Scientific publications

We publish results of our work in scientific journals and make presentations at research conferences with topics ranging from neurophysiology, robotics, and machine learning.

Show all

2022

Assessing the Efficiency of Industrial Exoskeletons with Biomechanical Modelling -- Comparison of Experimental and Simulation Results

Fritzsche, Lars; Gärtner, Christian; Spitzhirn, Michael; Galibarov, Pavel E; Damsgaard, Michael; Maurice, Pauline; Babič, Jan

Assessing the Efficiency of Industrial Exoskeletons with Biomechanical Modelling -- Comparison of Experimental and Simulation Results Inproceedings

In: Black, Nancy L; Neumann, W Patrick; Noy, Ian (Ed.): Proceedings of the 21st Congress of the International Ergonomics Association (IEA 2021), pp. 353–357, Springer International Publishing, Cham, 2022, ISBN: 978-3-030-74614-8.

Abstract | BibTeX | Tags: Ergonomy, Exoskeleton Design and Control, Human Performance Augmentation, Neuromusculoskeletal Modelling, Physical Human Robot Interaction

2021

Predictive Exoskeleton Control for Arm-Motion Augmentation Based on Probabilistic Movement Primitives Combined With a Flow Controller

Jamšek, Marko; Kunavar, Tjaša; Bobek, Urban; Rueckert, Elmar; Babič, Jan

Predictive Exoskeleton Control for Arm-Motion Augmentation Based on Probabilistic Movement Primitives Combined With a Flow Controller Journal Article

In: IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4417–4424, 2021, ISSN: 2377-3766.

Abstract | BibTeX | Tags: Exoskeleton Design and Control, Force Control, Human Performance Augmentation, Optimal Control, Physical Human Robot Interaction | Links:

A Human-Robot Collaboration Framework for Improving Ergonomics During Dexterous Operation of Power Tools

Kim, Wansoo; Peternel, Luka; Lorenzini, Marta; Babič, Jan; Ajoudani, Arash

A Human-Robot Collaboration Framework for Improving Ergonomics During Dexterous Operation of Power Tools Journal Article

In: Robotics and Computer-Integrated Manufacturing, vol. 68, pp. 102084, 2021, ISSN: 07365845.

Abstract | BibTeX | Tags: Ergonomy, Human Performance Augmentation, Human-in-the-Loop Control, Physical Human Robot Interaction | Links:

Human pressure tolerance and effects of different padding materials with implications for development of exoskeletons and similar devices

Kozinc, Žiga; Babič, Jan; Šarabon, Nejc

Human pressure tolerance and effects of different padding materials with implications for development of exoskeletons and similar devices Journal Article

In: Applied Ergonomics, vol. 93, 2021, ISSN: 18729126.

Abstract | BibTeX | Tags: Ergonomy, Exoskeleton Design and Control, Physical Human Robot Interaction | Links:

Assessing the efficiency of exoskeletons in physical strain reduction by biomechanical simulation with AnyBody Modeling System

Fritzsche, Lars; Galibarov, Pavel E.; Gartner, Christian; Bornmann, Jonas; Damsgaard, Michael; Wall, Rudolf; Schirrmeister, Benjamin; Gonzalez-Vargas, Jose; Pucci, Daniele; Maurice, Pauline; Ivaldi, Serena; Babič, Jan

Assessing the efficiency of exoskeletons in physical strain reduction by biomechanical simulation with AnyBody Modeling System Journal Article

In: Wearable Technologies, vol. 2, 2021.

Abstract | BibTeX | Tags: Ergonomy, Exoskeleton Design and Control, Human Performance Augmentation, Neuromusculoskeletal Modelling, Physical Human Robot Interaction | Links:

2020

Telexistence and Teleoperation for Walking Humanoid Robots

Elobaid, Mohamed; Hu, Yue; Romualdi, Giulio; Dafarra, Stefano; Babič, Jan; Pucci, Daniele

Telexistence and Teleoperation for Walking Humanoid Robots Incollection

In: Advances in Intelligent Systems and Computing, pp. 1106–1121, 2020, ISSN: 21945365.

