Impact Planning and Pre-configuration based on Hierarchical Quadratic Programming

Tassi F., Gholami S., Giudice S. and Ajoudani A.

IEEE International Conference on Robotics and Automation (ICRA)

Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface

Gandarias, J. M., Balatti, P., Lamon, E., Lorenzini, M., & Ajoudani, A.

IEEE International Conference on Robotics and Automation (ICRA)

An Online Multi-Index Approach to Human Ergonomics Assessment in the Workplace

Lorenzini M., Kim W., Ajoudani A.

IEEE Transactions on Human-Machine Systems

Real-time motion control of robotic manipulators for safe human–robot coexistence

Merckaert, K., Convens, B., Wu, C. J., Roncone, A., Nicotra, M. M., & Vanderborght, B.

Robotics and Computer-Integrated Manufacturing (RCIM)

A Virtual Element-Based Postural Optimization Method for Improved Ergonomics During Human-Robot Collaboration

El Makrini, I., Mathijssen, G., Verhaegen, S., Verstraten, T., & Vanderborght, B.

IEEE Transactions on Automation Science and Engineering

Optimal reconstruction of time-varying multi-modal human biomechanics data from limited measures

Averta, G., Iuculano, M., Salaris, P., Bianchi, M.

IEEE Transactions on HumanMachine Systems

Learning With Few Examples the Semantic Description of Novel Human-Inspired Grasp Strategies From RGB Data

L. Collodi, D. Bacciu, M. Bianchi and G. Averta

IEEE Robotics and Automation Letters

An industrial exoskeleton user acceptance framework based on a literature review of empirical studies

Elprama, S. A., Vanderborght, B., and Jacobs, A.

Applied Ergonomics

Swing-Up of Underactuated Compliant Arms Via Iterative Learning Control

M. Pierallini, F. Angelini, A. Bicchi and M. Garabini

IEEE Robotics and Automation Letters

Iterative Learning Control for Compliant Underactuated Arms

Pierallini, M., Angelini, F., Mengacci, R., Palleschi, A., Bicchi, A., & Garabini, M.

 Transaction on Control Systems Man Cybernetics: System

Choosing Stiffness and Damping for Optimal Impedance Planning

Pollayil, M. J., Angelini, F., Xin, G., Vijayakumar, S., Mistry, M., Bicchi, A., & Garabini, M.

Transactions on Robotics

Functional Analysis of Upper-Limb Movements in the Cartesian Domain.

Baracca M. et al.

Converging Clinical and Engineering Research on Neurorehabilitation IV.

Humanoids' Feet: State of the Art and Future Directions

Irene Frizza, Ko Ayusawa, Andrea Cherubini, Hiroshi Kaminaga, Philippe Fraisse, et al.

Int. Journal of Humanoid Robotics (IJHR) 

Improving standing balance performance through the assistance of a mobile collaborative robot

Ruiz-Ruiz, F.J., Giammarino, A., Lorenzini, M., Gandarias, J.M., Gomez-de-Gabriel, J.M., Ajoudani, A.

IEEE International Conference on Robotics and Automation (ICRA)


Neuromechanical model-based control of bi-lateral ankle exoskeletons: biological joint torque and electromyogram reduction across walking conditions

G. Durandau, W. Rampeltshammer, H. v. d. Kooij, H. and M. Sartori

IEEE Transactions on Robotics 2021

A Supernumerary Soft Robotic Limb for Reducing Hand-Arm Vibration Syndromes Risks

Ciullo A.S., Catalano M.G., Bicchi A., Ajoudani A.i

Frontiers in Robotics and AI

A Directional Vibrotactile Feedback Interface for Ergonomic Postural Adjustment

Kim W., Ruiz-Garate V., Gandarias J.M., Lorenzini M., Ajoudani A.

IEEE Transactions on Haptics

XBot: A Cross-Robot Software Framework for Real-Time Control

L. Muratore, A. Laurenzi and N. Tsagarakis

Robotics Software Design and Engineering (book)

Muscle-level analysis of trunk mechanics via musculoskeletal modeling and high-density electromyograms

A. Moya-Esteban, N. P. Brouwer, A. Tabasi, H. v. d. Kooij, I. Kingma and M. Sartori

8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2020

Garbage Collection and Sorting with a Mobile Manipulator using Deep Learning and Whole-Body Control

Liu J., Balatti P., Ellis K., Hadjivelichkov D., Stoyanov D., Ajoudani A., Kanoulas D.

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)

A human-aware method to plan complex cooperative and autonomous tasks using behavior trees.

Fusaro, F., Lamon, E., De Momi, E., & Ajoudani, A.

