Haptic and Collaborative Robots

Course description


definition, characteristics and applications for haptic and collaborative robots


human factor, haptic robots (kinesthetic and tactile interfaces, kinematics, dynamics); collision detection, modelling and rendering (in real and virtual environments, collision dynamics), control and stability analysis for haptic interaction (impedance and admittance control), teleoperation.


robot architecture (kinematic, dynamics, sensing), robot control, modes of collaboration between the robot and a human, robot applications, specific methods for teaching collaborative robots, safety and standards.


Industry 4.0 concept, cyber-physical systems, digital twins, use of collaborative robots.

Course is carried out on study programme

Elektrotehnika 2. stopnja

Objectives and competences

Course deals with advanced concepts in robotics, where robot cooperates with the human (direct physical interaction or operation in the shared environment). It analyses physical background, technological challenges and limitations related to the design of haptic and collaborative robots. The emphasis is on concepts required for understanding human responses to artificially generated haptic stimuli (kinesthetic and tactile). The concept of haptic interaction is extended to teleoperation systems. In the field of collaborative robots, the focus is on the use of such robots for the purpose of flexible automation in the context of industry 4.0.

Students get practical experience in the laboratory while executing interdisciplinary research projects.

Learning and teaching methods

Students have a textbook. Lectures focus on theoretical basis and practical applications of haptic and collaborative robots. Because of the specificity of the course, part of the lectures is performed in the form of multimedia presentations. Latest developments in the field of haptic and collaborative robots are presented in the form of "video lectures." Practical exercises are performed in the laboratory, which is equipped with a number of state-of-the-art haptic and collaborative robots. Students work in interdisciplinary project teams, where each student deals with the specific problem of human-robot interaction.

Intended learning outcomes

After successful completion of the course, students should be able to:

– develop solutions that require physical contact and cooperation between a robot and a human, including teleoperation systems,

– choose appropriate method for teaching a robot and solution to ensure operator’s safety,

– construct a mechanism of a haptic or collaborative robot,

– synthesize robot control,

– analyze stability of a robot in contact with a human,

– use haptic and collaborative robots in various applications,

– develop solutions based on Industry 4.0 concepts.

Reference nosilca

  1. MIHELJ, Matjaž, NOVAK, Domen, BEGUŠ, Samo. Virtual reality technology and applications, Springer, 2014. 
  2. MIHELJ, Matjaž, PODOBNIK, Janez. Haptics for virtual reality and teleoperation, Springer, 2013 
  3. PODOBNIK, Janez, REJC, Jure, ŠLAJPAH, Sebastjan, MUNIH, Marko, MIHELJ, Matjaž. All-terrain wheelchair : increasing personal mobility with a powered wheel-track hybrid wheelchair. IEEE robotics & automation magazine, ISSN 1070-9932, Dec. 2017, vol. 24, no. 4, str. 26-36. 
  4. JAKOPIN, Blaž, MIHELJ, Matjaž, MUNIH, Marko. An unobtrusive measurement method for assessing physiological response in physical human-robot interaction. IEEE transactions on human-machine systems, ISSN 2168-2291. Aug. 2017, vol. 47, no. 4, str. 474-485. 
  5. BAUMKIRCHER, Aljaž, MUNIH, Marko, MIHELJ, Matjaž. Performance analysis of learning from demonstration approaches during a fine movement generation. IEEE transactions on human-machine systems. Dec. 2021, vol. 51, no. 6, str. 653-662. 

Study materials

  1. Mihelj, Matjaž, Haptični roboti, Založba FE in FRI, 2007.
  2. MIHELJ, Matjaž, PODOBNIK, Janez. Haptics for virtual reality and teleoperation, Springer, 2012.
  3. Izbor znanstvenih in strokovnih člankov, standardov ter drugih vsebin iz področja sodelujočih robotov.

Bodi na tekočem

Univerza v Ljubljani, Fakulteta za elektrotehniko, Tržaška cesta 25, 1000 Ljubljana

E:  dekanat@fe.uni-lj.si T:  01 4768 411