Publications associées à A Minimum-Jerk Approach to Handle Singularities in Virtual Fixtures

Publications associées (31)

Principles and Guidelines for Evaluating Social RobotNavigation Algorithms

A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation of algorithms t ...

ASSOC COMPUTING MACHINERY2025

An augmented reality-based wearable system for handheld-free and intuitive robot programming

Junsoo Kim

Industrial robots have been programmed to optimize mass production by executing predefined trajectories with their high speed, precision, and repeatability over long production cycles. However, the rise of Industry 4.0 and the increasing demand for diverse ...

2025

An HMM-based Real-time Intervention Methodology for a Social Robot Supporting Learning

Mortadha Abderrahim, Pierre Dillenbourg, Barbara Bruno

To make social robots effective in education, they need to be autonomous both in terms of assessing the student's engagement state as well as intervening effectively in soft real-time when necessary. Hidden Markov Model (HMM) is an interpretable machine le ...

IEEE2023

Teacher's Perception on Social Robots to Promote the Integration of Children with Migration Background

Arzu Güneysu Özgür, Daniel Carnieto Tozadore

This paper describes the first steps of an ongoing participatory design with teachers from Switzerland to co-create Human-Robot Interaction setups for integrating children with migration history. The herein presented phase had two main goals: (i) initially ...

Association for Computing Machinery2023

The neuromechanics of animal locomotion: From biology to robotics and back

Auke Ijspeert, Pavan P Ramdya

Robotics and neuroscience are sister disciplines that both aim to understand how agile, efficient, and robust locomotion can be achieved in autonomous agents. Robotics has already benefitted from neuromechanical principles discovered by investigating anima ...

AMER ASSOC ADVANCEMENT SCIENCE2023

Advancing coordination control of multi-limb robotic tasks: application to bimanual dynamic manipulation and bipedal reactive locomotion

Michael Bosongo Bombile

Bi-manual picking up of objects to toss them on a conveyor belt are dynamic manipulation activities generated daily in the industry. Such repetitive and physically demanding tasks are still done largely by humans for lack of similarly fast, precise, and ro ...

EPFL2022

The effect of gamified robot-enhanced training on motor performance in chronic stroke survivors

Pierre Dillenbourg, Friedhelm Christoph Hummel, Barbara Bruno, Maximilian Jonas Wessel, Arzu Güneysu Özgür, Andéol Geoffroy Cadic-Melchior, Giulia Dominijanni, Valérie Rita Madeleine Zufferey

Task-specific training constitutes a core element for evidence-based rehabilitation strategies targeted at improving upper extremity activity after stroke. Its combination with additional treatment strategies and neurotechnologybased solutions could furthe ...

ELSEVIER SCI LTD2022

Wearable Ultrasound Interface for Prosthetic Hand Manipulation

Xingchen Yang

Ultrasound can non-invasively detect muscle deformations, which has great potential applications in prosthetic hand control. This research developed a miniaturized ultrasound device that could be integrated into a prosthetic hand socket. This compact syste ...

SPRINGER INTERNATIONAL PUBLISHING AG2022

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

Jamie Paik, Mustafa Mete

This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...

2021

Design of Hesitation Gestures for Nonverbal Human-Robot Negotiation of Conflicts

Aude Billard

When the question of who should get access to a communal resource first is uncertain, people often negotiate via nonverbal communication to resolve the conflict. What should a robot be programmed to do when such conflicts arise in Human-Robot Interaction? ...

ASSOC COMPUTING MACHINERY2021

Guest Editorial: Introduction to the Special Issue on Long-Term Human Motion Prediction

Alexandre Massoud Alahi

The articles in this special section focus on long term human motion prediction. This represents a key ability for advanced autonomous systems, especially if they operate in densely crowded and highly dynamic environments. In those settings understanding a ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Soft Touch using Soft Pneumatic Actuator-Skin as a Wearable Haptic Feedback Device

Jamie Paik, Harshal Arun Sonar, Jian-Lin Huang

Understanding the external environment depends heavily on vision, audition, and touch. Like vision and audition, the human sense of touch is complex. Tactile perception is composed of multiple fundamental and physical experiences felt as changes in stiffne ...

2021

Redefining Energy Density for an uniaxial Dielectric Elastomer Actuator

Yves Perriard, Yoan René Cyrille Civet, Jonathan André Jean-Marie Chavanne

The dielectric elastomer actuator (DEA) is a technology known to potentially provide high energy density (0.3 - 0.4 J.cm(-3)). However, in the literature, few demonstrations have been done to evaluate this figure. To well understand the ability of this tec ...

IEEE2021

Design and development of the efficient anguilliform swimming robot- MAR

Auke Ijspeert, Peter Eckert, Mohammadreza Bayat

Propulsion of swimming robots at the surface and underwater is largely dominated by rotary propellers due to high thrust, but at the cost of low efficiency. Due to their inherently high speed turning motion, sharp propeller blades and generated noise, they ...

2020

Robots for Learning - R4L: Adaptive Learning

Wafa Monia Benkaouar Johal

The Robots for Learning workshop series aims at advancing the research topics related to the use of social robots in educational contexts. This year's half-day workshop follows on previous events in Human-Robot Interaction conferences focusing on efforts t ...

2019

A Dynamical System Approach to Task-Adaptation in Physical Human-Robot Interaction

Aude Billard, Mahdi Khoramshahi

The goal of this work is to enable robots to intelligently and compliantly adapt their motions to the intention of a human during physical Human-Robot Interaction (pHRI) in a multi-task setting. We employ a class of parameterized dynamical systems that all ...

2019

Scalable closed-form trajectories for periodic and non-periodic human-like walking

Auke Ijspeert, Salman Faraji

We present a new framework to generate humanlike lower-limb trajectories in periodic and non-periodic walking. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to simulate falling, swing, and torso ba ...

IEEE2019

PREC 2019: Personal Robots for Exercising and Coaching

Ayberk Özgür, Arzu Güneysu Özgür

Exercising is strongly recommended for prevention and treatment of pathologies with high prevalence such as cardiovascular diseases, cancer, and diabetes. The World Health Organization (WHO) states that insufficient physical activity is one of the leading ...

IEEE2019

Low voltage fast dielectric elastomer actuators

Xiaobin Ji

This thesis contributes to the field of Dielectric Elastomer Actuators (DEAs). DEAs are electrostatically driven soft actuators that are fast, capable of generating large actuation strains, high forces, and present high power density. A wide range of appli ...

EPFL2019

Guest editorial: Special issue on distributed robotics - from fundamentals to applications

Alcherio Martinoli

2018