Subject description
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.
The subject is taught in programs
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.
Teaching and learning methods
Lectures, laboratoryss 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.
Expected study results
After successful completion of the course, students should be able to:
- address physical, cognitive and social interactions between human and robot,
- design mechanisms and control of robot manipulators for contact with human,
- determine security requirements for humanrobot interaction,
- synthesize robot control based on human demonstration (teaching by demonstration),
- design a robot for social interaction with a person,
- use a robot in medical, rehabilitation, research, and industrial applications.
Basic sources and literature
- MIHELJ, Matjaž, PODOBNIK, Janez. Haptics for virtual reality and teleoperation, Springer, 2012.
- SICILIANO, Bruno, KHATIB, Oussama, Handbook of Robotics, Springer, 2016.
- PONS, L. Jose, Wearable Robots: Biomechatronic Exosksletons, John Wiley & Sons, 2008.
- DIETZ, Volker, NEF, Tobias, RYMER, W. Zev, Neurorehabilitation Technology, Springer, 2012
- BURDET, Etienne, FRANKLIN, W. David., MILNER, E. Theodore, Human Robotics: Neuromechanics and Motor Control, The MIT Press, 2013
- SICILIANO, Bruno, SCIAVICCO, Lorenzo, VILLANI, Luigi, ORIOLO, Giuseppe.: Robotics – Modelling, Planning and Control, Springer 2009.
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University of Ljubljana, Faculty of Electrical Engineering Tržaška cesta 25, 1000 Ljubljana