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A probabilistic shared-control framework for mobile robots (2020)
Conference Proceeding
Gholami, S., Garate, V. R., De Momi, E., & Ajoudani, A. (2020). A probabilistic shared-control framework for mobile robots. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). , (11473-11480). https://doi.org/10.1109/IROS45743.2020.9341064

Full teleoperation of mobile robots during the execution of complex tasks not only demands high cognitive and physical effort but also generates less optimal trajectories compared to autonomous controllers. However, the use of the latter in cluttered... Read More about A probabilistic shared-control framework for mobile robots.

A shared-autonomy approach to goal detection and navigation control of mobile collaborative robots (2020)
Conference Proceeding
Gholami, S., Ruiz Garate, V., De Momi, E., & Ajoudani, A. (in press). A shared-autonomy approach to goal detection and navigation control of mobile collaborative robots. In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). , (1026-1032). https://doi.org/10.1109/ro-man47096.2020.9223583

Autonomous goal detection and navigation control of mobile robots in remote environments can help to unload human operators from simple, monotonous tasks allowing them to focus on more cognitively stimulating actions. This can result in better task p... Read More about A shared-autonomy approach to goal detection and navigation control of mobile collaborative robots.

An approach to object-level stiffness regulation of hand-arm systems subject to under-actuation constraints (2020)
Journal Article
Ruiz Garate, V., & Ajoudani, A. (2020). An approach to object-level stiffness regulation of hand-arm systems subject to under-actuation constraints. Autonomous Robots, 44(8), 1505-1517. https://doi.org/10.1007/s10514-020-09942-9

When using a tool with a robotic hand-arm system, the stiffness at the grasped object plays a key role in the interaction with the environment, allowing the successful execution of the task. However, the rapidly increasing use of under-actuated hands... Read More about An approach to object-level stiffness regulation of hand-arm systems subject to under-actuation constraints.

A bio-inspired grasp stiffness control for robotic hands (2018)
Journal Article
Ruiz Garate, V., Pozzi, M., Prattichizzo, D., & Ajoudani, A. (2018). A bio-inspired grasp stiffness control for robotic hands. Frontiers in Robotics and AI, 5, https://doi.org/10.3389/frobt.2018.00089

This work presents a bio-inspired grasp stiffness control for robotic hands based on the concepts of Common Mode Stiffness (CMS) and Configuration Dependent Stiffness (CDS). Using an ellipsoid representation of the desired grasp stiffness, the algori... Read More about A bio-inspired grasp stiffness control for robotic hands.

Grasp stiffness control in robotic hands through coordinated optimization of pose and joint stiffness (2018)
Journal Article
Ruiz Garate, V., Pozzi, M., Prattichizzo, D., Tsagarakis, N., & Ajoudani, A. (2018). Grasp stiffness control in robotic hands through coordinated optimization of pose and joint stiffness. IEEE Robotics and Automation Letters, 3(4), 3952-3959. https://doi.org/10.1109/lra.2018.2858271

This letter presents a novel controller for robotic hands, which regulates the grasp stiffness by manipulating the pose and the finger joint stiffness of hands with multiple degrees of freedom while guaranteeing grasp stability. The proposed approach... Read More about Grasp stiffness control in robotic hands through coordinated optimization of pose and joint stiffness.

On the common-mode and configuration-dependent stiffness control of multiple degrees of freedom hands (2018)
Conference Proceeding
Ruiz Garate, V., Tsagarakis, N., Bicchi, A., & Ajoudani, A. (2018). On the common-mode and configuration-dependent stiffness control of multiple degrees of freedom hands. In 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids). , (113-120). https://doi.org/10.1109/humanoids.2017.8239545

© 2017 IEEE. Object manipulation using hands is a compelling topic in which the interaction forces play a key role. These influence the stability of the grasp and the dexterity of the hand manipulation. A well-known technique to modulate these forces... Read More about On the common-mode and configuration-dependent stiffness control of multiple degrees of freedom hands.