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)

A flexible and collaborative approach to robotic box-filling and item sorting

Balatti P., Leonori M., Ajoudani A.

Robotics and Autonomous Systems

Design of a soft exosuit for the lower back

S. Sridar, A. J Veale, M. Sartori, H. v. d. Kooij

Dutch BME 2021

A Soft Assistive Device Designed for Elbow Effort Compensation

Mobedi E., Kim W., De Momi W., Tsagarakis N. G., Ajoudani A.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

A Flexible Robotics-Inspired Computational Model of Compressive Loading on the Human Spine

Ventura L., Lorenzini M., Kim W., Ajoudani A.

IEEE Robotics and Automation Letters

A generic algorithm for computing optimal ergonomic postures during working in an industrial environment

Merikh-Nejadasl, A., El Makrini, I., Van De Perre, G., Verstraten, T., & Vanderborght, B.

International Journal of Industrial Ergonomics

Prevalence and incidence of work-related musculoskeletal disorders in secondary industries of 21st century Europe: a systematic review and meta-analysis.

Govaerts, R., Tassignon, B., Ghillebert, J., Serrien, B., De Bock, S., Ampe, T., ... & De Pauw, K.

BMC musculoskeletal disorders

PIσ - PIσ Continuous Iterative Learning Control for Nonlinear Systems with Arbitrary Relative Degree

L. Cenceschi, F. Angelini, C. D. Santina and A. Bicchi

European Control Conference (ECC)

Learning to prevent grasp failure with soft hands: from online prediction to dual-arm grasp recovery

Averta, G., Barontini, F., Valdambrini, I., Cheli, P., Bacciu, D., Bianchi, M.

Adv. Int. Syst. Wiley Online Library

Multi-cue haptic guidance through wearables for enhancing human ergonomics

S. Fani, S. Ciotti and M. Bianchi

IEEE Transactions on Haptics

Understanding Human Manipulation With the Environment: A Novel Taxonomy for Video Labelling

V. Arapi, C. D. Santina, G. Averta, A. Bicchi and M. Bianchi

IEEE Robotics and Automation Letters

A Robust Iterative Learning Control for Continuous-Time Nonlinear Systems With Disturbances

M. Pierallini, F. Angelini, R. Mengacci, A. Palleschi, A. Bicchi and M. Garabini


Augmented Hierarchical Quadratic Programming for Adaptive Compliance Control

F. Tassi, E. De Momi, and A. Ajoudani

IEEE International Conference on Robotics and Automation (ICRA)

Enhancing the localization of uterine leiomyomas through cutaneous softness rendering for robot-assisted surgical palpation application

Davide Doria, Simone Fani, Andrea Giannini, Tommaso Simoncini, Matteo Bianchi

IEEE Transactions on Haptics, 2021

Modeling Human Motor Skills to Enhance Robots’ Physical Interaction

Giuseppe Bruno Averta, Visar Arapi, Antonio Bicchi, Cosimo Della Santina, Matteo Bianchi

Spinger Proceedings In Advanced Robotics, 2021

Sensor-Based Control for Collaborative Robots: Fundamentals, Challenges, and Opportunities

Andrea Cherubini, David Navarro-Alarcon

Frontiers in Neurorobotics, 2021

A Deep Learning Framework for Recognizing Both Static and Dynamic Gestures

Osama Mazhar, Sofiane Ramdani, Andrea Cherubini

Sensors 2021

Neuromechanical model-based closed-loop control of locomotion via muscle reflexes and synergies

Huawei Wang, Massimo Sartori

8th Dutch Bio-Medical Engineering Conference, 2021

An artificial neural network approach to detect presence and severity of Parkinson’s disease via gait parameters

Tiwana Varrecchia, Stefano Filippo Castiglia, Alberto Ranavolo, Carmela Conte, Antonella Tatarelli, Gianluca Coppola, Cherubino Di Lorenzo, Francesco Draicchio, Francesco Pierelli, Mariano Serrao


Design of a soft exosuit for the lower back

Saivimal Sridar; Allan J Veale; Massimo Sartori; Herman van der Kooij

8th Dutch Bio-Medical Engineering Conference, 2021

Human-Robot Collaboration (HRC) Technologies for Reducing Work-Related Musculoskeletal Diseases in Industry 4.0

Ranavolo A. et al.

21st Congress of the International Ergonomics Association (IEA 2021)


Trajectory Tracking of a One-Link Flexible Arm via Iterative Learning Control

M. Pierallini, F. Angelini, R. Mengacci, A. Palleschi, A. Bicchi and M. Garabini

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

On the role of stiffness and synchronization in human–robot handshaking

Mura D, Knoop E, Catalano MG, Grioli G, Bächer M, Bicchi A.

