Searched for: author%3A%22Peternel%2C+L.%22
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Kunavar, Tjasa (author), Jamšek, Marko (author), Avila-Mireles, Edwin Johnatan (author), Rueckert, Elmar (author), Peternel, L. (author), Babič, Jan (author)
During the learning of a new sensorimotor task, individuals are usually provided with instructional stimuli and relevant information about the target task. The inclusion of haptic devices in the study of this kind of learning has greatly helped in the understanding of how an individual can improve or acquire new skills. However, the way in...
journal article 2024
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Bier, H.H. (author), Hidding, A.J. (author), Khademi, S. (author), van Engelenburg, C.C.J. (author), Prendergast, J.M. (author), Peternel, L. (author)
Real-world applications of Artificial Intelligence (AI) in architecture have been explored more recently at Technical University (TU) Delft by integrating AI in Design-to-Robotic-Production-Assembly and -Operation (D2RPA&O) methods. These embed robotics into building processes and buildings by linking computational design with robotic...
conference paper 2024
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Bier, H.H. (author), Hidding, A.J. (author), Veer, F.A. (author), Peternel, L. (author), Schmehl, R. (author), Cervone, A. (author), Verma, M.K. (author)
In order for off-Earth top surface structures built from regolith to protect astronauts from radiation, they need to be several metres thick. In a feasibility study, funded by the European Space Agency, Technical University Delft (TUD aka TU Delft) explored the possibility of building in empty lava tubes to create rhizomatic subsurface habitats....
book chapter 2024
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Peternel, L. (author), Ajoudani, Arash (author)
Despite the significant progress made in making robots more intelligent and autonomous, today, teleoperation remains a dominant robot control paradigm for the execution of complex and highly unpredictable tasks. Attempts have been made to make teleoperation systems stable, easy to use, and efficient in terms of physical interactions between...
review 2023
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Vianello, L. (author), Ivaldi, Serena (author), Aubry, Alexis (author), Peternel, L. (author)
Collaborative robots (cobots) have the potential to augment the productivity and life quality of human operators in the context of Industry 4.0 by providing them with physical assistance. For this reason, it is necessary to define the relationship between humans and cobots and to study how the two agents adapt to each other. However, to the...
journal article 2023
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Avaei, S. (author), van der Spaa, L.F. (author), Peternel, L. (author), Kober, J. (author)
Humans often demonstrate diverse behaviors due to their personal preferences, for instance, related to their individual execution style or personal margin for safety. In this paper, we consider the problem of integrating both path and velocity preferences into trajectory planning for robotic manipulators. We first learn reward functions that...
journal article 2023
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Belli, I. (author), Joshi, S.D. (author), Prendergast, J.M. (author), Beck, I.L.Y. (author), Della Santina, C. (author), Peternel, L. (author), Seth, A. (author)
The complexity of the human shoulder girdle enables the large mobility of the upper extremity, but also introduces instability of the glenohumeral (GH) joint. Shoulder movements are generated by coordinating large superficial and deeper stabilizing muscles spanning numerous degrees-of-freedom. How shoulder muscles are coordinated to stabilize...
journal article 2023
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Saveriano, Matteo (author), Abu-Dakka, Fares J. (author), Kramberger, Aljaž (author), Peternel, L. (author)
Biological systems, including human beings, have the innate ability to perform complex tasks in a versatile and agile manner. Researchers in sensorimotor control have aimed to comprehend and formally define this innate characteristic. The idea, supported by several experimental findings, that biological systems are able to combine and adapt...
review 2023
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Haninger, Kevin (author), Hegeler, Christian (author), Peternel, L. (author)
Robotic tasks which involve uncertainty – due to variation in goal, environment configuration, or confidence in task model – may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for adapting robot trajectory or impedance according to individual uncertainties have been proposed, e.g.,...