Experimental validation of motor primitive-based control for leg exoskeletons during continuous multi-locomotion tasks (2017)
Journal Article
Ruiz Garate, V., Parri, A., Yan, T., Munih, M., Lova, R. M., Vitiello, N., & Ronsse, R. (2017). Experimental validation of motor primitive-based control for leg exoskeletons during continuous multi-locomotion tasks. Frontiers in Neurorobotics, 11, https://doi.org/10.3389/fnbot.2017.00015

An emerging approach to design locomotion assistive devices deals with reproducing desirable biological principles of human locomotion. In this paper, we present a bio-inspired controller for locomotion assistive devices based on the concept of motor... Read More about Experimental validation of motor primitive-based control for leg exoskeletons during continuous multi-locomotion tasks.

Motor primitive-based control for lower-limb exoskeletons (2016)
Conference Proceeding
Ruiz Garate, V., Parri, A., Yan, T., Munih, M., Lova, R. M., Vitiello, N., & Ronsse, R. (2016). Motor primitive-based control for lower-limb exoskeletons. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob). , (655-661). https://doi.org/10.1109/biorob.2016.7523700

Assistive technology forecasts better autonomy for people with lifelong disabilities and for the elderly facing motor decline. As the population of developed countries is becoming greyer, there is thus a high probability of observing a significant in... Read More about Motor primitive-based control for lower-limb exoskeletons.

An oscillator-based smooth real-time estimate of gait phase for wearable robotics (2016)
Journal Article
Yan, T., Parri, A., Ruiz Garate, V., Cempini, M., Ronsse, R., & Vitiello, N. (2017). An oscillator-based smooth real-time estimate of gait phase for wearable robotics. Autonomous Robots, 41(3), 759-774. https://doi.org/10.1007/s10514-016-9566-0

This paper presents a novel methodology for estimating the gait phase of human walking through a simple sensory apparatus. Three subsystems are combined: a primary phase estimator based on adaptive oscillators, a desired gait event detector and a pha... Read More about An oscillator-based smooth real-time estimate of gait phase for wearable robotics.

Walking assistance using artificial primitives: A novel bioinspired framework using motor primitives for locomotion assistance through a wearable cooperative exoskeleton (2016)
Journal Article
Ruiz Garate, V., Parri, A., Yan, T., Munih, M., Molino Lova, R., Vitiello, N., & Ronsse, R. (2016). Walking assistance using artificial primitives: A novel bioinspired framework using motor primitives for locomotion assistance through a wearable cooperative exoskeleton. IEEE Robotics and Automation Magazine, 23(1), 83-95. https://doi.org/10.1109/MRA.2015.2510778

Bioinspiration in robotics deals with applying biological principles to the design of better performing devices. In this article, we propose a novel bioinspired framework using motor primitives for locomotion assistance through a wearable cooperative... Read More about Walking assistance using artificial primitives: A novel bioinspired framework using motor primitives for locomotion assistance through a wearable cooperative exoskeleton.

Bio-inspired model for locomotion assistance (2014)
Presentation / Conference
Ruiz Garate, V., Collard, J., & Ronsse, R. (2014, October). Bio-inspired model for locomotion assistance. Paper presented at 7th International Workshop on Human-Friendly Robotics (HFR2014), Pontedera, Italy

The main objective of this work is obtaining a framework able to provide bio-inspired torque assistance to disabled humans during walking and stair ascending/descending. The method is based on a bioinspired model copying natural dynamics of the leg m... Read More about Bio-inspired model for locomotion assistance.

Numerical modeling of ADA system for vulnerable road users protection based on radar and vision sensing (2012)
Conference Proceeding
Ruiz Garate, V., Bours, R., & Kietlinski, K. (2012). Numerical modeling of ADA system for vulnerable road users protection based on radar and vision sensing. In 2012 IEEE Intelligent Vehicles Symposium (IV). , (1150-1155). https://doi.org/10.1109/ivs.2012.6232273

The protection of vulnerable road users (VRU) remains one of the most challenging problems for our society and several governmental and consumer organization has set targets to reduce the VRU fatality and injury rates. The automotive industry is, the... Read More about Numerical modeling of ADA system for vulnerable road users protection based on radar and vision sensing.