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Robotics, Volume 13, Issue 2

2024 February - 14 articles

Cover Story: The Rehab-Exos is a novel upper limb exoskeleton designed for rehabilitation purposes. It is equipped with high-reduction-ratio actuators and compact elastic joints to obtain torque sensors based on strain gauges. Firstly, this work addresses the torque sensor performances and the design aspects that could cause unwanted non-axial moment load crosstalk. Then, a new full-state feedback torque controller is designed by modeling the multi-DOF and non-linear system dynamics and by providing compensation for non-linear effects such as friction and gravity. Lastly, it reports the comparison of the proposed controller with two other benchmark-state feedback controllers in both a transparency test and a haptic rendering evaluation. View this paper
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Articles (14)

  • Review
  • Open Access
74 Citations
27,781 Views
24 Pages

19 February 2024

Automation and robotics are the key players in modern agriculture. They offer potential solutions for challenges related to the growing global population, demographic shifts, and economic status. This review paper evaluates the challenges and opportu...

  • Article
  • Open Access
4 Citations
5,311 Views
29 Pages

Design and Control of the Rehab-Exos, a Joint Torque-Controlled Upper Limb Exoskeleton

  • Domenico Chiaradia,
  • Gianluca Rinaldi,
  • Massimiliano Solazzi,
  • Rocco Vertechy and
  • Antonio Frisoli

17 February 2024

This work presents the design of the Rehab-Exos, a novel upper limb exoskeleton designed for rehabilitation purposes. It is equipped with high-reduction-ratio actuators and compact elastic joints to obtain torque sensors based on strain gauges. In th...

  • Article
  • Open Access
10 Citations
3,640 Views
16 Pages

16 February 2024

Globally, workplace safety is a critical concern, and statistics highlight the widespread impact of occupational hazards. According to the International Labour Organization (ILO), an estimated 2.78 million work-related fatalities occur worldwide each...

  • Review
  • Open Access
20 Citations
7,884 Views
24 Pages

What Affects Human Decision Making in Human–Robot Collaboration?: A Scoping Review

  • Yuan Liu,
  • Glenda Caldwell,
  • Markus Rittenbruch,
  • Müge Belek Fialho Teixeira,
  • Alan Burden and
  • Matthias Guertler

9 February 2024

The advent of Industry 4.0 has heralded advancements in Human–robot Collaboration (HRC), necessitating a deeper understanding of the factors influencing human decision making within this domain. This scoping review examines the breadth of resea...

  • Article
  • Open Access
4 Citations
3,082 Views
18 Pages

Design and Analysis of VARONE a Novel Passive Upper-Limb Exercising Device

  • Luis Daniel Filomeno Amador,
  • Eduardo Castillo Castañeda,
  • Med Amine Laribi and
  • Giuseppe Carbone

8 February 2024

Robots have been widely investigated for active and passive rehabilitation therapy of patients with upper limb disabilities. Nevertheless, the rehabilitation assessment process is often ignored or just qualitatively performed by the physiotherapist i...

  • Article
  • Open Access
23 Citations
6,600 Views
16 Pages

A Path to Industry 5.0 Digital Twins for Human–Robot Collaboration by Bridging NEP+ and ROS

  • Enrique Coronado,
  • Toshio Ueshiba and
  • Ixchel G. Ramirez-Alpizar

1 February 2024

The integration of heterogeneous hardware and software components to construct human-centered systems for Industry 5.0, particularly human digital twins, presents considerable complexity. Our research addresses this challenge by pioneering a novel ap...

  • Article
  • Open Access
6 Citations
4,070 Views
20 Pages

A Novel Approach to Simulating Realistic Exoskeleton Behavior in Response to Human Motion

  • Zhejun Yao,
  • Seyed Milad Mir Latifi,
  • Carla Molz,
  • David Scherb,
  • Christopher Löffelmann,
  • Johannes Sänger,
  • Jörg Miehling,
  • Sandro Wartzack,
  • Andreas Lindenmann and
  • Robert Weidner
  • + 1 author

1 February 2024

Simulation models are a valuable tool for exoskeleton development, especially for system optimization and evaluation. It allows an assessment of the performance and effectiveness of exoskeletons even at an early stage of their development without phy...

  • Article
  • Open Access
3 Citations
2,972 Views
39 Pages

31 January 2024

Differential drive mobile robots, being widely used in several industrial and domestic applications, are increasingly demanding when concerning precision and satisfactory maneuverability. In the present paper, the problem of independently controlling...

  • Article
  • Open Access
11 Citations
3,975 Views
21 Pages

Force-Sensor-Free Implementation of a Hybrid Position–Force Control for Overconstrained Cable-Driven Parallel Robots

  • Luca Guagliumi,
  • Alessandro Berti,
  • Eros Monti,
  • Marc Fabritius,
  • Christoph Martin and
  • Marco Carricato

31 January 2024

This paper proposes a hybrid position–force control strategy for overconstrained cable-driven parallel robots (CDPRs). Overconstrained CDPRs have more cables (m) than degrees of freedom (n), and the idea of the proposed controller is to control...

  • Article
  • Open Access
8 Citations
5,427 Views
17 Pages

29 January 2024

Inspired by musculoskeletal systems in nature, this paper presents a pneumatically actuated quadruped robot which utilizes two soft–rigid hybrid rotary joints in each of the four two-degrees of freedom (DoF) planar legs. We first introduce the...

  • Article
  • Open Access
5 Citations
3,537 Views
21 Pages

A 3D World Interpreter System for Safe Autonomous Crane Operation

  • Frank Bart ter Haar,
  • Frank Ruis and
  • Bastian Thomas van Manen

26 January 2024

In an effort to improve short-sea shipping in Europe, we present a 3D world interpreter (3DWI) system as part of a robotic container-handling system. The 3DWI is an advanced sensor suite combined with AI-based software and the communication infrastru...

  • Article
  • Open Access
2 Citations
3,726 Views
18 Pages

BIMBot for Autonomous Laser Scanning in Built Environments

  • Nanying Liang,
  • Yu Pin Ang,
  • Kaiyun Yeo,
  • Xiao Wu,
  • Yuan Xie and
  • Yiyu Cai

26 January 2024

Accurate and complete 3D point clouds are essential in creating as-built building information modeling (BIM) models, although there are challenges in automating the process for 3D point cloud creation in complex environments. In this paper, an autono...

  • Retraction
  • Open Access
1 Citations
2,248 Views
1 Page

26 January 2024

The Robotics Editorial Office retracts the article, “A Newly Designed Wearable Robotic Hand Exoskeleton Controlled by EMG Signals and ROS Embedded Systems” [...]

  • Article
  • Open Access
4 Citations
3,777 Views
20 Pages

23 January 2024

This article describes an experimentally tested approach using semi-supervised learning for generating new datasets for semantic segmentation of vine trunks with very little human-annotated data, resulting in significant savings in time and resources...

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Robotics - ISSN 2218-6581