Module C: Robot-Human Interaction

This course deals with important aspects of robot-human interaction. It introduces the basics of robot kinematics, dynamics and control, followed by an examination of the problems and methods of robot-human interaction, with an emphasis on the safety of the interaction. Kinematics, dynamics, touch sensing, reaction force modelling, control and virtual constraints are discussed in the context of haptic robots and teleoperation systems. We analyse compliant and collaborative robots and robotic systems with variable impedance actuators. In the context of medical robotics, the course deals with surgical robotics and robot-assisted diagnostics. Rehabilitation robotics focuses on motor rehabilitation of the lower and upper limbs, and assistive robotic technologies on exoskeletons, robotic prostheses and orthoses. We analyse how robots learn from human demonstrations, human-robot interaction and the sociological aspect of interaction.

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.

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.