Abstract | BibTeX | Tags: Human-in-the-Loop Control, Physical Human Robot Interaction | Links:

Gaussian Mixture Models for Control of Quasi-Passive Spinal Exoskeletons

Jamšek, Marko; Petrič, Tadej; Babič, Jan

Gaussian Mixture Models for Control of Quasi-Passive Spinal Exoskeletons Journal Article

In: Sensors, vol. 20, no. 9, pp. 2705, 2020, ISSN: 1424-8220.

Abstract | BibTeX | Tags: Exoskeleton Design and Control, Physical Human Robot Interaction | Links:

Active Compliance Control Reduces Upper Body Effort in Exoskeleton-Supported Walking

Ugurlu, Barkan; Oshima, Hironori; Sariyildiz, Emre; Narikiyo, Tatsuo; Babič, Jan

Active Compliance Control Reduces Upper Body Effort in Exoskeleton-Supported Walking Journal Article

In: IEEE Transactions on Human-Machine Systems, vol. 50, no. 2, pp. 144–153, 2020, ISSN: 2168-2291.

Abstract | BibTeX | Tags: Compliance and Impedance Control, Exoskeleton Design and Control, Physical Human Robot Interaction, Postural Balance | Links:

Wearable Robots: Taking a Leap From the Lab to the Real World [From the Guest Editors]

Rodriguez-Guerrero, Carlos; Babič, Jan; Novak, Domen

Wearable Robots: Taking a Leap From the Lab to the Real World [From the Guest Editors] Journal Article

In: IEEE Robotics & Automation Magazine, vol. 27, no. 1, pp. 20–21, 2020, ISSN: 1070-9932.

Abstract | BibTeX | Tags: Exoskeleton Design and Control, Physical Human Robot Interaction | Links:

SPEXOR passive spinal exoskeleton decreases metabolic cost during symmetric repetitive lifting

Baltrusch, Saskia J; van Dieen, Jaap H; Koopman, Axel S; Naf, Matthias; Rodriguez-Guerrero, Carlos; Babič, Jan; Houdijk, Han

SPEXOR passive spinal exoskeleton decreases metabolic cost during symmetric repetitive lifting Journal Article

In: European Journal of Applied Physiology, vol. 120, no. 2, pp. 401–412, 2020, ISSN: 1439-6319.

Abstract | BibTeX | Tags: Ergonomy, Exoskeleton Design and Control, Physical Human Robot Interaction | Links:

Objective and Subjective Effects of a Passive Exoskeleton on Overhead Work

Maurice, Pauline; Čamernik, Jernej; Gorjan, Daša; Schirrmeister, Benjamin; Bornmann, Jonas; Tagliapietra, Luca; Latella, Claudia; Pucci, Daniele; Fritzsche, Lars; Ivaldi, Serena; Babič, Jan

Objective and Subjective Effects of a Passive Exoskeleton on Overhead Work Journal Article

In: IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 28, no. 1, pp. 152–164, 2020, ISSN: 1534-4320.

Abstract | BibTeX | Tags: Ergonomy, Exoskeleton Design and Control, Kinematics, Physical Human Robot Interaction, Postural Balance | Links:

Dyadic Human-Human Interactions in Reaching Tasks: Fitts' Law for Two

Leskovar, Rebeka Koprivšek; Čamernik, Jernej; Petrič, Tadej

Dyadic Human-Human Interactions in Reaching Tasks: Fitts' Law for Two Incollection

In: Mechanisms and Machine Science, vol. 84, pp. 199–207, 2020, ISSN: 22110992.

