
Ruan Rithelle Chagas de Faria Carminati, Giovanni Braglia, Luigi Biagiotti +4
This paper investigates wearable-based recognition of human activities and gestures to support Human-Robot Interaction (HRI) in object-handover and assembly-like scenarios. Electro…
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…
Integrated Identification of Collaborative Robots for Robot Assisted 3D Printing Processes
Alessandro Dimauro, Davide Tebaldi, Fabio Pini +2
In recent years, the integration of additive manufacturing (AM) and industrial robotics has opened new perspectives for the production of complex components, particularly in the au…
A Minimum-Energy Control Approach for Redundant Mobile Manipulators in Physical Human-Robot Interaction Applications
Davide Tebaldi, Niccolò Paradisi, Fabio Pini +1
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed…
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…
Arc-Length-Based Warping for Robot Skill Synthesis from Multiple Demonstrations
Giovanni Braglia, Davide Tebaldi, André Eugenio Lazzaretti +1
In robotics, Learning from Demonstration (LfD) aims to transfer skills to robots by using multiple demonstrations of the same task. These demonstrations are recorded and processed…
Optimizing Design and Control Methods for Using Collaborative Robots in Upper-Limb Rehabilitation
Dario Onfiani, Marco Caramaschi, Luigi Biagiotti +1
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative…
A Minimum-Jerk Approach to Handle Singularities in Virtual Fixtures
Giovanni Braglia, Sylvain Calinon, Luigi Biagiotti
Implementing virtual fixtures in guiding tasks constrains the movement of the robot's end effector to specific curves within its workspace. However, incorporating guiding framework…
Phase-Independent Dynamic Movement Primitives With Applications to Human-Robot Co-manipulation and Time Optimal Planning
Giovanni Braglia, Davide Tebaldi, Luigi Biagiotti
Dynamic Movement Primitives (DMP) are an established and efficient method for encoding robotic tasks that require adaptation based on reference motions. Typically, the nominal traj…