2011

Interactive Manipulation Between a Human and a Humanoid: When Robots Control Human Arm

This is the video accompanying the paper entitled "Interactive Manipulation Between a Human and a Humanoid: When Robots Control Human Arm" (IROS2011).

In the paper, a novel approach in human/robot collaboration is presented, where the robot controls not only its arm but also the human’s by means of functional electrical stimulation (FES). The video illustrates the method, as well as experimental results in a “ball in the hoop” task using healthy blindfolded subjects.


Joint motion estimation with inertial sensors and its integration with Kinect

This video illustrates first trials which explored the combined use of inertial sensors and Kinect to estimate joint motion for rehabilitation applications. This integration has indeed a great potential due to the complimentary roles both sensing systems feature. In this particular video, accelerometers and gyrometers are used to estimate joint angle, while the Kinect is used for initializing the inertial system and for enabling 3D visualization of the performed task.

Towards a cooperative framework for interactive manipulation involving a human and a humanoid

This is the video accompanying the paper entitled "Towards a Cooperative Framework for Interactive Manipulation Involving a Human and a Humanoid" (ICRA2011).

In the paper, the interaction is represented by means of the relative conīŦguration between the human's and the robot's hands. Based on this principle and a set of mathematical tools also proposed in the paper, a large set of tasks can be represented intuitively. The concept of simultaneous handling using mirrored movements, where the human controls the robot and simultaneously interacts with it by means of a common manipulated object, is also introduced.