The physical interaction between a human being and a technological artefact implies a
power flow from or toward the human body. Power can be defined as the product between a …

This paper proposes a detection method to identify the drill bit position during assisted bone
drilling. A platform has been developed to support the surgeon in the planning of the drilling …

Industry 4.0 introduces a series of paradigms aimed at bringing change to the industrial
landscape by solving a number of currently existing problems. The aim of this research …

Physical interactions between patients and therapists during rehabilitation have served as
motivation for the design of rehabilitation robots, yet there is a lack in fundamental …

Human Robot Interaction has become a key point in the development of new robotic
interfaces and controllers. In traditional control schemes for teleoperation, master devices …

The effective use of robotics in realistic environments requires robots capable of adapting to
different task requirements and in terms of motion tracking performance, interaction forces …

This thesis is focussed on the design and development of control strategies for applications
in rehabilitation and assistive robotics. The first part of the work is dedicated to rehabilitation …

In the growing fields of wearable robotics, rehabilitation robotics, prosthetics, and walking
robots, variable impedance and force actuators are being designed and implemented …

Functional Electrical Stimulation is an effective tool to foster rehabilitation of neurological
patients suffering from impaired motor functions. It can also serve as an assistive device to …

This paper presents an experimental robotic setup dedicated to human arm endpoint
impedance measurement in a cyclic task with physical interactions. Understanding human …