Human Modeling in Physical Human-Robot Interaction: A Brief Survey

The advancement and development of human modeling have greatly benefited from principles used in robotics, for instance, multibody dynamics laid the foundations for physics engines of human movement simulation, and the robotics and control theory were used to contextualize human sensorimotor control. There are many common interests and...

Robotic Skill Mutation in Robot-to-Robot Propagation During a Physically Collaborative Sawing Task

Skill propagation among robots without human involvement can be crucial in quickly spreading new physical skills to many robots. In this respect, it is a good alternative to pure reinforcement learning, which can be time-consuming, or learning from human demonstration, which requires human involvement. In the latter case, there may not be...

Biomechanics Aware Collaborative Robot System for Delivery of Safe Physical Therapy in Shoulder Rehabilitation

In this work, we explore using computational musculoskeletal modeling to equip an industrial collaborative robot with awareness of the internal state of a patient to safely deliver physical therapy. A major concern of robot-mediated physical therapy is that robots may unwittingly injure patients. For patients with shoulder injuries this...

A Review of the Principles of Designing Smart Cyber-Physical Systems for Run-Time Adaptation: Learned Lessons and Open Issues

Smart cyber-physical systems (S-CPSs) are complex engineered systems empowered by cyber-physical computing and equipped with the capability of reasoning, learning, adapting, and evolving. As an outcome of data-driven dynamic computing, reasoning capabilities, and the run-time obtained own knowledge, nonlinear and emergent behavior of S-CPSs...