2022
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)
2021
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
IEEE ACCESS
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
PLOS ONE 2021
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)
2020
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.
I-RIM 3D
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
IEEE ACESS 2020
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.
2021
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
2020
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
2019
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?