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Machines
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Design and Control of Assistive Robots
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Design and Control of Assistive Robots

A special issue of Machines (ISSN 2075-1702). This special issue belongs to the section "Automation and Control Systems".

Deadline for manuscript submissions: closed (31 July 2025) | Viewed by 4010

Special Issue Editor

Dr. S. M. Mizanoor Rahman

E-Mail Website
Guest Editor
Mechanical Engineering, The Pennsylvania State University, Dunmore, PA 18512, USA
Interests: assistive robotics; collaborative robotics; artificial intelligence; machine learning; control system; human factors; mechanical design; human-robot interaction
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Assistive robots have become increasingly useful and popular in recent years due to their abilities to provide support and assistance to individuals in a variety of settings. It is realized that innovative design and smart and user-centric control strategies can further enhance the effective applications of assistive robots. This Special Issue aims to focus on the design and control of assistive robots exploring the latest research and developments in this field. Major topics that will be covered in this Special Issue include innovative design of robotic systems for assistance, development of innovative control strategies for these robots, and the integration of innovative sensing and perception technologies to enhance their functionality. This Special Issue will also cover the ethical considerations surrounding the applications of assistive robots, as well as their potential impacts on society. Overall, this Special Issue seeks to provide a comprehensive overview of the current state of research in assistive robotics and highlights the key challenges and opportunities for the future development in the field of assistive robotics.

The topics of the special issue include but are not limited to the following: 

•    Innovative design of robotic systems for assistance;
•    Innovative actuation methods for assistive robots;
•    Smart and human-centric control methods and strategies for robotic assistance;
•    Integration of sensing and perception technologies for enhanced functionality of assistive robots;
•    Human-robot interaction in assistive robotics;
•    Machine learning and artificial intelligence for assistive robotics;
•    Assistive technologies for healthcare and elderly care;
•    Rehabilitation robotics;
•    Social robotics for assistance;
•    User-centric design for robotic assistance;
•    Ethical considerations and social implications of assistive robotics;
•    Personalized assistive robots;
•    Soft robotics and active and passive compliant mechanisms for robots for human assistance;
•    Autonomous and semi-autonomous assistive robots;
•    Performance assessment methods for assistive robots;
•    Design and control of wearable assistive robots;
•    Virtual assistive agents;
•    Trust in assistive robots;
•    Education and training in assistive robotics;
•    Business and entrepreneurship development in assistive robotics.

Dr. S. M. Mizanoor Rahman
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Machines is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • assistive robots
  • soft robotics
  • social robotics for assistance
  • human-robot interaction
  • autonomous and semi-autonomous assistive robots

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Published Papers (4 papers)