Abstract | BibTeX | Tags: Human Motor Control, Kinematics, Physical Human Robot Interaction | Links:

2019

Evaluation of PAEXO, a novel passive exoskeleton for overhead work

Maurice, Pauline; Čamernik, Jernej; Gorjan, Daša; Schirrmeister, Benjamin; Bornmann, Jonas; Tagliapietra, Luca; Latella, Claudia; Pucci, Danielle; Fritzsche, Lars; Ivaldi, Serena; Babič, Jan

Evaluation of PAEXO, a novel passive exoskeleton for overhead work Journal Article

In: Computer Methods in Biomechanics and Biomedical Engineering, vol. 22, no. sup1, pp. S448–S450, 2019, ISSN: 1025-5842.

Abstract | BibTeX | Tags: Ergonomy, Exoskeleton Design and Control, Physical Human Robot Interaction | Links:

2018

The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction

Romano, Francesco; Nava, Gabriele; Azad, Morteza; Camernik, Jernej; Dafarra, Stefano; Dermy, Oriane; Latella, Claudia; Lazzaroni, Maria; Lober, Ryan; Lorenzini, Marta; Pucci, Daniele; Sigaud, Olivier; Traversaro, Silvio; Babič, Jan; Ivaldi, Serena; Mistry, Michael; Padois, Vincent; Nori, Francesco

The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction Journal Article

In: IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 516–523, 2018, ISSN: 2377-3766.

Abstract | BibTeX | Tags: Compliance and Impedance Control, Physical Human Robot Interaction | Links:

Shared Control for Human-Robot Cooperative Manipulation Tasks

Petrič, Tadej; Cevzar, Mišel; Babič, Jan

Shared Control for Human-Robot Cooperative Manipulation Tasks Incollection

In: Ferraresi, Carlo; Quaglia, Giuseppe (Ed.): Advances in Service and Industrial Robotics: Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, pp. 787–796, Springer International Publishing, Cham, 2018, ISBN: 978-3-319-61276-8.

Abstract | BibTeX | Tags: Human Performance Augmentation, Physical Human Robot Interaction, Sensorimotor Learning | Links:

2017

Whole-body multi-contact motion in humans and humanoids: Advances of the CoDyCo European project

Padois, Vincent; Ivaldi, Serena; Babič, Jan; Mistry, Michael; Peters, Jan; Nori, Francesco

Whole-body multi-contact motion in humans and humanoids: Advances of the CoDyCo European project Journal Article

In: Robotics and Autonomous Systems, vol. 90, pp. 97–117, 2017, ISSN: 09218890.

Abstract | BibTeX | Tags: Compliance and Impedance Control, Physical Human Robot Interaction | Links:

Towards ergonomic control of human-robot co-manipulation and handover

Peternel, Luka; Kim, Wansoo; Babič, Jan; Ajoudani, Arash

Towards ergonomic control of human-robot co-manipulation and handover Inproceedings

In: 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), pp. 55–60, IEEE, Birmingham, 2017, ISBN: 978-1-5386-4678-6.

Abstract | BibTeX | Tags: Ergonomy, Physical Human Robot Interaction | Links:

Utilizing speed-accuracy trade-off models for human-robot coadaptation during cooperative groove fitting task

Petrič, Tadej; Cevzar, Mišel; Babič, Jan

Utilizing speed-accuracy trade-off models for human-robot coadaptation during cooperative groove fitting task Inproceedings

In: 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), pp. 107–112, IEEE, Birmingham, 2017, ISBN: 978-1-5386-4678-6.

Abstract | BibTeX | Tags: Human Motor Control, Physical Human Robot Interaction | Links:

Skill learning and skill transfer mediated by cooperative haptic interaction

Avila-Mireles, Edwin Johnatan; Zenzeri, Jacopo; Squeri, Valentina; Morasso, Pietro; Santis, Dalia De

Skill learning and skill transfer mediated by cooperative haptic interaction Journal Article

In: IEEE Transactions on Neural Systems and Rehabilitation Engineering, no. 7, pp. 832-843, 2017, ISSN: 15344320.