journal article 2023
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Fang, Cheng (author), Peternel, L. (author), Seth, A. (author), Sartori, Massimo (author), Mombaur, Katja (author), Yoshida, Eiichi (author)
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...
review 2023
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Maessen, Rosa E.S. (author), Prendergast, J.M. (author), Peternel, L. (author)
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...
journal article 2023
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Beck, I.L.Y. (author), Belli, I. (author), Peternel, L. (author), Seth, A. (author), Prendergast, J.M. (author)
In this research, we propose a novel method to estimate and monitor rotator cuff tendon strains during active robotic-assisted rehabilitation. This is a significant step forward from our previous work which estimated these tendon strains during passive exercises (i.e., no muscle activity). Physiotherapists adopt a cautious approach to...
conference paper 2023
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Popken, M.H.J. (author), Prendergast, J.M. (author), Wiertlewski, M. (author), Peternel, L. (author)
Humans can effortlessly grasp various objects when the fingers are in direct physical interaction with the object. However, the same actions become complicated when grasping has to be performed via a teleoperated remote robot due to a lack of direct contact and reduced sensory information. Having a fully autonomous remote robot can eliminate the...
conference paper 2023
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Kuitert, S. (author), Hofland, Jelle (author), Heemskerk, Cock J.M. (author), Abbink, D.A. (author), Peternel, L. (author)
Robotic teleoperation is used in various applications, including the nuclear industry, where the experience and intelligence of a human operator are necessary for making complex decisions that are beyond the autonomy of robots. Human-robot interfaces that help strengthen an operators situational awareness without inducing excessive cognitive...
conference paper 2023
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Meccanici, Floris (author), Karageorgos, Dimitrios (author), Heemskerk, Cock J.M. (author), Abbink, D.A. (author), Peternel, L. (author)
Daily household tasks involve manipulation in cluttered and unpredictable environments and service robots require complex skills and adaptability to perform such tasks. To this end, we developed a teleoperated online learning approach with a novel skill refinement method, where the operator can make refinements to the initially trained skill...
conference paper 2023
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Thirani, Kushal (author), Abbink, D.A. (author), Peternel, L. (author)
This paper studies non-physical feedback mechanisms to guide human workers toward ergonomic body postures. Specifically, the focus is to solve the tasks that involve no direct physical interaction between the human and the robotic system, therefore tactile guidance by the robot body is not feasible. We propose a multi-modal ergonomic posture...
conference paper 2023
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Bier, H.H. (author), Khademi, S. (author), van Engelenburg, C.C.J. (author), Prendergast, J.M. (author), Peternel, L. (author)
While half of all construction tasks can be fully automated the other half relies to a certain degree on human support. This paper presents a Computer Vision (CV) and Human–Robot Interaction/Collaboration (HRI/C) supported Design-to-Robotic-Assembly (D2RA) approach that links computational design with robotic assembly. This multidisciplinary...
journal article 2022
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Klevering, S. (author), Mugge, W. (author), Abbink, D.A. (author), Peternel, L. (author)
Tele-impedance increases interaction performance between a robotic tool and unstructured/unpredictable en-vironments during teleoperation. However, the existing tele-impedance interfaces have several ongoing issues, such as long calibration times and various obstructions for the human operator. In addition, they are all designed to be controlled...
conference paper 2022
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Haninger, Kevin (author), Hegeler, Christian (author), Peternel, L. (author)
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many potential human-robot interaction tasks involve discrete modes, such as phases of a task or multiple possible...
conference paper 2022
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Andres, Alvaro Gil (author), Beckers, N.W.M. (author), Abbink, D.A. (author), Peternel, L. (author)
We present a method for arbitration between human and robot involvement in a collaborative physical task execution based on ergonomic metrics. The existing methods for ergonomic control of physical human-robot collaboration perform the real-Time arbitration primarily based on a single type of ergonomic metric. The novelty of our approach is...
conference paper 2022
Searched for: author%3A%22Peternel%2C+L.%22
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