The International Journal of Robotics Research

The Sensors-based Biomechanical Risk Assessment at the base of the Need for Revising of Standards for Human Ergonomics

A. Ranavolo, A. Ajoudani, A. Cherubini, M. Bianchi, L. Fritzsche, S. Iavicoli, M. Sartori, A. Silvetti, B. Vanderborght, T. Varrecchia, F. Draicchio

Sensors 2020

Time Generalization of Learned Trajectories on a One-Link Flexible Arm

Pierallini, M., Angelini, F., Mengacci, R., Palleschi, A., Grioli, G., Bicchi, A., & Garabini, M.


Iterative Learning Control as a Framework for Human-Inspired Control with Bio-mimetic Actuators

Franco Angelini, Matteo Bianchi, Manolo Garabini, Antonio Bicchi, Cosimo Della Santina

Biomimetic and Biohybrid Systems - 2020

Human-centered HRI Design – the More Individual the Better?

Miriam Funk, Patricia H. Rosen, Sascha Wischniewski

Workshop on Behavioral Patterns and Interaction Modelling for Personalized Human-Robot Interaction

A Collaborative Robotic Approach to Autonomous Pallet Jack Transportation and Positioning

P. Balatti, Fabio Fusaro, Nicola Villa, Edoardo Lamon and A. Ajoudani


A Human-Robot Collaboration Framework for Improving Ergonomics During Dexterous Operation of Power Tools

W. Kim, L. Peternel M. Lorenzini, J. Babic, and A. Ajoudani

Robotics and Computer-Integrated Manufacturing (RCIM)

Enhancing Robot-Environment Physical Interaction via Optimal Impedance Profiles

Giuseppe Averta, Neville Hogan

8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) - 2020

An Online Method to Detect and Locate an External Load on the Human Body: with Application to Ergonomics Assessment

M. Lorenzini, W. Kim, E. De Momi, and A. Ajoudani

Sensors 2020

A user-centered approach to artificial sensory substitution for blind People assistance

Barontini F.; Bettelani G. C.; Leporini B.; Averta G.; Bianchi M.

ICRN 2020 - 5th International Conference on NeuroRehabilitation

A Method for Autonomous Robotic Manipulation through Exploratory Interactions with Uncertain Environments

Balatti P., Kanoulas D., Tsagarakis N., Ajoudani A.

Autonomous Robots 2020

An Adaptive Control Approach to Robotic Assembly with Uncertainties in Vision and Dynamics

Mobedi E., Villa N., Kim W., Ajoudani A.

The 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) 2020

Myoelectric model-based control of a bi-lateral robotic ankle exoskeleton during even ground locomotion

Guillaume Durandau, Wolfgang F. Rampeltshammer, Herman van der Kooij, Massimo Sartori

8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) - 2020

Critical Issues and Imminent Challenges in the Use of sEMG in Return-To-Work Rehabilitation of Patients Affected by Neurological Disorders in the Epoch of Human–Robot Collaborative Technologies

Alberto Ranavolo, Mariano Serrao, Francesco Draicchio

Frontiers in Neurology 2020

An Approach to Object-level Stiffness Regulation of Hand-Arm Systems Subject to Under-actuation Constraints

V. Ruiz and A. Ajoudani

Autonomous Robots 2020

A Visuo-Haptic Guidance Interface for the Mobile Collaborative Robotic Assistant (MOCA)

Lamon E., Fusaro F., Balatti P., Kim W., Ajoudani A.i

EEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020

Deep learning techniques for modelling human manipulation and its translation for autonomous robotic grasping with soft end-effectors

V. Arapi, Y. Zhang, G. B. Averta, C. Della Santina and M. Bianchi

AI for Emerging Verticals: Human-Robot Computing, Sensing and Networking

Smart Collaborative Systems for Enabling Flexible and Ergonomic Work Practices

Ajoudani A. Albrecht P., Bianchi M., Cherubini A., Del Ferraro S., Fraisse P., Fritzsche L., Garabini M., Ranavolo A., Rosen P., Sartori M., Tsagarakis N., Vanderborght B., Wischniewski S.

IEEE Robotics and Automation Magazine (RAM) - 2020

The Effects of Upper-Body Exoskeletons on Human Metabolic Cost and Thermal Response during Work Tasks—A Systematic Review

Simona Del Ferraro, Tiziana Falcone, Alberto Ranavolo, Vincenzo Molinaro

International Journal of Environmental Research and Public Health 2020

Modeling Previous Trial Effect in Human Manipulation through Iterative Learning Control

Cenceschi, L., Della Santina, C., Averta, G., Garabini, M., Fu, Q., Santello, M., Bianchi, M. and Bicchi, A

Advanced Intelligent Systems, 2020.