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Research

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19 pages, 1829 KiB  
Article
EMG-Driven Shared Control Architecture for Human–Robot Co-Manipulation Tasks
by Francesca Patriarca, Paolo Di Lillo and Filippo Arrichiello
Machines 2025, 13(8), 669; https://doi.org/10.3390/machines13080669 (registering DOI) - 31 Jul 2025
Viewed by 156
Abstract
The paper presents a shared control strategy that allows a human operator to physically guide the end-effector of a robotic manipulator to perform different tasks, possibly in interaction with the environment. To switch among different operational modes referring to a finite state machine [...] Read more.
The paper presents a shared control strategy that allows a human operator to physically guide the end-effector of a robotic manipulator to perform different tasks, possibly in interaction with the environment. To switch among different operational modes referring to a finite state machine algorithm, ElectroMyoGraphic (EMG) signals from the user’s arm are used to detect muscular contractions and to interact with a variable admittance control strategy. Specifically, a Support Vector Machine (SVM) classifier processes the raw EMG data to identify three classes of contractions that trigger the activation of different sets of admittance control parameters corresponding to the envisaged operational modes. The proposed architecture has been experimentally validated using a Kinova Jaco2 manipulator, equipped with force/torque sensor at the end-effector, and with a limited group of users wearing Delsys Trigno Avanti EMG sensors on the dominant upper limb, demonstrating promising results. Full article
(This article belongs to the Special Issue Design and Control of Assistive Robots)
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24 pages, 3679 KiB  
Article
Design of JARI: A Robot to Enhance Social Interaction in Children with Autism Spectrum Disorder
by Ericka Patricia Madrid Ruiz, Héctor Hugo Oscanoa Fernández, Cecilia E. García Cena and Raquel Cedazo León
Machines 2025, 13(5), 436; https://doi.org/10.3390/machines13050436 - 21 May 2025
Viewed by 1034
Abstract
Robots designed for children with Autism Spectrum Disorder (ASD) have demonstrated potential in promoting social engagement and emotional learning. This study presents the design and preliminary evaluation of JARI, a social robot developed to support emotional recognition and interaction in children with ASD [...] Read more.
Robots designed for children with Autism Spectrum Disorder (ASD) have demonstrated potential in promoting social engagement and emotional learning. This study presents the design and preliminary evaluation of JARI, a social robot developed to support emotional recognition and interaction in children with ASD aged 6 to 8 years. The robot integrates mechanical, electronic, and software components within a modular architecture and is operated via a web-based Wizard of Oz interface. Aesthetic decisions, including a deliberately ambiguous zoomorphic appearance to avoid triggering the recognition of specific animal forms and the use of sensory accessories, were made to increase acceptance and reduce overstimulation. JARI was tested in the following two scenarios: individual interaction at a special education center in Peru, and group interaction at an inclusive school in Spain. Results show that most children were able to identify the robot’s emotional expressions and responded positively to its color cues. Behavioral analysis revealed significant engagement through physical gestures, sustained visual attention, and emotional mirroring. These findings suggest that JARI is effective in capturing attention and eliciting meaningful interaction from children with ASD. Full article
(This article belongs to the Special Issue Design and Control of Assistive Robots)
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17 pages, 12096 KiB  
Article
Toward Competent Robot Apprentices: Enabling Proactive Troubleshooting in Collaborative Robots
by Christopher Thierauf, Theresa Law, Tyler Frasca and Matthias Scheutz
Machines 2024, 12(1), 73; https://doi.org/10.3390/machines12010073 - 18 Jan 2024
Viewed by 1615
Abstract
For robots to become effective apprentices and collaborators, they must exhibit some level of autonomy, for example, recognizing failures and identifying ways to address them with the aid of their human teammates. In this systems paper, we present an integrated cognitive robotic architecture [...] Read more.
For robots to become effective apprentices and collaborators, they must exhibit some level of autonomy, for example, recognizing failures and identifying ways to address them with the aid of their human teammates. In this systems paper, we present an integrated cognitive robotic architecture for a “robot apprentice” that is capable of assessing its own performance, identifying task execution failures, communicating them to humans, and resolving them, if possible. We demonstrate the capabilities of our proposed architecture with a series of demonstrations and confirm with an online user study that people prefer our robot apprentice compared to robots without those capabilities. Full article
(This article belongs to the Special Issue Design and Control of Assistive Robots)
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Review

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24 pages, 4283 KiB  
Review
Review on Upper-Limb Exoskeletons
by André Pires, Filipe Neves dos Santos and Vítor Tinoco
Machines 2025, 13(8), 642; https://doi.org/10.3390/machines13080642 - 23 Jul 2025
Viewed by 243
Abstract
Even for the strongest human being, maintaining an elevated arm position for an extended duration represents a significant challenge, as fatigue inevitably accumulates over time. The physical strain is further intensified when the individual is engaged in repetitive tasks, particularly those involving the [...] Read more.
Even for the strongest human being, maintaining an elevated arm position for an extended duration represents a significant challenge, as fatigue inevitably accumulates over time. The physical strain is further intensified when the individual is engaged in repetitive tasks, particularly those involving the use of tools or heavy equipment. Such activities increase the probability of developing muscle fatigue or injuries due to overuse or improper posture. Over time, this can result in the development of chronic conditions, which may impair the individual’s ability to perform tasks effectively and potentially lead to long-term physical impairment. Exoskeletons play a transformative role by reducing the perceived load on the muscles and providing mechanical support, mitigating the risk of injuries and alleviating the physical burden associated with strenuous activities. In addition to injury prevention, these devices also promise to facilitate the rehabilitation of individuals who have sustained musculoskeletal injuries. This document examines the various types of exoskeletons, investigating their design, functionality, and applications. The objective of this study is to present a comprehensive understanding of the current state of these devices, highlighting advancements in the field and evaluating their real-world impact. Furthermore, it analyzes the crucial insights obtained by other researchers, and by summarizing these findings, this work aims to contribute to the ongoing efforts to enhance exoskeleton performance and expand their accessibility across different sectors, including agriculture, healthcare, industrial work, and beyond. Full article
(This article belongs to the Special Issue Design and Control of Assistive Robots)
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