Abstract | BibTeX | Tags: Human Motor Control, Physical Human Robot Interaction, Sensorimotor Learning | Links:

2016

Cooperative human-robot control based on Fitts' law

Petrič, Tadej; Goljat, Rok; Babič, Jan

Cooperative human-robot control based on Fitts' law Inproceedings

In: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), pp. 345–350, IEEE, Cancun, 2016, ISBN: 978-1-5090-4718-5.

Abstract | BibTeX | Tags: Neuromusculoskeletal Modelling, Physical Human Robot Interaction | Links:

Skill transfer and generalization after robot - mediated dyadic training

Avila-Mireles, Edwin Johnatan; Santis, Dalia De; Squeri, Valentina; Morasso, Pietro; Zenzeri, Jacopo

Skill transfer and generalization after robot - mediated dyadic training Journal Article

In: Human Friendly Robotics, no. Human - Robot Interaction, pp. 1-6, 2016.

Abstract | BibTeX | Tags: Human Motor Control, Physical Human Robot Interaction, Sensorimotor Learning

Transferring knowledge during dyadic interaction: The role of the expert in the learning process

Avila-Mireles, Edwin Johnatan; Santis, Dalia De; Morasso, Pietro; Zenzeri, Jacopo

Transferring knowledge during dyadic interaction: The role of the expert in the learning process Journal Article

In: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, vol. 2016-Octob, pp. 2149-2152, 2016, ISSN: 1557170X.

Abstract | BibTeX | Tags: Human Motor Control, Physical Human Robot Interaction, Sensorimotor Learning | Links:

2015

Dealing with instability in bimanual and collaborative tasks

Santis, Dalia De; Avila-Mireles, Edwin Johnatan; Squeri, Valentina; Morasso, Pietro; Zenzeri, Jacopo

Dealing with instability in bimanual and collaborative tasks Journal Article

In: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, vol. 2015-Novem, no. i, pp. 1417-1420, 2015, ISSN: 1557170X.

Abstract | BibTeX | Tags: Human Motor Control, Physical Human Robot Interaction, Sensorimotor Learning | Links:

EMG patterns induced in upper limb by haptic guidance for diagnosis and treatment evaluation

Avila-Mireles, Edwin Johnatan; Ruiz-Sánchez, Francisco J; García-Salazar, Octavio

EMG patterns induced in upper limb by haptic guidance for diagnosis and treatment evaluation Inproceedings

In: 2015 12th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2015, 2015.

Abstract | BibTeX | Tags: Human Motor Control, Physical Human Robot Interaction, Sensorimotor Learning | Links:

Haptically Induced EMG Patterns for Upper Limb Neuromuscular Evaluation

Avila-Mireles, Edwin Johnatan; Ruiz-sánchez, Francisco J

Haptically Induced EMG Patterns for Upper Limb Neuromuscular Evaluation Journal Article

In: Proceedings of 17th International Conference of the Engineering in Medicine and Biology Society, vol. 43, pp. 2012, 2015.

Abstract | BibTeX | Tags: Physical Human Robot Interaction, Sensorimotor Learning

Motor control strategies in the bimanual stabilization of an unstable virtual tool

Avila-Mireles, Edwin Johnatan; Santis, Dalia De; Squeri, Valentina; Morasso, Pietro; Zenzeri, Jacopo

Motor control strategies in the bimanual stabilization of an unstable virtual tool Journal Article

In: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, vol. 2015-Novem, pp. 3472-3475, 2015, ISSN: 1557170X.

Abstract | BibTeX | Tags: Human Motor Control, Physical Human Robot Interaction, Sensorimotor Learning | Links:

2013

Learning of compliant human–robot interaction using full-body haptic interface

Peternel, Luka; Babič, Jan

Learning of compliant human–robot interaction using full-body haptic interface Journal Article

In: Advanced Robotics, vol. 27, no. 13, pp. 1003–1012, 2013, ISSN: 0169-1864.

Abstract | BibTeX | Tags: Compliance and Impedance Control, Human-in-the-Loop Control, Physical Human Robot Interaction | Links: