Robot-Human Interaction (Modul C)

Higher education teachers: Mihelj Matjaž

Higher education teachers: , Ude Aleš
Collaborators: Podobnik Janez
Credits: 6
Semester: summer
Subject code: 64262

Subject description


  • Enrollment in the first year.

Content (Syllabus outline):

The entire content is divided into the following topics: 1) Introduction to robot kinematics, dynamics and control, 2) Definition of human-robot interaction problem; 3) Safety of human-robot interaction; 3) Haptic robots and teleoperation systems: kinematics, dynamics, collision detection, collision force rendering, control, virtual fixtures; 5) Soft robots based on variable impedance actuators; 6) Medical robotics: surgical robotics, robot-supported diagnostics, micro-robots and nano-robots in human body; 7) Rehabilitation robotics for upper and lower extremities; 8) Assistive robotics: exoskeletons, robotic prosthetics and orthotics; 9) Robot teaching by human demonstration; 10) Human-robot collaboration; 11) Social robotics.

Objectives and competences:

To study multimodal interactions between a human and a robot for the purpose of augmenting human capabilities, assisting disabled persons, increasing human performance and safety, replacing human limbs:

Analysis of robotic systems, which are designed to interact with humans or with organic matter in general. The robots interacting with humans can operate at different levels. They enable the operator more accurate, easier and safer performance of tasks (surgical and diagnostic robotics), haptic robots can simulate interactions that require physical contact between the human and environment, robots can act as amplifiers of human force (exoskeletons), can replace amputated body parts (robotic prostheses), within the human body they enable precise diagnostics and delivery of medical substances.

Intended learning outcomes:

Design of mechanisms and control of robots that operate in contact with humans. Safety requirements for the robot to interact with humans.

Learning and teaching methods:

Lectures, laboratory work in small groups, complex robot control problem solving, combination of individual and team work. Practical exercises take place on a number of modern robots for human-robot interaction equipped with additional force sensors. In this course, special attention is paid to safety.

Study materials

  1. M. Mihelj, J. Podobnik, Haptics for Virtual Reality and Teleoperation, Springer 2012.
  2. J. Rosen, B. Hannaford, R.M. Satava, Surgical Robotics: Systems Applications and Visions, Springer, 2011
  3. M. Tavakoli, R.V. Patel, M. Moallem, A. Aziminejad, Haptics for Teleoperated Surgical Robotic Systems, World Scientific, 2008
  4. Jose L. Pons, Wearable Robots: Biomechatronic Exosksletons, John Wiley & Sons, 2008.
  5. V. Dietz, T. Nef, W.Z. Rymer, Neurorehabilitation Technology, Springer, 2012
  6. E. Burdet, D.W. Franklin, T.E. Milner, Human Robotics: Neuromechanics and Motor Control, The MIT Press, 2013
  7. L. Sciavico, B. Siciliano: Modeling and Control of Robot Manipulators, The McGraw – Hill Companies, Inc., New York, 2000.

Study in which the course is carried out

  • 1 year - 2nd cycle - Electrical Engineering - Electronics
  • 1 year - 2nd cycle - Electrical Engineering - Electrical Power Engineering
  • 1 year - 2nd cycle - Electrical Engineering - Biomedical Engineering
  • 1 year - 2nd cycle - Electrical Engineering - Control Systems and Computer Engineering
  • 1 year - 2nd cycle - Electrical Engineering - Mechatronics
  • 1 year - 2nd cycle - Electrical Engineering - Robotics
  • 1 year - 2nd cycle - Electrical Engineering - Information and Communication Technologies