To grasp or not to grasp: an end-to-end deep-learning approach for predicting grasping failures in soft hands

Visar Arapi , Yujie Zhang, Giuseppe Averta, Manuel G. Catalano , Daniela Rus , Cosimo Della Santina , and Matteo Bianchi

3rd IEEE International Conference on Soft Robotics (RoboSoft) - 2020

Control architecture for human-like motion with applications to articulated soft robots

Angelini et al.

Frontiers in Robotics and AI - 2020

Towards an Intelligent Collaborative Robotic System for Mixed Case Palletizing

Lamon E., Lenori M., Kim W., Ajoudani A.

IEEE International Conference on Robotics and Automation (ICRA) - 2020

Exploiting upper-limb functional Principal Components for human-like motion generation of anthropomorphic robots

Averta G., Della Santina C, Valenza G., Bicchi A., Bianchi M.

Journal of Neuro-Engineering and Rehabilitation - 2020

A technical framework for human-like motion generation with autonomous anthropomorphic redundant manipulators

Averta G., Della Santina C, Valenza G., Bicchi A., Bianchi M.

IEEE International Conference on Robotics and Automation (ICRA) - 2020

Talks and Presentations.


Anticipatory Control of Human-Robot Interaction: Towards Enabling Flexible and Agile Work Practices

Ajoudani A.

Worcester Polytechnic Institute (WPI)

From Human Kinodynamic Monitoring to Cobot Anticipatory Control

Ajoudani A.

Winter School on Components for Wearable and Collaborative Robots 2021


Towards Sustainable Work Practices to Promote Productivity and Workers' Health

Ajoudani A.

IMT Lucca Workshop on Technology and the Labour Market

Socio-Physical Interaction Skills for Cooperative Human-Robot Systems

Ajoudani A.

Journées Nationales du GdR Robotique 2020

Robotics-based synthesis of human ergonomics in human-robot collaboration tasks speaker

Ajoudani A.

Human-Friendly Robotics 2020

Flexible automation through autonomous wheeled robotic manipulators

Ajoudani A.

Keynote talk at IEEE International Symposium on  computational Intelligence and Informatics Systems

Ergonomics anticipation and management in human-robot interaction

Ajoudani A.

IROS 2020 workshop on Human Movement Understanding for Robotics

Multi-modal interfaces for improving situational awareness in human-robot interaction

Ajoudani A.

RO-MAN 2020 workshop on Tactile Integration for Humans and Artificial Systems

From visuospatial cognition to robotic manipulation through exploration

Ajoudani A.

IFAC 2020 workshop on Robotic manipulation: mechatronic tools, modeling, identification and control

Shared authority control of a MObile Collaborative robot Assistant (MOCA)

Ajoudani A.

ICRA 2020 Workshop on Shared Autonomy: Learning and Control

Human and robot use of artificial hands

Bianchi M and Bicchi A

ICRA 2020 Workshop on Learning of Manual Skills in Humans and Robots

Industry 5.0 - Combining strengths of humans and robots

Bram Vanderbrought

Virtual Industry Fair - Industry 4.0

Industry 5.0

Bram Vanderbrought

Etion virtual HR event

Enabling Flexible and Agile Work Practices using KUKA Collaborative Robotic Technologies

Ajoudani A.

KUKA Customer Stories

A collaborative robotic approach to pandemic preparedness and response

Ajoudani A.

Invited talk at IEEE I-RAS event on robotics against COVID-19 

SOPHIA - How to collaborate with robotic DIHs

Ajoudani A.

Invited talk at ERF workshop  on TRINITY  Digital Innovation Hub 

Human-Robot Interfaces for Intuitive Collaboration

Villa N., Leonori M., and Ajoudani A.

Invited talk at Torino Digital Days 2020


Towards Ergonomic Control of Human-Robot Collaboration

Kim W. and Ajoudani A.

Invited talk at 2nd Full-day Workshop on Progress in Ergonomic Physical Human-Robot Collaboration  (IROS2019)

Enabling Agile and Ergonomic Work Practices

Ajoudani A.

Invited talk at KMR Festival 4.0: Robot intelligenti: a che punto siamoarrivati?

SOPHIA has received funding from the European Union’s Horizon 2020 Research and Innovation Programme (H2020-ICT-2019-2/ 2019-2023) under grant agreement No. 871237