Constructing a Martian habitat presents significant challenges due to extreme temperature variations and a low-density and -pressure atmosphere. To address these challenges a habitat constructed from prefabricated, interlocking Voronoi-based components that are assembled by human-robot collaboration has been explored in the Rhizome projects at TU Delft. In this paper, we propose a combined robot motion planning and learning method that can optimize human involvement in assembly tasks in on-site construction. The proposed hybrid approach exploits motion planning to create motion trajectories for aspects of the task where robot autonomy is capable of solving the problem on its own using sensors and intelligence. When the task becomes too difficult for existing planning capabilities, the human can step in and teach motion trajectories via kinaesthetic demonstration using Dynamic Movement Primitives (DMPs). The trajectories are then executed on the low level by an impedance controller to handle the physical interaction with the environment during the assembly. The decision-making process is managed by a behavior tree.

Despite recent advancements in physical humanrobot collaboration, measuring and distinguishing between forces applied by humans and robots remains challenging, limiting our understanding of force dynamics during collaboration. Our proposed solution addresses this gap with a low-cost, lightweight design that integrates directly at the robot endeffector level. The interface employs a three-ring mechanical structure with strategically positioned load cells and a Sarrus mechanism to constrain movement to the z-axis only, enabling tool mounting for real-world collaborative tasks such as blending or sanding operations. Validation experiments demonstrate excellent force decoupling capabilities with minimal crossinterference, achieving Weighted Root Mean Squared Errors of 0.14 N for robot-applied forces and 0.08 N for human-applied forces compared to ground truth measurements in steadystate for loads ranging from 0 N up to 23 N. The Maximum Absolute Error in these experiments is 0.33 N, confirming high measurement accuracy. This affordable and integrated solution lowers the threshold for employing decoupled force sensing in collaborative tasks, making it more accessible for investigating force dynamics and developing adaptive control strategies in both research and practical applications of physical humanrobot collaboration.

This paper presents a multi-modal dynamic workspace re-indexing method for addressing operator ergonomics and workspace limitations. The proposed method has two interactive modes: pose-to-pose mode, which is active when the operator is within an ergonomic workspace of comfortable arm postures, and ergonomic workspace drift mode, which activates after the operator makes an excursion beyond the boundaries of the ergonomic workspace when trying to reach more distant targets with the remote robot. In the ergonomic workspace drift mode, the operator temporarily stays slightly outside these boundaries, while the offset between the local and remote workspace drifts with a velocity proportional to the excursion distance. This dynamically re-indexes the remote workspace toward the distant target, and the operator can remain in a comfortable posture while the remote robot moves toward the intended target where the task is. To construct the ergonomic workspace, we employed the Rapid Upper Limb Assessment method. To validate the proposed method, we conducted experiments on a teleoperation setup involving a Force Dimension Sigma7 haptic device controlling a Kuka LBR iiwa robotic arm. The results show that the proposed controller successfully addresses workspace limitations by dynamically reindexing the follower's workspace towards target objects, while maintaining good operator ergonomics.

Combining biomechanical modeling with robotic physiotherapy is a promising direction to provide real-time insights during the rehabilitation of patients with musculoskeletal injuries, such as rotator-cuff tears. One aspect is to prevent re-injuries caused by high strain in the injured tissues while allowing patients to perform the required rehabilitation exercises. In this paper, we propose a novel shared control method for robots to limit unsafe patient movements, through physical guidance based on a strain-space representation of the human rotator cuff. The method provides motion corrections through two complementary predictive modules. The first module exerts a lower degree of intervention and is analogous to rumble strips or speed bumps for cars on the road. In this case, an impedance controller induces variable damping to slow down the patient's movement when a danger zone is approached. The second module produces a higher degree of intervention and is analogous to lane-assist in cars. In this case, the robot plans an optimal deflection trajectory and temporarily takes over control of the movement to avoid an unsafe situation. We performed experiments with a healthy participant acting as a patient and evaluated the effect of different human-robot interaction modalities on the resulting human movement in terms of avoidance of high-strain areas of the rotator-cuff tendons and contact forces exchanged.

Performing bimanual tasks with dual robotic setups can drastically increase the impact on industrial and daily life applications. However, performing a bimanual task brings many challenges, such as synchronization and coordination of the single-arm policies. This article proposes the safe, interactive movement primitives learning (SIMPLe) algorithm, to teach and correct single or dual arm impedance policies directly from human kinesthetic demonstrations. Moreover, it proposes a novel graph encoding of the policy based on Gaussian process regression where the single-arm motion is guaranteed to converge close to the trajectory and then toward the demonstrated goal. Regulation of the robot stiffness according to the epistemic uncertainty of the policy allows for easily reshaping the motion with human feedback and/or adapting to external perturbations. We tested the SIMPLe algorithm on a real dual-arm setup where the teacher gave separate single-arm demonstrations and then successfully synchronized them only using kinesthetic feedback or where the original bimanual demonstration was locally reshaped to pick a box at a different height.

Despite a large body of research on robot learning, it has not yet been thoroughly studied how collaborating humans and robots learn reciprocally. In such situations, both humans and robots continuously learn about each other and the task through interaction. This letter addresses the research question: "How can human-robot co-learning be facilitated in physically embodied collaborative tasks?". First, we derived five requirements for successful human-robot co-learning from literature: shared goal, synchrony, interdependence, adaptability, and transparency. Based on these requirements, we designed a collaborative human-robot handover task and a robot Q-learning method. In an evaluation with six human participants co-learning was indeed found to emerge in the hand-over task. Particularly, for three of the human-robot dyads, our designed setup proved to facilitate co-learning in a way that met all five requirements. The task and robot learning method presented in this letter demonstrate how human-robot co-learning can be enabled in physically embodied tasks.

Many daily tasks exhibit a periodic nature, necessitating that robots possess the ability to execute them either alone or in collaboration with humans. A widely used approach to encode and learn such periodic patterns from human demonstrations is through periodic Dynamic Movement Primitives (DMPs). Periodic DMPs encode cyclic data independently across multiple dimensions of multi-degree of freedom systems. This method is effective for simple data, like Cartesian or joint position trajectories. However, it cannot account for various geometric constraints imposed by more complex data, such as orientation and stiffness. To bridge this gap, we propose a novel periodic DMP formulation that enables the encoding of periodic orientation trajectories and varying stiffness matrices while considering their geometric constraints. Our geometry-aware approach exploits the properties of the Riemannian manifold and Lie group to directly encode such periodic data while respecting its inherent geometric constraints. We initially employed simulation to validate the technical aspects of the proposed method thoroughly. Subsequently, we conducted experiments with two different real-world robots performing daily tasks involving periodic changes in orientation and/or stiffness, i.e., operating a drilling machine using a rotary handle and facilitating collaborative human–robot sawing.