Juan M. Gandarías
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View article: Goodness of Fit in the Marginal Modeling of Round-Trip Times for Networked Robot Sensor Transmissions
Goodness of Fit in the Marginal Modeling of Round-Trip Times for Networked Robot Sensor Transmissions Open
When complex computations cannot be performed on board a mobile robot, sensory data must be transmitted to a remote station to be processed, and the resulting actions must be sent back to the robot to execute, forming a repeating cycle. Th…
View article: SUPER-MAN: SUPERnumerary robotic bodies for physical assistance in huMAN–robot conjoined actions
SUPER-MAN: SUPERnumerary robotic bodies for physical assistance in huMAN–robot conjoined actions Open
This paper presents a mobile supernumerary robotic approach to physical assistance in human–robot conjoined actions. The study starts with the description of the SUPER-MAN concept. The idea is to develop and utilize mobile collaborative sy…
View article: A Multipurpose Interface for Close- and Far-Proximity Control of Mobile Collaborative Robots
A Multipurpose Interface for Close- and Far-Proximity Control of Mobile Collaborative Robots Open
This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local cont…
View article: Enhancing human–robot collaborative transportation through obstacle-aware vibrotactile warning and virtual fixtures
Enhancing human–robot collaborative transportation through obstacle-aware vibrotactile warning and virtual fixtures Open
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and addressing challenges arising from labor shortages. This strategy typically positions the h…
View article: Toward Sustainable Haptics: A Wearable Vibrotactile Solar‐Powered System with Biodegradable Components
Toward Sustainable Haptics: A Wearable Vibrotactile Solar‐Powered System with Biodegradable Components Open
Electronics and mechatronics waste is an exponentially increasing environmental issue, especially for wearable devices, due to their widespread diffusion into society and short life cycle. To promote their enormous benefits (e.g., in assis…
View article: Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning
Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning Open
This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human sub…
View article: The Bridge between Xsens Motion-Capture and Robot Operating System (ROS): Enabling Robots with Online 3D Human Motion Tracking
The Bridge between Xsens Motion-Capture and Robot Operating System (ROS): Enabling Robots with Online 3D Human Motion Tracking Open
This document introduces the bridge between the leading inertial motion-capture systems for 3D human tracking and the most used robotics software framework. 3D kinematic data provided by Xsens are translated into ROS messages to make them …
View article: Markerless 3D human pose tracking through multiple cameras and AI: Enabling high accuracy, robustness, and real-time performance
Markerless 3D human pose tracking through multiple cameras and AI: Enabling high accuracy, robustness, and real-time performance Open
Tracking 3D human motion in real-time is crucial for numerous applications across many fields. Traditional approaches involve attaching artificial fiducial objects or sensors to the body, limiting their usability and comfort-of-use and con…
View article: Enhancing Human-Robot Collaboration Transportation through Obstacle-Aware Vibrotactile Feedback
Enhancing Human-Robot Collaboration Transportation through Obstacle-Aware Vibrotactile Feedback Open
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to the human operator. This approach usually posits the human…
View article: An Open Tele-Impedance Framework to Generate Data for Contact-Rich Tasks in Robotic Manipulation
An Open Tele-Impedance Framework to Generate Data for Contact-Rich Tasks in Robotic Manipulation Open
Using large datasets in machine learning has led to outstanding results, in some cases outperforming humans in tasks that were believed impossible for machines. However, achieving human-level performance when dealing with physically intera…
View article: Performance Analysis of Vibrotactile and Slide-and-Squeeze Haptic Feedback Devices for Limbs Postural Adjustment
Performance Analysis of Vibrotactile and Slide-and-Squeeze Haptic Feedback Devices for Limbs Postural Adjustment Open
Recurrent or sustained awkward body postures are among the most frequently cited risk factors to the development of work-related musculoskeletal disorders (MSDs). To prevent workers from adopting harmful configurations but also to guide th…
View article: A Self-Tuning Impedance-Based Interaction Planner for Robotic Haptic Exploration
A Self-Tuning Impedance-Based Interaction Planner for Robotic Haptic Exploration Open
This paper presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using haptic information only. The proposed algorithm plans the robot…
View article: Performance Analysis of Vibrotactile and Slide-and-Squeeze Haptic Feedback Devices for Limbs Postural Adjustment
Performance Analysis of Vibrotactile and Slide-and-Squeeze Haptic Feedback Devices for Limbs Postural Adjustment Open
Recurrent or sustained awkward body postures are among the most frequently cited risk factors to the development of work-related musculoskeletal disorders (MSDs). To prevent workers from adopting harmful configurations but also to guide th…
View article: ErgoTac-Belt: Anticipatory Vibrotactile Feedback to Lead Centre of Pressure during Walking
ErgoTac-Belt: Anticipatory Vibrotactile Feedback to Lead Centre of Pressure during Walking Open
Balance and gait disorders are the second leading cause of falls, which, along with consequent injuries, are reported as major public health problems all over the world. For patients who do not require mechanical support, vibrotactile feed…
View article: A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks With Mobile Manipulators
A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks With Mobile Manipulators Open
This paper proposes a hybrid learning and optimization framework for mobile\nmanipulators for complex and physically interactive tasks. The framework\nexploits an admittance-type physical interface to obtain intuitive and\nsimplified human…
View article: Improving Standing Balance Performance through the Assistance of a Mobile Collaborative Robot
Improving Standing Balance Performance through the Assistance of a Mobile Collaborative Robot Open
This paper presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkinson's. In particular, we propose using a mobile collaborative robot…
View article: Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface
Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface Open
This paper presents a physical interface for collaborative mobile\nmanipulators in industrial manufacturing and logistics applications. The\nproposed work builds on our earlier MOCA-MAN interface, through which an\noperator could be physic…
View article: Open-VICO: An Open-Source Gazebo Toolkit for Vision-based Skeleton Tracking in Human-Robot Collaboration
Open-VICO: An Open-Source Gazebo Toolkit for Vision-based Skeleton Tracking in Human-Robot Collaboration Open
Simulation tools are essential for robotics research, especially for those domains in which safety is crucial, such as Human-Robot Collaboration (HRC). However, it is challenging to simulate human behaviors, and existing robotics simulator…
View article: A Self-Tuning Impedance-based Interaction Planner for Robotic Haptic Exploration
A Self-Tuning Impedance-based Interaction Planner for Robotic Haptic Exploration Open
This paper presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using haptic information only. The proposed algorithm plans the robot…
View article: MOCA-S: A Sensitive Mobile Collaborative Robotic Assistant exploiting Low-Cost Capacitive Tactile Cover and Whole-Body Control
MOCA-S: A Sensitive Mobile Collaborative Robotic Assistant exploiting Low-Cost Capacitive Tactile Cover and Whole-Body Control Open
Safety is one of the most fundamental aspects of robotics, especially when it comes to collaborative robots (cobots) that are expected to physically interact with humans. Although a large body of literature has focused on safety-related as…
View article: SUPER-MAN: SUPERnumerary Robotic Bodies for Physical Assistance in HuMAN-Robot Conjoined Actions
SUPER-MAN: SUPERnumerary Robotic Bodies for Physical Assistance in HuMAN-Robot Conjoined Actions Open
This paper presents a mobile supernumerary robotic approach to physical assistance in human-robot conjoined actions. The study starts with a description of the SUPER-MAN concept. The idea is to develop and utilize mobile collaborative syst…
View article: Improving Standing Balance Performance through the Assistance of a Mobile Collaborative Robot
Improving Standing Balance Performance through the Assistance of a Mobile Collaborative Robot Open
This paper presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkinson's. In particular, we propose using a mobile collaborative robot…
View article: A Directional Vibrotactile Feedback Interface for Ergonomic Postural Adjustment
A Directional Vibrotactile Feedback Interface for Ergonomic Postural Adjustment Open
The objective of this paper is to develop and evaluate a directional vibrotactile feedback interface as a guidance tool for postural adjustments during work. In contrast to the existing active and wearable systems such as exoskeletons, we …
View article: Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface
Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface Open
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physicall…
View article: Upper-Limb Kinematic Parameter Estimation and Localization Using a Compliant Robotic Manipulator
Upper-Limb Kinematic Parameter Estimation and Localization Using a Compliant Robotic Manipulator Open
Assistive and rehabilitation robotics have gained momentum over the past decade and are expected to progress significantly in the coming years. Although relevant and promising research advances have contributed to these fields, challenges …
View article: Bayesian and Neural Inference on LSTM-Based Object Recognition From Tactile and Kinesthetic Information
Bayesian and Neural Inference on LSTM-Based Object Recognition From Tactile and Kinesthetic Information Open
Recent advances in the field of intelligent robotic manipulation pursue providing robotic hands with touch sensitivity. Haptic perception encompasses the sensing modalities encountered in the sense of touch (e.g., tactile and kinesthetic s…
View article: Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI
Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI Open
In physical Human–Robot Interaction (pHRI), forces exerted by humans need to be estimated to accommodate robot commands to human constraints, preferences, and needs. This paper presents a method for the estimation of the interaction forces…
View article: Open-Loop Position Control in Collaborative, Modular Variable-Stiffness-Link (VSL) Robots
Open-Loop Position Control in Collaborative, Modular Variable-Stiffness-Link (VSL) Robots Open
— Collaborative robots (cobots) open up new avenues
\nin the fields of industrial robotics and physical Human-Robot
\nInteraction (pHRI) as they are suitable to work in close approximation and in collaboration with humans. The integration
…
View article: Using 3D Convolutional Neural Networks for Tactile Object Recognition with Robotic Palpation
Using 3D Convolutional Neural Networks for Tactile Object Recognition with Robotic Palpation Open
In this paper, a novel method of active tactile perception based on 3D neural networks and a high-resolution tactile sensor installed on a robot gripper is presented. A haptic exploratory procedure based on robotic palpation is performed t…